Harker Robotics 1072

Since today was the opening of the new theater we had to close the lab at 6 which is a little annoying. However, we finished up the long 2x1s for the second stage which is really good. We can start assembling that tomorrow which I am pretty excited for. We wanted to finish the drivetrain by today, but we got held up with the constraining of the output shafts and had to redo some of them. In addition, the chains were created to connect all the wheels.

Both outer carriages for the elevators were completed as much as we could. We had an issue with the mis ordered socket head bolts causing clearance issues, so we milled them down on the cnc and we are looking good now. Gearboxes are coming along now, and we should have a drivetrain by tomorrow. Only one pic.

With one elevator structure bolted together, we began work on attaching the plates that mount the bearings. They all fit together pretty nicely which was really nice to see. However, some of the plates were tapped to 10-32 when the should have been to ¼-20. Thankfully it was not the other way, and we were able to fix them pretty quickly. Rahul started work on the other elevator which is running into some precision issues. We milled one side on the CNC while the other side was done on the drill press, so one side was slightly off. However, it was set up that the correct holes were drilled out for a bolt clearance and the slightly off holes will be the ones guiding the bolts which may cause an issue. We also started fully assembling gearboxes which is also good.

The first elevator rails started rolling off the machinists assembly line so we got right to work. The vexpro order with the 34t gears that we needed arrived, along with 2 more encoders and some more versaplanetary 5:1 kits. Anand trained some people on making the elevator bearing shafts, and I think all the elevator plates were tapped… The robot is actually looking like it is coming together which is really nice to see.

We focused today on inventorying all our parts once again. In doing that, we found a number of parts that were missing / not created and spent some time cutting 2x1 to length, as well as turning some thunderhex and tapping it. Patrick was running the CNC the entire time, and only messed up a couple times lol. The first elevator rails should be done by tomorrow so we can start putting together the bearing blocks. CAD is working on a battery mount, as well as figuring out the linkage to raise and lower the intake.

Lots of progress was made on the first e plate! We cut out both plates out of polycarb, and layed down dual lock. Because we are using so many motor controllers, we decided to stack some on top of each other as was safe and reasonable. Because of their distance from the PDP, we soldered some extension wires and will continue to add them as needed. We also wired up most of the canbus, as we are waiting on the arrival of a couple of Roborios. We are also going to order some more 40 amp fuses, as we ran out. Overall, our progress is going quickly but smoothly, and we will continue to make adjustments per our mentor's instructions. Hopefully we can avoid the general electrical issues that plagued our performance at Calgames. Till next time!

With the first intake done as a model, we finished the other 3 sides for the 2 intakes across 2 bots. Patrick milled the carriage that holds the intake, so we put that together with the gussets so that is done. The bushings were pressed into the intake, and we tested out the rotation with the ½ round OD tube stock Anand got from 115. Sunny mounted both of the gearboxes to the other drivetrain. The field is about to be cleared out of the lab, which should open some space. From what I heard the electrical team also finished the first e plate which is gud.