kscottz

DRAGON BOT IS GO!

Dragon Bot Scale Model

FRC 830 has been collaborating with FRC 3322 to build a giant dragon robot for Maker Faire Detroit. I just got back from my trip and a chance to check in with the kids. The goal is to have a giant robot that plays sounds, shoots smoke rings, drives, lights up, and has animatronic eyes and eye brows. The students have prototyped an eye assembly using some servos controlled by the PWM ports on the cRIO side car. The eyes are controlled using the analog joy sticks on the gamepad. After a little bit of debugging we were able to get the animatronic eye assembly running this afternoon.

Another one of the students was able to build a small GPIO driven relay system to control the smoke machine which we plan to power using a second battery and a car inverter. In my spare time this week I was able to cook up a client-server system using RabbitMQ and get it running on the RaspberryPi. The only real trick was setting up the RabbitMQ conf file to run on the space constrained RaspberryPi. This is a little bit outside the scope of the kids ability, but now that I have a sketch working they should be able to take over. The hope is that we can use PyGame and ServervoBlaster to control the lights and sounds on the robot. I want to roll a GUI front end for this using pyGTK. The result looks like this (I now have the GTK gui running).

Mwaaaaahahahha. by @kscottz

FIRST 830 Vortex Cannon

Commercial vortex cannon from last year’s robot.

FRC Team 830 along with FRC Team 3322 are working on a show robot for the Detroit Maker Fair. Maker Works was even cool enough to give us a small grant to fab the robot! The working concept is a life-size animatronic dragon that shoots smoke rings. With my ample free time I’ve been figuring out how to make it happen using a combination of the standard cRIO FIRST platform and raspberry pi’s. Last’s year’s robot used a vortex cannon to knock over pac-man ghosts, but this year we wanted to go bigger. We are using the drive train from last year’s robot for the new dragon bot so we should have a lot more time to build cool animatronic stuff.

Hole in the bottom of the garbage can.

Vortex cannon diaphragm using 5mil sheeting.

I wanted to see how big of a vortex cannon we could build. Following some examples I saw on the internet I picked up a garbage can at Recycle Reuse and grabbed some 5 mil plastic sheeting I was using for the garden. This weekend we fabbed a prototype smoke cannon. The design is really simple, you just saw out a circle in the bottom of the garbage can and add a plastic diaphragm on the open side of the can (I secured it with some large rubber bands and duct tape). The trick is to provide a good amount of slack on the diaphragm.

The smoke machine makes the vortex rings visible. This weekend I tried to use some dry ice “smoke” to visualize the rings. The results weren’t that impressive, but playing with five pounds of dry ice was really fun (hint, if you put a quarter on dry ice it “squeals”). Today we tried using a professional fog machine and the results were much more impressive as you can see for yourself.

As for the rest of the animatronics we want the dragon’s eyes and eyebrows to move and for the dragon to play sounds. If we have enough time we want the dragon to have some “ground effects” LED lights. Right now the plan is to drive all of this off the GPIO pins on two raspberry pi’s. We plan to drive the pi’s off a separate router system connected to the cRio’s filtered 5V power supply (with a step up converter). The smoke ring mechanism and smoke generator will probably run off the cRio. The plan is to have each of the pi’s run a python script that provides access to PyGame (for sound), pi-blaster, and servo blaster. Tentatively I think we can use the Pika RabbitMQ library to move message between a client control application and servers running on the raspberry pi. Both the raspberry pi’s will be dispatched by running a client python app that also uses PyGame to grab input from the keyboard and a joystick. Right now we have a skeleton github repo for the project that should get filled out over the course of the summer. I must also add that I am really impressed with the AdaFruit Black Raspberry Occidentalis raspian distro. I am going to be gone for the next month so I can point the kids to the tutorials and let them go to town.

ROBOTS FIGHT!

FRC830 has our second competition of the season in Livonia this weekend. We had the competition bot unbagged for a few hours today and decided to give our drivers some time to practice.

Crawl, Walk, Drive

We finally got the FIRST Team 830 drive train up an running. We still have a lot of hardware to attach, but this is a good start. currently the control system and battery are just loosely attached with cable ties. This will change once we get the final build-out of the pickup and firing mechanism. We have yet to test the pneumatic gear shifters or a PID controller so in these videos the robot is in low gear and capped at seventy percent power.

This is the first run of the robot.

Once we got used to the control I slipped my cell-phone in a spare cRIO slot and got some video.

I have a few screen captures of our current design that gives the programming team a better idea of what other subsystems we need to code and design controls for. Unfortunately I don’t have a nice overview image of the final cad design.