The Autonomous portion of the challenge has been completed. The theoretical programs worked pretty good, for the most part, but there was still some customization needed (reduce that time a little bit, raise that time, reduce the power of the claw tightening, etc). Not only that, I found out that the some of the motors were either reversed or underpowered. I had to cut the power of the right motor in half so that it wouldn't overpower the left motor and drift off-course. It was long and tedious, but we finally managed to make it in whatever box we wanted about 90% of the time.
Besides the Autonomous, minor mechanical errors had to be corrected. Sometimes the axles on the gear tower were unaligned, or sometimes the string would get in the way of the claw, and we'd have to untangle it and clean it up. All that's needed now is to attatch a bumper switch to the robot so that it reverts to manual control once the Autonomous program has run its course.
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