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| Really wish we could do choice color bumpers at competition... |
(Ok, maybe the lead image is a spoiler, but it looks awesome, can you blame me?)
Machining
As usual, our lab is equipped with a few tools and machines. This year, we were able to specifically think about the timeline and process for manufacturing, and how best to use each of our machines - building up the MVP (minimum viable product) in the shortest time, then running tasks in parallel with electrical and software in an effort to be as efficient as possible.
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| Smoked plastic for the indexer side plates! |
Our biggest machine is the router, able to cut sheets up to 4' by 8'. This year we have 6 different materials and thicknesses, and with all the parts complete, we'll have to set up the router only once per material to finish all our sheet parts. Actually, maybe we could have improved our efficiency here a bit with some of the part thicknesses... (In a normal season, with 2 robots, we probably run 20-30 sessions on the router. Plus tool changes. Once you really start detailing things out, there's a lot of small things that add up!)
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| CNC mill running hole patterns for the frame. |
We have two upright mills, one manual, and one with an Acu-Rite CNC for complex parts. (Or hole patterns. Lots of hole patterns.) These will run all of our tubes, starting with the chassis, then the indexer and shooter.
We've also got Markforged 3-D printers for a lot of the smaller pieces. Some of these were able to be started sooner, thanks to the internet-connected capability, but we then needed someone in the lab to pull the parts off and ready the plate for the next job. Fortunately though, these could run all night with no supervision.
And of course the plethora of saws, drills, and hand tools (for mechanical and electrical).
Assembly
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| Start of the chassis coming together. We increased the gearing on the swerve modules as well. |
There's not much on this robot, so things started coming together quickly. Our priority list for manufacturing and assembly is pretty simple, and hopefully should be pretty easy to understand:
- chassis
- collector
- indexer
- shooter
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| Basic chassis all together. Power distribution and battery live underneath the brain pan. |
We will have to do one major electrical re-wire during our assembly and software parallel tasks. We expect to have the chassis and collector done relatively quickly. (Spoiler - we did!) We can hand that over to software for initial code deploy and checks (what the team calls "bring-up"), and tuning autonomous paths, as well as some driver practice. However, a few electronics mount on the indexer itself, so, first pass will be some zip ties for the Roborio and radio and the like. Second pass, once all the mechanical components are finished, will have everything mounted in its final position.
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| Collector coming together! |
This week, we met our goals with the chassis assembled, and collector mounted on top. With the extra time, review, and detail worked into the CAD model (some manufacturing rustiness aside...) so far all of the components have simply... worked. Everything fits together, clearance has been acceptable. We did mess with the intake wheel positions due to a dead spot at the edge of the intake, but that was a known item to check for, given our collector was not based on any physical prototype.
Software
Not too much to say on software specifically, the plan was similar to most years - download code, use the tools we have for some basic systems checks (can we see all the motors and sensors?), then start running through each control one at a time. Once that's done, start putting systems together - e.g. the full drivetrain (this exercise is slightly more difficult with swerve compared to tank drive).
One amusing comment from our lead software mentor was great though: "This is the first year where software had more bugs than mechanical - great job!"
Great job indeed, everyone!
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| We can run 2 or 3 challenges in this configuration! |
Random Musing of the Week
Working remotely, both for day job and FRC, has opened a lot of eyes to how capable it can be. (I would definitely prefer FRC in person - but as my day job is mostly software, remote has been pretty great.) My company, along with many others, are now taking the approach that certain positions can be part-time or full-time remote, and this is pretty enabling for workers who can now choose where to live, or apply to more companies with remote roles!
I actually have a few co-workers who are using this opportunity to move closer to family while continuing in a job they love. Win for the employees, who have this freedom, and win for the companies who can retain talent, and not have to use extra time and resources to hire and train a new recruit!
One side effect that I personally have not yet seen however, it what will happen as the office starts opening back up, and people are able to start seeing each other on site. Right now, everyone in a meeting is using the same tools and restrictions - we're all in a Teams call, having to work the mute/unmute buttons and try not to talk over each other. In person, we get a lot more cues from body language and gestures. We can better see if someone else would like to add something. So, if everyone is in the conference room together, everyone has the same tools and capacities.
What happens when half the people are in the conference room, and half are in their own living room?
What if 9 of 10 people are together and 1 is remote?
There will be another new and important learning step for some people as we return to working in an office. For those who are fully remote, there will have to be some effort made to keep people aware that they exist, they are working on tasks, and they are reachable for questions or updates. For those who start to spend their time on site, they will have to ensure that the conference rooms allow remote participants, and when setting up meetings they will have to remember to include everyone. During the meetings, extra care and attention will have to made to ensure that everyone's voice is still heard. Hallway conversations will have to be better documented and shared to keep the team's knowledge at the same level.
As humans, we do have a more difficult time remembering things that are not right in front of us.
Don't forget about your remote co-workers and friends. Keep them in the loop.
-B
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