Pre- Grading Session Update

As of Wednesday, 5/29, all systems are fully functional and should be able to accomplish the tasks outlined for the grading session.

As an update after the last post, the connection LED and ROAMER select switch were implemented, and our POD and ROAMER successfully connect to and run with the PODs and ROAMERs of other teams. The castors (made from PVC) on the bottom of the ROAMER were decreased in height, allowing the ROAMER more flexibility to take bumps on the carpet, and friction problems were addressed in the drive trains; this fix appears to address the issue of difficulty driving on carpet. Gripper height was increased, which fixed the problem of losing the box when dragging it over the door threshold. SPECIAL mount was attached to the top of the ROAMER. The bottom of each castor was sanded. A nonlinear mapping was applied to the incoming voltage received by the ROAMER before outputting the PWM frequency in order to make for increased sensitivity/ turning ability at low voltages. Vinyl was applied. The POD and ROAMER can now drive on carpet, drag a box out of the larger box, and control/ be controlled by other teams' ROAMERs and PODs. POD and ROAMER are ready for grading.

CADing the gripper and SPECIAL

Worked on CAD of top half of ROAMER

Have dropdown level from top to hold door lock motor
Currently, gripper is flush against top plate
  If we find that the pin that attaches the gripper to the motor likes to turn from vertical, we can drop the gripper down 1/4" and add a piece of loose Duron between the top plate and the gripper (with a hole in the Duron to stay on the pin/screw)