16169 Banana Box Progress Updates

[Theo-928]

Just finished flashing the OS of the Systemcore. Got onto the drivers hub and RHC2 to see active actuators. Having trouble installing WPILib

[Theo-928]

We are planning to do task 1 this week on a gobilda starter bot

[Theo-928]

My install for WPILib was bad, I reinstalled it and it fixed my issue

[gearsincorg]

If you have issues, and are able to fix then, it might be helpfull to explain what you saw and what you did.

This would potentially help any others that have a simmilar issue, but who don't know what to do to fix it..

Phil.

[Theo-928]

I had been using my school macbook, and it told me that I already had another instance running, so I deleted the installer and re-downloaded it.

[Theo-928]

I got the A301 running using the Rev Hardware Client and noticed that when running, it gets extremely hot; it got to the point where after 2 minutes of running, I got an overheat message, and the motor stalled. This will be an issue for drive bases, as the output rpm shifts the hotter it gets until you get an error.

[gearsincorg]

I'm not sure what you mean that it only goes up to 100 rpm?
Are you just requesting 100 rpm, or is the motor only able to go up to 100 rpm?

A fair comparison would be to run the motor at it's rated max velocity and see if it overheats in the same way.
You should be able to reach the RPM that is printed on the gearbox.

[Theo-928]

I am using the Rev Hardware Client right now and the max velocity that it will let me set it to is 100 rpm.

[jfabellera]

You can change the min and max of the velocity slider in RHC2.

[jfabellera]

Is it still an issue when running in velocity mode? Throttle mode seems to have an issue where the motor is constantly giving super fast reverse voltage spikes, i.e. the motor is basically constantly fighting itself in that mode.

We'll release a patch today that improves throttle mode's current draw.

[Theo-928]

I will test that out when we start using the A301 again; our goal for right now to to get familiar with WPILib and to make a functioning starter robot using the hybrid system.

[Theo-928]

Alright, today we mounted the Systemcore onto a Gobilda starter bot with 2 expansion hubs. We then installed the base program from the examples on WPILib. We noticed an issue where each motor was being set throttle based on 1 axis of the gamepad stick.

I fixed this by going to our sample codes from the FTC SDK and putting them into the sample TeleOp program. I did have to edit the motor names and how to set power, but otherwise it was pretty straightforward.

robot.motor0.setReversed(true);
robot.motor1.setReversed(false);
robot.motor2.setReversed(true);
robot.motor3.setReversed(false);
double max;

        // POV Mode uses left joystick to go forward & strafe, and right joystick to rotate.
        double axial   = -userControls.getGamepad(0).getLeftY();  // Note: pushing stick forward gives negative value
        double lateral =  userControls.getGamepad(0).getLeftX();
        double yaw     =  userControls.getGamepad(0).getRightX();

        double frontLeftPower  = axial + lateral + yaw;
        double frontRightPower = axial - lateral - yaw;
        double backLeftPower   = axial - lateral + yaw;
        double backRightPower  = axial + lateral - yaw;

        max = Math.max(Math.abs(frontLeftPower), Math.abs(frontRightPower));
        max = Math.max(max, Math.abs(backLeftPower));
        max = Math.max(max, Math.abs(backRightPower));

        if (max > 1.0) {
            frontLeftPower  /= max;
            frontRightPower /= max;
            backLeftPower   /= max;
            backRightPower  /= max;
        }
        
robot.motor0.setThrottle(frontLeftPower);
robot.motor1.setThrottle(frontRightPower);
robot.motor2.setThrottle(backLeftPower);
robot.motor3.setThrottle(backRightPower);
//robot.servo0.setPosition(userControls.getGamepad(0).getLeftTriggerAxis());
//robot.servo1.setPosition(userControls.getGamepad(0).getRightTriggerAxis());

copy_4A27655F-DB16-4FE1-9F46-31938E4B22C8.mov

[Theo-928]

We have successfully gotten the Gobilda starter bot to be fully functional. We have the Systemcore connected to 2 expansion hubs.

public class TeleMode extends PeriodicOpMode {
private final Robot robot;
private final DefaultUserControls userControls;

public TeleMode(Robot robot, DefaultUserControls userControls) {
    this.robot = robot;
    this.userControls = userControls;
  }
    boolean isOn = false;
    boolean isLaunching = false;
  @Override
  public void periodic() {


    robot.motor0.setReversed(true);
    robot.motor1.setReversed(false);
    robot.motor2.setReversed(true);
    robot.motor3.setReversed(false);
    robot.leftFeeder.setReversed(true);
    double max;

    

  

            // POV Mode uses left joystick to go forward & strafe, and right joystick to rotate.
            double axial   = -userControls.getGamepad(0).getLeftY();  // Note: pushing stick forward gives negative value
            double lateral =  userControls.getGamepad(0).getLeftX();
            double yaw     =  userControls.getGamepad(0).getRightX();

            double frontLeftPower  = axial + lateral + yaw;
            double frontRightPower = axial - lateral - yaw;
            double backLeftPower   = axial - lateral + yaw;
            double backRightPower  = axial + lateral - yaw;

            max = Math.max(Math.abs(frontLeftPower), Math.abs(frontRightPower));
            max = Math.max(max, Math.abs(backLeftPower));
            max = Math.max(max, Math.abs(backRightPower));

            if (max > 1.0) {
                frontLeftPower  /= max;
                frontRightPower /= max;
                backLeftPower   /= max;
                backRightPower  /= max;
            }
            
    robot.motor0.setThrottle(frontLeftPower);
    robot.motor1.setThrottle(frontRightPower);
    robot.motor2.setThrottle(backLeftPower);
    robot.motor3.setThrottle(backRightPower);

  if(userControls.getGamepad(0).getEastFaceButtonPressed()){
    if (isOn == false){
  robot.launcher.setThrottle(0.65);
    isOn = true;
    } else if (isOn == true) {
      robot.launcher.setThrottle(0.0);
      isOn = false;
  }
  }
  if (userControls.getGamepad(0).getSouthFaceButtonPressed()){
    if(isLaunching == false){
robot.leftFeeder.setThrottle(1);
robot.rightFeeder.setThrottle(1);
isLaunching = true;
    } else if (isLaunching == true) {
robot.leftFeeder.setThrottle(0);
robot.rightFeeder.setThrottle(0);
isLaunching = false;
    }
  }
  
  }
}

We did have an issue with the Rio log saying that we are not connected to anything, we still have not found a fix to this. This issue started when we got the system, but we did not thing anything of it. We did learn that even if the rio log says not connected, as long as you are plugged in or connected to the wifi, it will deploy.

[Theo-928]

It has been about a week since I did another progress update. In the last week our team set up the motioncore on our GoBilda starter bot and got an A301 actuator running with the program.

We did have some issues with figuring out how to mount the A301 to GoBuilda parts, we were also wondering what types of bearings can we use for the 15T spline shaft that will mesh with the GoBilda system.

Does anyone know when the GoBilda parts are going to be released for beta test teams to use, because that would be very helpful for us.

[Theo-928]

This is my Robot.java file:

public class Robot extends OpModeRobot {
  public final ExpansionHubMotor motor0 = new ExpansionHubMotor(0, 0);
  public final ExpansionHubMotor motor1 = new ExpansionHubMotor(0, 1);
  public final ExpansionHubMotor motor2 = new ExpansionHubMotor(0, 2);
  public final ExpansionHubMotor motor3 = new ExpansionHubMotor(0, 3);
  public final ExpansionHubMotor launcher = new ExpansionHubMotor(1, 0);

  public final A301 testbed = new A301(CANBusMap.CAN_D0);


  public final ExpansionHubCRServo rightFeeder = new ExpansionHubCRServo(0, 0);
  public final ExpansionHubCRServo leftFeeder = new ExpansionHubCRServo(1, 0);

  /** Called once at the beginning of the robot program. */
  public Robot() {}
}

And this is my TeleOp:

public class TeleMode extends PeriodicOpMode {
  private final Robot robot;
  private final DefaultUserControls userControls;

  public TeleMode(Robot robot, DefaultUserControls userControls) {
    this.robot = robot;
    this.userControls = userControls;
  }
    boolean isOn = false;
    boolean isLaunching = false;
    boolean testbedOn = false;
  @Override
  public void periodic() {


    robot.motor0.setReversed(true);
    robot.motor1.setReversed(false);
    robot.motor2.setReversed(true);
    robot.motor3.setReversed(false);
    robot.launcher.setReversed(true);
    robot.leftFeeder.setReversed(true);
    double max;

    

  

            // POV Mode uses left joystick to go forward & strafe, and right joystick to rotate.
            double axial   = -userControls.getGamepad(0).getLeftY();  // Note: pushing stick forward gives negative value
            double lateral =  userControls.getGamepad(0).getLeftX();
            double yaw     =  userControls.getGamepad(0).getRightX();

            double frontLeftPower  = axial + lateral + yaw;
            double frontRightPower = axial - lateral - yaw;
            double backLeftPower   = axial - lateral + yaw;
            double backRightPower  = axial + lateral - yaw;

            max = Math.max(Math.abs(frontLeftPower), Math.abs(frontRightPower));
            max = Math.max(max, Math.abs(backLeftPower));
            max = Math.max(max, Math.abs(backRightPower));

            if (max > 1.0) {
                frontLeftPower  /= max;
                frontRightPower /= max;
                backLeftPower   /= max;
                backRightPower  /= max;
            }
            
    robot.motor0.setThrottle(frontLeftPower);
    robot.motor1.setThrottle(frontRightPower);
    robot.motor2.setThrottle(backLeftPower);
    robot.motor3.setThrottle(backRightPower);

  if(userControls.getGamepad(0).getEastFaceButtonPressed()){
    if (isOn == false){
  robot.launcher.setThrottle(0.835);
    isOn = true;
    } else if (isOn == true) {
      robot.launcher.setThrottle(0.0);
      isOn = false;
  }
  }

  if (userControls.getGamepad(0).getWestFaceButtonPressed()){
    if(testbedOn == false){
      robot.testbed.setVelocity(500);
      testbedOn = true;
    } else if (testbedOn == true){
      robot.testbed.setVelocity(0);
      testbedOn = false;
    }
  }

  if (userControls.getGamepad(0).getSouthFaceButtonPressed()){
    if(isLaunching == false){
robot.leftFeeder.setThrottle(1);
robot.rightFeeder.setThrottle(1);
isLaunching = true;
    } else if (isLaunching == true) {
robot.leftFeeder.setThrottle(0);
robot.rightFeeder.setThrottle(0);
isLaunching = false;
    }
  }

  }
}

[Theo-928]

All of our code can be found here:
GitHub

[gearsincorg]

The standard round 8mm bearing work with the 15T spline.

[Theo-928]

Ok thanks

[Theo-928]

Ok, today we built a base robot with the A301 motors. On the building side of things, we used GoBilda parts and had a hard time figuring out how to put together a wheel assembly with the shaft length provided. We did, however, find a solution, but it may not be the best one. Once GoBilda comes out with their parts, this will become much easier.

Now for the main issue while testing out the base.

Before testing: ⁃ We noticed one of the motors is significantly louder than the other motor when we manually spin it; not sure which one it was.

Test 1: We had the motor cables tightly cable-managed. Sparks came out of 23 motors when giving power to the motors

Test 2: We undid our cable management: ⁃ Normal, everything working fine, so we decided to bend some of the cables back.

Test 3: bent motor cable (with hand): ⁃ Some red lights showed from the motor with the reset sticky warning, but no sparks.

Test 4, bent battery cable (with hand): ⁃ Same result as test 3.

Test 5: Put back the cable management, but loosely. ⁃ Same as test 3 and 4.

Test 6, same cable management as test 5, but we drove it in the field: ⁃ Motor 0 stopped spinning when given power and showed a red light. On RHC2 the error showed as a sticky sensor fault. Also, while running, the motor would pop in and out of the hardware view on RHC2 and would reappear when there were no inputs. This is also when one of our teammates noticed the motor was harder to turn by hand.

We unscrewed the gearbox on the motor, and inside it looked normal except for 3 things. The paint or plastic on the outer ring of the coils had chips in it, and some was missing. The second thing was a small piece of green plastic between the coils and the magnets. The third thing we noticed was that when one of us turned the center piece with the magnets, it made a faint scraping sound. We put it back together and tested it with a different cable this time. Motor 0 showed a reset warning, CAN fault, and sensor fault before giving a command. After the command, it disappeared from the RHC2 menu. After it reappeared, it showed only the sensor fault. During these tests, some of the other motors also showed red lights but never had errors of their own; they only had a reset warning.

Our coach is currently checking the motor out with a microscope. I will reply to this when he gets back to me with the issue.

[Theo-928]

@franklima260 I do not know exactly which 3 motors it was, so we will send the 4 that were on that robot.

[franklima260]

@Theo-928 Let me know when y'all send support the email.

[Theo-928]

I asked my coach to send it, I do not know when he will.

[Supersoonsoon]

I will email the support tonight. Franklima260, do you think we can get the replacement A301 motors first before I ship our motors back? I suppose RevRobotics will cover the shipping cost or email me a returning shipping label. Best Regards, Coach Wan 😊

[franklima260]

@Supersoonsoon Following up on this, REV support has not received an email. Please let me know when you send it.