FTC Team Tomahawk – Build Blog Week Three

Brief Summary-

In the course of the past week, the engineering and programming have started working on the action items that are the key elements of a commendable robot. 

The Engineering team has finalized upon the exact mechanism the chassis of our robot will use to be maneuvered, while the Programming team has explored into reading and understanding code and has understood the utilization of different models of coding.

Task – Engineering

In the past week, the engineering team has debated upon two designs for the chasey of the robot namely the H-Drive and the Omni Drive.

We have discussed the pros and cons of both the features and came to the conclusion of using the Omni Drive. Why are we using it?

  1. It provides maneuverability.
  2. Its efficient.
  3. It saves time.

How does the Omni Drive really work?

The picture circled in red is the Omni Drive. It has 4 motors facing outwards as shown in the picture as circles and 1 motor in the center. These motors use Omni wheels that are wheels with mini-wheels in them.

They allow the robot to move in all directions without actually turning itself as a whole.

Why aren’t we using the H-Drive?

The H-Drive has been rejected due to the following reasons-

  1. It is time consuming as it requires to turn the robot as a whole to move in a specific direction.
  2. It requires too much precision as turning it on certain angles is a tedious job.

The engineering team has also designed the game element- “the block”.

Task – Programming

In the past week, the programming team has explored into reading and understanding code and has understood the utilization of different models of coding. For example, we were given two samples of codes (iterative and linear) that both made the robot move and communicate with the cell phone, but one code only had one function an the other code had several different functions that split up tasks. After understanding how both of the codes worked, we discussed the purpose of both and determined that having multiple functions is a lot more user-friendly and would be useful in a situation where the driver controls the robot, while the code with one function would be useful in the autonomous period because the driver only needs to execute one action. 

Additionally, we debated on how we would create equations for the movement of a robot if the robot was controlled arcade mode, or with one joystick. We discovered the formulas by plotting several points on a x-y plane and brainstormed formulas that could determine any points. Finally, we figured out the formulas and saw that the code provided by FTC.

Finally, we have installed different services for programming the robot, like Android Studio and Git and learned how Git would work so multiple people can work on code without causing errors or loss of code. As of currently, we know the chastise that will be used by the build team and are brainstorming methods for movement, like moving forwards and backwards, but also pivoting and possibly moving in a curve.