Tuesday, February 10, 2009

tired tuesday

apologizes if this is completely incoherent - as many can attest, i am not at my most alert tonight.

-i saw the chassis drive! it's actually really demented - the turning has funny spots and when we turn backwards (ie if the y coordinates are negative in normal coordinate systems) it doesn't actually go according to plan/how we would like.
-while it would be possible to drive the robot with the ArcadeDrive function FIRST provides, it wouldn't be the best idea because of issues listed above. we want driving to be as intuitive as possible. so...
-we're writing our own code, in a sort of "piecewise function" way. we divided the joystick axes into different regions and are writing different equations for each region. we only actually coded up the "band of straightness" and the... band of turning? anyway, i believe it spins well when the joystick is pulled either direction on the x-axis and the straight/fwd bwd part was fine.
-we know what we want to do for the rest of the regions, too. there wasn't time tonight to actually code it up, but our fingers are crossed that it will work tomorrow.
-we realized that we don't have a model of any drive code that's 100% functional - because benji never needed to go backwards, and when he turned, he generally strafed. and scotty? uhhh we didn't document code that year. nevertheless, with karlin and doug on our side, i'm confident we'll figure it out :)
-re: jrock's comment below, no talismans/rabbit feet/goat entrails were necessary for successful downloading tonight. amen.

[obv this is not the complete version...]
-bumpers! the long ones were made and the shorter ones redone. allie served as inspector, and except for one that should not have passed inspection, they're all good. i think erin's going to get us the paint soon.
-erin and i did an alan steel run after school. the man definitely recognizes erin by this point. anyway, the tower tubing is here and will be delivered to jimmy tomorrow.
-brushes were attached to the tubing for the vertical corkscrew thing. apparently it spins really really fast.

-chassis weighs 62 lbs with the battery and assorted wood/clamps. meaning we are at 46 lbs with motors and gearboxes on. obviously we'll be keeping an eye on weight, but i think it's safe to say that we're in pretty good shape, weight-wise. we have 70 pounds left. in order to simulate the actual robot, we strapped 2 20-lb weights onto the chassis.
-woodie flowers and chairmans are on their way to being written.
-we plan to put sponsor signage on the output tube, and 1700 signs on bumpers as in the past.
-NAME IDEAS?! the robot's alive, let's name her. definitely a her this year. name suggestions thus far: remmy, gracie, lily... i personally love both gracie and remmy. but keep the suggestions coming!

thank you to the amos family and mukherjee for food - double booked! as well as karlin and doug for infinite patience wisdom and good humor.

1 comment:

HomogeneousTransform said...

Hang in there kiddos. After five years of this, I have immense faith in how things come together . . . at . . . the . . . last . . . minute. POOOOF! TADA!!!