Project Description - AGHSEagleRobotics/Knightmare2019 GitHub Wiki

Project goal

Update Knightmare (2016 robot) to current programming environment, and set up as a public outreach demonstration robot and prototype platform.

Requirements

Drivetrain should be suitable for parade use as well as “slow mode” for public driving Desired to use wireless xBox controllers - possibly two, one for public driver and one for supervisory driver Pick up and eject balls

Tasks

  • Mechanical

    • Remove manipulator from top/front of robot
    • Increase gear ratio on the drivetrain? (to slow down the robot - it’s too fast) (PWC: I’m not sure it’s too fast, it is nice to have a very fast robot when in the hands of a competent driver, perhaps high speed mode needs to be intentionally enabled, with normal speed being the default and slow speed being selectable?)
    • Restore reversed right side drive train plate (so bumpers can be mounted)
    • General maintenance
    • Not specific to this project, but we should inventory and clearly mark all bumpers for all robots. I’m thinking something like spray-painted stencil lettering on the inside of the bumpers, should include year, robot name, and position on robot.

  • Electrical

    • Verify wiring of drive train, ball intake, and all common components (including RSL!)
    • Clean up control system - remove unused components, clean up wiring, etc. Mostly for prettification.
    • General maintenance

  • Programming

    • Upgrade to 2019 control system
    • Drive train
      • Basic drive train - tank drive or curvature, TBD
      • Implement slow mode
      • Implement dual controllers Needs definition. Supervisor controller must override public controller, and will enable/disable the public controller
    • Ball intake/eject
    • Dashboard:
      • Indicators to show whether public controller is enabled, and at what power level (e.g. low, medium, full).
    • Full documentation of all joystick/controller functions needs to be on a permanently attached placard on the robot. Placard should also include requirements for set up, such as controllers version of driver station etc.
    • Layout of joystick/controller buttons and functions should take into consideration the operation of other robots to obtain as much consistency between robots as possible (or to establish a new consistent layout)