We want all our condition at SVR to be as close to our Champs condition as possible, so that we can carry as few untested mechanisms and unexpected failure modes to Houston as we can. That makes the next two weeks critical to our season.
Mechanical Work
Building off of the Fail Faster database from Sac, the to-do list before SVR was reassuringly short. Brendan posted this list to #hardware_design channel on Slack the night the 2023CADA wrapped up, and this is basically all that needs to happen before SVR.
High Priority Items:
Low Priority Tasks:
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Software Work
I know I haven't said much about software on this blog, but I assure you they were working this whole time!
At this point in the season, the Software Robot team was working on tweaks and optimizations to make autos more reliable and subroutines faster.
"Quick Scrape"
The fork climb has three states: "pre-fork" where the forks hover a few inches above the charge station, "scrape" to press the forks down onto the charge station and slide under a partner, and "curl" to complete the climb. The move from pre-fork to scrape was a little sluggish at Sac, so it got a little more aggressive for SVR.
At this point in the season, the Software Robot team was working on tweaks and optimizations to make autos more reliable and subroutines faster.
"Quick Scrape"
The fork climb has three states: "pre-fork" where the forks hover a few inches above the charge station, "scrape" to press the forks down onto the charge station and slide under a partner, and "curl" to complete the climb. The move from pre-fork to scrape was a little sluggish at Sac, so it got a little more aggressive for SVR.
We also made a clean 3 piece auto for SVR.
Finally, Zoe got us an auto that we think is going to be very valuable at champs. We expect that robots with 2 piece autos on the bump side will be fairly common at champs, but 3 piece autos over the bump will be rare. This 2 piece over the bridge will make it easier to get max auto points with more partners.
Electrical Work
Rohan and the Hardware Electrical subteam made the following changes before SVR. All-in-all a pretty short list.
Major Things:
Major Things:
- One of the addressable LEDs on a fork sheared off while practicing forking, the issue was found to be that when we replaced a fork, we placed the leds around 15 degrees too close inwards, which caused the issue. Fork has been replaced, and made sure to be mounted properly.
- Intake motor lost can during driver practice. Issue was found to be the CAN entering the PDH, one of the wires was loose and only held on through hot glue. I put it back in properly, and fully pull tested all of them before re-hotgluing it.
- All electrical-related issues found during sac were given a more permanant resolution than the temporary fixes that were given there. This includes:
- LED splitter made functional
- Extra sheathing added to points which were in moderate danger of being cut
- RSL moved a few inches to prevent hitting the arm
Important Things
2910 has the highly critical long-intake maneuver as part of their 3-piece clean side auto, so we need to catch up. Here's a high speed video of the Tumbler doing the same.
It's about 700ms from extension to acquisition, probably improvable down to 500ms. We can definitely drive faster than that though. Probably not an SVR play, but you never know.