10 Feb. 2016

1. Software

Changes

7 files changed to fix broken commands that had previously been unaddressed and didn't end through some redefinitions and deletions.

8 files changed with 138 additions and 5 deletions for more arm functionality. Specifically, CompressorControlCommand.java and DirectDriveArmComman.java were newly added files. Arm.java was heavily modified to work with these changes.

2. Hardware

Summary

High bar lift method has been pretty much finalized.

Changes

The piston on the arm was flipped upside down to move it out of the way.THe mounting bracket had to be reconfigured to accomodate this.

Decisions

High bar lift has been finalized. Hooks and bar will likely be one piece. They also may need to be deployed in some way. It's planned that the hooks will go over the bar and latch behind the robot. Additionally, the end effector will be hinged, with a spring to hold it against the floor and something underneath it to let it glide smoothly over the floor. The lowest point of the arm will be parallel to the floor.

Concerns

Hook designs need to be developed and tested so that they will deploy outward when the arm piston extends. There may be interference between the hooks and the ball pickup/shooter, which also needs a puncher piece to be attached to the end as a shooter. Additionally, there is currently no mechanism to prevent the hooks from rotating out of position, a problem which will likely not be fixed. Bumpers are in the process of completion, and need a way to be attached to the robot.