- test motors in parallel
- mock up gear ration for 2nd link
- move sprockets between the 2 bars so it's not cantilevered
- chain guard
- chain tensioner
- pnumatic cylinder
-where to mount?
-what stroke?
Mr. Sambyal: "It's a simple design"
Mr. Rock: "I like it!"
Arm code:
- #1 cause of failure will be the sensors don't work (sensor breaks or messes up)
- have a switch to change from sensor to manual drive mode
- control logic = drive error to 0, use damping or derivatives, ask Mr. Rock for help when we get there
Clutching
- if both the control loop works and the motors are geared correctly it shouldn't be necessary
- worm gear
- less efficiency
- easier
-break pad
- more complex
- more motor and actuator stuff
- avoid pins and holes
- spring loaded de-tense
- a spring loaded pin jammed into the sprocket teeth, which only the motor is strong enough to pull out of
- have an operator disable break option
- buy bike break from local bike shop
Grabber
- harder to hold horizontal
- material?
- That beefy!? Use thin wall tubing, make lighter
- KEEP IT LIGHT
- herding guides
- do you lower the arm then drop or just drop?
- how do you drop if the bottom jaw can't move?
- to despoil, have a little stick "flip" spoilers off
Encoder
- complicated if you're monitoring (quad code)
- you're in trouble if you miss counts
- interrupt based code
Other suggestions
- Practice driving last year's robot with arm
- Make a computer program to calculate the most strategic location to place ringers and spoilers
- estimate speed of putting on a ringer
