** please use one of following for subteam:
Mechanical, Controls Hardware, Marketing, Design,
Project Management, Programming

Five members and three mentors went to U of P, the rest of us stayed at the shop for kickoff
Read the rules in pairs of one veteran & one rookie -- noted all possible points, penalties, prevention of points
Acted out the game near the baseball field
Analyzed for chokehold strategies -- decided a possible one would be to triple climb and have a simple control panel mechanism
Cost-Benefit Analysis -- determined all possible functions
Used cost-benefit to split into groups of two veterans and two rookies to create a robot with a realistic combination
Decided upon following priorities: 1) climber 2) ground intake 3) carrier for power cells 4) shooter (still debating high vs low)
Created Needs-Wants-Luxuries table here: https://docs.google.com/document/d/1FsOi8MtsLCfUmeLvUG8UFe3dKnQpANXLOpLkZrvcmwo/edit?usp=sharing

8-wheel drivetrain complete! We used grippy wheels, and the dims of the drivetrain are 26x32.
There is a bit of an issue with the electrical as we have split spaces: a 15x15 area and a 15x7 area to put components.
The superstructure will likely go on top of the bumper mounts, making the electrical easier to reach, but that means making some of the bumper mounts 1x2 tubing instead of 1x1.
The bellypan has also need complete, and we can put a design there depending on what we want (such as the 2018 beaver or comic sans)
We also need metal bearing blocks so that they stay durable throughout the season, so that is on our shopping list.

Tried using docstring tests (doctest) using the command do_tank_drive to start. We needed to mock the BeaverTronicsRobot object made in
robot.py to do this and doctest does not support mocking very easily. Then we started using pytest
( a tests dir was made locally on desktop 'cinder' at the shop but I don't think it was uploaded to github).
We have not figured out how to mock with mock from unittest but are working on figuring it out.
Once a template for writing tests is made it should go much quicker.
Made a mock template, but not working yet though.

Determined list of variables (motor type, wheel mass, wheel type/material, angle of ball, compression on ball)
Designed around the variables. Hex shaft positioned approx 15-in off the ground, using 6-in diam wheels
Note: good to use 6-in diam wheels since radius quadratically correlated with moment of inertia, impacting angular momentum
Radius of hood approx 9in [center at point (-30, 15) with bottom left corner of bot/bumpers at origin]
Going for 80-deg launch angle so bot can drive right up to the target scoring zone for fixed reference

Changes to make:
finish mounting one 775pro motor on design (4:1 versaplanetary, 1:1 controlling motion of shaft)
add more mass to hood to minimize impact of angular momentum loss for consistent trajectory of successive shots
trim hood so circular curvature is differentiable with desired trajectory at launch point (in less mathy words, smooth transition between curves)

Finished building the prototype
Attached the motor, started testing, still have to adjust distance from the wall and figure out how to adjust angle after that
25.5 inches away from where the wall would be, 7-deg angle
Consistent shot hitting near the top of the door once flywheel fully revved up -- variability in shot is likely more due to speed variation

Things to work on:
the shaft is at 11in off the ground. Desired 15in -- will have to adjust the angle but distance will remain constant (predicted 8 deg)
measure radians covered by shooter hood currently. thus know how much ang speed ball would be entering shooter if feeder shoots ball at point tangent to horizontal (thus convert to linear speed)

Made an example test which mocks the BeaverTronicsRobot class and the Drivetrain subsystem class. Also made template for future tests.

Performed a lot of tests, discovered the best qualities are as follows:
shaft 25 in from wall, 17.25 in from ground
angle = 26 degrees
travels 53 degrees before passing horizontal
17.5" ish wide
8.5" wide inside
motor stuff = 6" long
weights = 3.5" long
drop 5" at 26 deg angle going into shooter, wait 5 sec after revved up

probably want rubber gaskets on mount to frame so shooter doesn't get jostled while driving over bump
note: while modifiable shooter hood has not yet been prototyped, the prototype as a whole is finished
CONSISTENT SHOT, MADE 5 OF 5 SHOTS IN A ROW ONCE ANGLE WAS ADJUSTED CORRECTLY. WIDE VARIABILITY IN PREVIOUS VERSIONS WAS DUE TO ANGLE (7 TO 8 DEG IS TOO LOW)

Tested on the target for about 30 mins, found out that it's kind of consistent but we need to build a more sturdy design (it might or might not fix the consistency of the design.
Dismantled prototype 1.0

Finished the intake mechanism except for the pistons that will retract the intake so that it stays within our frame perimeter at the beginning of the game.
The optimal distance between the wheels and the ground was found, but pistons add!

The new 6-inch traction wheels that have more friction than the ones that we have right now are slightly wider than anticipated,
forcing our bumper mounts to increase 1 inch on both sides to cover the wheels. We strengthened the bumper mounts to allow for
the superstructure bars to be mounted on top of the drivetrain high above the bellypan so that electrical has enough space to work. We can also
use boltification on the bars to remove the superstructure when needed (although it's a challenge to unplug all of the electrical).
The bellypan was also completed with Star Wars font and sent off to Bridge City Steel along with gearbox plates for the 2-CIM ToughBox Mini's
that we were working on putting together earlier at the meeting. We also sent L and T brackets to BCS so that we can put the pieces of tubing
together.
The main challenge that I see going forward is drilling some of these holes in the parts. It is going to be a challenge to have accuracy on the drill
press, so mentors should be keeping their eyes on the team members fabricating these parts whenever possible.
The only things we need to CAD going forward on the drivetrain are the pulleys that will prevent the belts from colliding with the bellypan and
the specific lengths of the spacers to put on the wheels so that we can start printing those in our 3D printer. Overall, the bot is looking pretty
snazzy not gonna lie.
Going forward, Reyna will likely be CADding whatever shooter we come up with, Paige will be working on the intake, and Ian (me) will be working
on the climber and integration of all of the systems. We are a bit behind on the GANTT chart so the CAD is going to be a crunch, but it's fine.
We'll make it. Extra CADders encouraged!
Previous entry was a lie btw it was far from complete I think I was just very excited in putting on another wheel. Hahah.

Drawings from CAD have been printed out, and all of the tubing has been cut with the band/miter saw, Not all holes have been drilled because
we need to do so very accurately and carefully, or else an entire part will be ruined and metal could be wasted.
We also used an old Steamworks drivetrain part that was CNC'ed by AndyMark a long time ago and used the holes spaced 1/2" apart as a
reference to drill very accurate holes on the drill press. This was amazing for patterned holes!
Short drivetrain pieces done completely. Long drivetrain pieces have yet to be drilled because the holes need to be very accurate.

Paige and Jason Jr.

Mr. Simenson and I started laying out the marks for the complicated part. The holes will be drilled on the 23rd, and will hopfully be done then.

775 Motor Connection

Filed and riveted fully, all stationary parts
Trying to mount gearbox but having trouble bc slots aren't big enough. Need to take apart gearbox and reassemble on drivetrain. We can do this early in next meeting
Next meeting we'll have wheels and can put on pulleys

Will give to programmers soon!

Gearboxes attached -- had to dremel part of the bellypan away to get the gearboxes in
Re-assembled gearboxes on the frame
Had to reassemble the bearing blocks bc trapezoids on rectangular tubing -- learned that need to tighten both screws a little at a time so it's even
Need to add tensioners next
Found a way to use tensioners -- cut aluminum tubes & put bolt through brackets

Need to tension pulleys & mount wheels then DONE

Completed the shooter, shooter encoder, carrier, and feeder subsystems programming.
Completed the shooter command group, involving do_shoot, do_carrier, do_feeder, and do_stop_shoot commands.
Most likely works, there might be some problems with the integration of different commands, and the timing of certain wheel and motor based
commands

Got the frame put together, put 1 arm on. Had to get special bolts. Put on winch shaft, need to mount motor and need to add pistons. Once this is
done can put on robot

Almost done wiring CAN bus, need to tin wires next time. Need to route wires.

Using new wiring technique where wire extensions made for pwm to rio so that less stress put on actual pwm wires and unplugged fewer times

Finished assembling, prepared it for mounting. To get battery into the mount, need to remove a bolt and rotate bar. Waiting for shooter to mount
to robot

775 Motor Connection

Assembled the left and right sides of the carrier and there were struggles with lining up. Rivet holes didn't line up, but oval drilling fixed it. Jank but it worked!
Cut out the polycarb, baby belly finished fabricating! (bellypan of the carrier)

Discovered that encoder mount doesn't fit over bolt connections on 775pro motors, so we took off the bolts and will have to re-do those later
Broke a mount in the process but used acetone to fuse mount back together (I guess it's ABS plastic)

RS7 Encoder!!!!!!!
Need to solder wires onto three encoders (need experienced solderers)