Motor Tests, - Matt/Patrick

Monday 3/3

Matt and Patrick tested the motors.  We found that the batteries were delivering inconsistent results.  It turns out the batteries are just old and not as good as they used to be.  We decided to only make a new chassis and use bigger motors if necessary.  TO account for the battery issue, I bought a 12V 12Ah lead acid battery.

12V 12Ah Lead Acid Battery

Make PCB Interface - Matt

Saturday 3/1

Matt made a PCB interface with a 5V rail.  He then attached it to the board and GPS housing.

Boards, GPS, Xbee Housing (W/ PCB)

Motor Integration, Tread Mount, Board Module - Matt/Mike/Patrick

Friday 2/28

Matt integrated the motors to the GPS.  Matt then helped Mike modify the chassis to make it stronger so the treads and cogs would not wobble.  At first, the motor program would not work (using the BaneBots) but then it started to work (using the Sabertooth).  He found that the treads were too tight and the motors could barely move.  We all discussed how to handle this issue.  We decided that a different chassis and motors might improve the motion.

Mike modified the chassis to hold the the treads and cogs and mounted them.  He then started to make an attachment for the GPS antenna.  This consisted of the antenna being wrapped around a structure. This structure then would be mounted to the chassis.

I, Patrick, replaced the wheels that were attached to the motors with the shafts for the treads and cogs.  I bought a platform that could house the Uno and a breadboard.  I modified this to hold the GPS and the Mega by drilling holes in the board.

Mounted Treads (W/ Cogs)

Motor Test

Board & GPS Housing

MASSIVE-ANT Tank (Gimbal Missing)

GPS Code Modification - Matt

Thursday 2/27

Matt changed the GPS format from ddmm.mmmm to dd.dddd.  The first method used degrees and minutes while the second one used degrees and decimal degrees.  This new format is the same as the latitude and longitude format.

Locomotion - Matt

Wednesday 2/26

Matt worked on an algorithm to interface the motors to the GPS.  He did not have to actual motors or motor controllers so he had to wait until Friday to actually test them.

GPS Options, - Matt/Mike/Patrick

Tuesday 2/25

Matt added to his GPS code so that there was an option for a pre-determined GPS location.  He also refined the user interface to make it more user friendly.

Mike researched more potential nerf guns. He selected the Tommy 20 nerf gun (due to its smaller size and motorized firing mechanism) and bought it on Saturday.  He then researched how to modify the nerf gun so it could be interfaced with our robot and Arduino.  Potential modifications include the trigger, mount, and ammo holds.   Finally he made a rough sketch of how to the tread shafts needed to be modified.  He gave this to Dr. B so you could make the modifications.

I, Patrick, made a stationary platform to securely hold the camera and laser gimbal.  This platform had to be rigid so that the camera and laser would not shake.  I also wired the BaneBots motor controllers for motor testing.  Unfortunately, the Uno board I had was not working properly so I couldn't test the motors

Front of Robot (Gimbal Housing Visible)

Side of Robot (W/ Gimbal Housing)

Inside of Gimbal Housing

Control Box (W/Various Components)

Michael Mertz

I have place the order for an electric nerf gun and expect it to be at my house between thursday march 6th and tuesday march 11th. I am researching a way to mount the nerf gun as well as modifying it so the uno will fire the nerf dart from the motor directly.