June 24 & 27

Bought necessary items for flywheels and pivot system. Tested the new IMU to detect distance from the nearest cone by giving it set positions of the cones. Modeled pivot system and ordered more pieces for it. Printed new rims for new hubs.

I didn’t do much Friday so I coupled these two together

Friday morning was mostly spent buying pieces for the flywheel shooter and pivot system for the intake and flywheels. I bought a strong enough worm gear motor to only use it on one side and just use a bearing on the other side. Since for the flywheels it would be easier for each to have their own motor I bought two 775 DC motors that I would gear down to ~2,000 RPM. Tomorrow I hope to test them. 

Since the IMU arrived I thought I might be able to use it and set cone coordinates to always have true room coordinates and Dead Reckon on that. A small problem that I encounter right now is that after the cones are out of sight the calculated distance between the IMU and the cone doesn’t change until it sees the cones again. To fix this I might try to get the ratio of what increase of the IMU value is equal to an inch and base it on that or possible by a cheap 2D lidar system.

New hubs arrived so I quickly modified the wheel rim CAD and printed them. Now they don’t need as much force to put the tire on.

Lastly I designed how and where the high torque worm gear motor would attach onto the intake through hubs and what the other side would look like including pillow bearings and a shaft.