Actual Postmortem

Tags: organization
Personhours: 110
Actual Postmortem By Jayesh, Caitlin, Omar, Max, Tycho, Darshan, Trace, Alisa, Ethan Evan, and Dylan

Nolan Tournament

Post-mortem

We have 1 weekend to get it right!

Iron Reign

INTRO

While we had a great tournament, we had major fails on the robot itself and still have a lot of room for presentation improvements. We have 2 weekends to fix everything and it does not seem like enough time.  Since a majority of us were too tired to meet on Sunday (completely understandable), we need to do some of our post-mortem analysis online.  So every team member must contribute to this document or at least read it.  Be sure to check-in by adding your name to the bottom section. This is additive - you may not delete anything written by other team members.

PROCEDURE

  1. Read the entire document
  2. Add notes or add rows when you see anything missing from the review
  3. Add your initials in the VOTE column if you want to be part of the solution to the particular problem
  4. Sign-in at the bottom to show that you at least read the document

ROBOT - Chassis

ISSUE

SUGGESTIONS / ALTERNATIVES

VOTE

Threw a track 1 time at tournament

●      Add side shields

●      Add debris deflectors on beater end - 3Design for accuracy

●      Experiment with alternate tread materials for longer-term

Dylan

Max

Plow failed constantly

●      Make it a flat bar permanently affixed - leave it up to driver to not incur block count penalty (may not work with mountain climbing requirements)

●      Redesign servo linkage so it doesn’t slide and can’t come apart

●      Fix mounting to hinges with holes through steel so they won’t come apart

●      Add taller aluminum plate to steel rod so blocks won’t hop over the plow

Ethan

Evan

Max

robot size

●      try to decrease length/width

Jayesh

ROBOT - CliffHanger

ISSUE

SUGGESTION

VOTE

Elevation control servo burns out

●      Replace servo again

●      Add another cheap servo to operate a switch that can disable the signal to the elevation servo at the end of the match so it doesn’t burn out while judges are counting up points. [Tycho’s idea]

●      Replace servo with a regular Neverest motor and use PID control.  Heavier and more complicated but unlikely to burn out.

●      Investigate overheating of servo controller - maybe add a second servo controller.

Omar

Tycho

Extension / retraction doesn’t work after autonomous

●      Figure out how to make motor mode switching work as advertized

Tycho

Need presets for Extension / Retraction

●      Tape ticks-per-meter already worked out.

●      Measure common extensions for Mountain and Cliff targets

●      Figure out which Mountain mode control buttons to use

●      Continue manual override for strange situations

Tycho, Omar, Darshan

Need rapid replacement of entire system

●      Build second entire CliffHanger assembly including mounted motors.

Trace

ROBOT - BEATER BAR

ISSUE

SUGGESTION

VOTE

Beater Bar didn’t fold up small enough

●      May need to go back to sliding mechanism.  Install slide trigger and bungies

●      Redesign smaller double bar assembly so it isn’t the full width of the robot (for super-regionals)

●      Need a proper way to tuck it under the lowered trough before match start

 

Trough control servo got all twitchy

●      Investigate health of servo.  Replace with digital servo?

Omar

No “All Clear Signal” solution. This is the V on top of the mountain.

●      Trough, if it rotates more, could serve as a hanging lock and a way to pull down the V (all clear signal)

Omar

Blocks fall back into robot instead of out the side

●      HDPE backing for trough needs to be re-done so that it will make the blocks fall out the end when inverted.

Evan

Blocks get stuck on conveyor belt

●      Widen backing sheet (same fix as above)

●      Make rollers to guide elastic drive belt around polycarb edges so the belt doesn’t get stuck.

●      Cover outside of belt with rubber cement to increase friction with blocks

Ethan

Ramp doesn’t work

●      Design a working ramp and print it - should interleave with beater tines and create a raking effect to pull blocks up.

●      May need overhead rake to guide blocks into trough - prevent overshoot

 

Max

ROBOT - DRIVER SUPPORT (reduce demands on driver)

ISSUE

SUGGESTION

VOTE

Automatic Mountain Alignment

●      Add Sharp IR sensors for wall following

●      Use IMU to maintain heading on mountains

●      Enable mountain mode automatically based on IMU pitch

●      Use huMoments to find lines in OpenCV and determine ramp center from that (long term)

 

Automatic Mountain Scaling

●      Sync cliff-hanger retraction/extension with track motions

●      Maintain manual override for abnormal situations

Omar

Direction toggle

backwards and forwards

Jayesh, Max

Drive team

●      Make designated robot team, have subs, but one main squad. We tried to have different people but ended up with same team as last competition. If this works keep the team and have them practice together, otherwise make a permanent team with 1-2 subs when a person needs a break.

Jayesh,  Dylan, Omar

ROBOT - AUTONOMOUS

ISSUE

SUGGESTION

VOTE

We’ve never fully tested it

●      Make a schedule for practices with goals for each meeting (include specific number of times to run.)

Lux

Button pushing fails

●      Redesign pusher plate so spikes are less dense and probably a hexagonal array

●      Add servo-based brake on tape so it can’t be pushed back into the reel

●      Improve PID on color tracker

 

Doesn’t have alternate modes

●      Mode to climb lower mountain

●      Alternate starting location

 

Pre-match option selection needs to be easy and fast

●      Driver Practice--brainstorm in vivo.

 

ROBOT - Missing Features

ISSUE

SUGGESTION

VOTE

No solution for triggering mountain climbers

●      Bar that extends to either side of the robot at the right height

Omar, Darshan

make depositing climbers happen even if in teleop

●        involves trough servo working I guess

Omar

PRESENTATION

ISSUE

SUGGESTION

VOTE

Too much dependence on Jayesh and Caitlin

●      Move slides to other speakers

●      practice q&a where everyone has designated topics to answer over

Jayesh, Ethan

Not very fluid

●      practice

●      practice

●      practice

Everyone

Optimize last half of slide desk

●      Give practice demo to non-team=members and ask for feedback.

Jayesh

Integrate live demo

●      how about a chin-up bar?

●      Or show the video of the basketball hoop as you are speaking: memorable.

Ethan Dylan

Forgot to supply Control award sheet

●      Control award needs better graphic

●      Autonomous program

Dylan

Tournament Prep & Protocols

ISSUE

SUGGESTIONS

 

Packing out for tournaments disorganized, items forgotten,people stressed

●      Generate a reusable checklist & post to blog. Classify categories/storage boxes.

●      Designate boxes for specific items/categories  and attach labels of contents

●      Pack and prepare the night before

●      Give each person specific assignments/responsibilities

●      Have a master list of all boxes that need to be packed.

Lux Dylan

Caitlin

Last minute journal printing

●      Deadline for journal 48 hours before the competition.

Caitlin

Battery maintenance haphazard

●      Develop a solid protocol

●      Appoint a Charge Czar to be responsible for maintenance of batteries and tracking the battery charging box before and throughout tournament.

Caitlin

Develop a memorable brand or “team spirit” concept

●      Iron Reign as Roman Legion--develop a standard to carry into competition (probably for team in the stands)

●      Update photos/banners to current year.

●      aluminum foil hats (crowns)

Darshan

Alisa

 

Check In

Name

Sections I worked on

Coach

got it started

Assistant Coach & Pizza chef Lux

Organization/tournament

Jayesh, Max, Caitlin

mechanical+pres+robot team

Ethan, Evan, Dylan

Presentation, Beater Bar, Chassis

Omar, Alisa, Trace

cliffhanger, beater bar, driver support, missing features

Darshan

cliffhanger, missing features

Tycho

Cliff servo

 

 

Written on February 1, 2016