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Agile Design For FIRST Robotics

Agile Design For FIRST Robotics. 2009 FIRST Robotics Conference Atlanta, Georgia. Greg Marra & Tom Bottiglieri. Greg and Tom. TheBlueAlliance.net Boston Regional College Students in Boston( ish ), MA Olin College Northeastern University FRC Alumni & Mentors 177 - Bobcat Robotics

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Agile Design For FIRST Robotics

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  1. Agile Design For FIRST Robotics 2009 FIRST Robotics Conference Atlanta, Georgia Greg Marra & Tom Bottiglieri

  2. Greg and Tom • TheBlueAlliance.net • Boston Regional • College Students in Boston(ish), MA • Olin College • Northeastern University • FRC Alumni & Mentors • 177 - Bobcat Robotics • 195 - The Cyber Knights • 125 - The Nutrons • 2124 - The X Factor

  3. Agile Development • Movement in Software Engineering • Values: • Teamwork over Process • Frequent Reflection and Adaption • System Level Understanding • Iterative, Re-usable Designs • These values can be applied by FRC Teams

  4. Take Home Messages Design For Change System Integration Record and Reflect Buddy System Buy It, Don’t Build It

  5. Design For Change Design For Change

  6. Identify Goals And Values • Determine Strategy • Let function drive design • NOT the other way around! • Minimize “Confirmation Bias” • Don’t shove round pegs into square holes • “Building a good launcher” vs. “Scoring Points Effectively” Design For Change

  7. Triple Constraint • Overall robot quality affected by: • Time • Budget • Scope • You cannot change one without affecting another! • Which is most important for FRC?!? Time Design For Change

  8. Waterfall Model • Plan up front, lock down design THIS IS BAD! Design For Change

  9. Agile Model • Implement small piece • Test • Evaluate / Review / Reflect • Repeat • Repeating this process many times allows you to home in on your design goals. THIS IS GOOD! Design For Change

  10. Iterative Design / Module Re-Use • Make small changes, year to year • Use your experience wisely • Sometimes it’s ok to understand the switches and knobs, but not what's under the hood. • You only have 6 weeks! • Spend more time solving higher level problems Design For Change

  11. Liquidity • Nothing is final, nothing is perfect • Don’t be afraid to fail • Small failures are necessary for iteration • Be prepared to jump ship • Modular design allows change later Design For Change

  12. System Integration System Integration

  13. What is a system? System Integration

  14. What is a system? • A Robot is a system of components • Components are also systems • You can repeat this tree out to every last nut and bolt on the robot. System Integration

  15. Product Level Robot System Level Mechanical Control Sub-System Level Manipulator Drive Electrical Programming Component Level Chassis Power Transmission Hardware Level Gear Box Wheels Chain/Sprocket

  16. Systems Integration • Integrators are concerned with “The Big Picture” • Chain is only as strong as its weakest link System Integration

  17. Record and Reflect Record and Reflect

  18. Design Notebooks • What have we accomplished? • What is in our way? • How can we remove obstacles? Record and Reflect

  19. Reflection • You’re smarter than you were on January 6th. • Hard problems are now easy • Look how much you’ve learned Record and Reflect

  20. The Buddy System Buddy System

  21. We > Me ? ! Buddy System

  22. We > Me Buddy System

  23. Don’t build things you can buy. Buy It

  24. COTS Drives Interfacing • FRC Robots are prototypes • Interface points are most common failure points in FRC robots • There IS value in designing higher level systems! • Do your research • “Off the Shelf” doesn’t mean “Invincible” Buy It

  25. Design Simplification • You solve complex problems by simplifying terms. You can do the same with robots. • Finding a partial/full COTS solution for a sub-system will allow more time to concentrate on building a rock solid interface. • For example…. Buy It

  26. Product Level Robot System Level Mechanical Control Sub-System Level Manipulator Drive Electrical Programming Component Level Chassis Power Transmission Hardware Level Gear Box Wheels Chain/Sprocket

  27. Product Level Robot System Level Mechanical Control Sub-System Level Manipulator Drive Electrical Programming Component Level Chassis Power Transmission Hardware Level Gear Box Wheels Chain/Sprocket

  28. “Real World” Examples • Here are some successful teams who really “Get It” • Each team exemplifies some Agile Design methods

  29. Simplicity In Design • Rhode Warriors – 121 • Minimize build time • Maximize tweaking time

  30. COTS Use • Simbotics – 1114 • They have solved many design problems with “canned” solutions • Drive Base • 2008 Shooter • 2006 Shooter

  31. Module Reuse / Iterative Design • The Pink Team - 233 2004 2005 2007 2008

  32. Take Home Messages Design For Change Systems Integration Record and Reflect Buddy System Buy It, Don’t Build It

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