During the state competition our robot experienced issues with strafing, arm stability, and unreliable rigging for the winch. In preparation for regionals we have been working to remedy these issues by altering the robot’s frame, reinforcing the winch system, as well as adding an additional point of contact on the arm’s axle.

In the weeks leading up to the competition, as well as during the competition, when the robot was maneuvering sideways (strafing) it had the tendency to rotate simultaneously. Upon disproving our original theory that this was a software issue, we understood it to be caused by the drive base being disproportionally longer than it was wide, which consequently resulted in an uneven weight distribution. To remediate this issue, our hardware team decided to make the frame of the robot more square, which included disassembling the entire left channel of the robot and lengthening it, which moved the weight of the robot back in respect to its coordinate system. In the time since altering the frame of the robot, we have observed more consistent and accurate strafing.

Unfortunately, the original square knot supporting the weight of the robot during suspension came undone during the competition. Since this knot could not bear the tension caused by the robot, we decided to replace this square knot with a running knot that, through numerous trials, has proven to be a much stronger method of suspension.

In addition, we have observed a lack of stability in the robot’s arm, which presented as a slight wobble during suspension. We decided to reinforce the robot’s arm by adding an L-channel along the length of the arm.

In order to integrate autonomous and TeleOp, we consolidated our separate versions of each subassembly into one version of each subassembly. By integrating Aleks and Miles’ separate coding subassemblies, we achieved a program that is easy to navigate and alter, with all-around better functionality for our programmers.

During our February 10 competition, our 3-D printed airplane launching mechanism exploded/shattered. In order to prevent this issue from arising again in the future and causing disaster, Isaac decided to reprint the drone launching carriage diagonally. This new and improved diagonal design means that the sheer force on the new part is out of plane with the print layering of the part.

All in all, we are looking to be on-track for our regional competition in April!