WEEK ONE

1. Offensive/defensive evaluation: • Define all functionalities of the game • brainstorm early designs, evaluate feasibility, resource requirements • Shooting (High Goal vs. Low Goal) & throwing over Truss, • Catching, • Defending, • Integrate strategy with design • strategy and preliminary design • Assigned roles and broke into IPTS addressing each aspect of the basic design • Final strategy: driving and shooting in autonomous, teleoperated shooting over the truss, and scoring in the high goal. WEEK ONE

2. Evaluate systems requirements and prototype proposed ideas • Catcher: • Panels • Net: most effective out of proposed designs, however, space and liability concerns eliminated catching device as a priority • Retriever: • Rotating Angular rods • Grasping Arms/Claws • Wheels: quick, auto-correct ball placement, fewest potential points of failure • Belts • Drive-Train • Mechanum Wheels: max agility • transmission placement and motor types • Regular Drive • Shooter: • Winch • Elastic tensioning:powerful, simple • Pneumatic piston • Evaluate performance and feasibility of designs with calculations and prototype testing • Complexity • Capabilities, • Costs/weakness • Begin AutoCAD of Final robot WEEK TWO

3. WEEK THREE • High Level Designing, fine tuning • Drivetrain: larger than the maximum perimeter required. Pneumatics calculations and weight management for slots to drive train were made. • prototyping & calculating, we determined • geometry-- pneumatic placement, angle, and desired height of shooter, retriever, and pneumatics • Wheel type (Small vs. Big) on retriever, • Placement of the retriever motor, avoiding damage to chain and ball • With the wooden prototype we determined the desired: • Elastic System, amount of force necessary, and amount of tension needed to achieve optimal level of force • Pulley positions, within slots on robot • Type of cable for pulley • Latching system (Latching tool, latching mechanics), to hold shooter device in place

4. WEEK FOUR • Drive Train: final autocad design • Design/integrate subsystems within each other within a confined space • Cross-sectional integrity • Weight management—CAD design with laser-cut gaps • structures to hold batteries, gearboxes, pulleys, electronic board • slots for mounting/adjusting pulleys • Pneumatic Calculations • Tanks and Compressing Time • Discuss trade-offs: weight, integrity, reset speed • Correct measurements for chassis and adjustable retriever assembly consolidated in AutoCAD file • Testing wooden and metal prototype: • -tensioner slack issue resolved with elastic rings • - Moved shooter mount to the front.

5. WEEK FIVE • Pre-integration Software and Mechanical Testing • Autonomous software for Autonomous mode • Autonomous coding for cycle resets • LEDs to indicate positions • Testing Results and Modifications • Shooter • Bending metal frame • Shooter slack solved with elastic ring • Bending shooter mount in the front • Retriever • Cross-structure too weak • Pneumatic mount had to be re-adjusted • Drive Train • Dimensions • Overweight problem

6. WEEK SIX • Final design Re-evaluation • Weight issues with the sheet-metal CAD pieces • Top-heavy component removed, pneumatic triangles on either side. • Replaced with stronger and lighter hollow triangular welded square tubing • Camera placement chosen to spot autonomous lighting in response to code • Continued to construct, fine-tune practice robot for use after bag-and-tag • Practice with practice robot • Final adjustments on competition robot