Dawg Blog


We discussed the different permutations of autonomous routines. We will make a list of these in the future. Then the programmers split into groups to begin work on everything possible without knowledge of the exact mechanism our robot will have. The groups are working on: Implementing Cheesy Drive, creating the autonomous logic framework that will decide which routine to run based on plate colors, using vision to detect power cubes, logging, and a path drawing program for easy creation of autonomous paths to be followed by our pure pursuit algorithm. All of our roboRIOs and radios need to be configured for the new.-Ethan Frank, Control Systems Lead
Electrical started wiring sensors so we can test their ability to detect power cubes in the robot and the lines of tape on the carpet. -Ethan Frank, Control Systems Lead


On Tuesday, the entire team discussed point analysis for the game, including the maximum number of points and the realistic highest score an alliance can receive. We then discussed the roles that are available for the robot during the game, including the places that robots can receive power cubes. Afterwards, we formed small groups where we described alliance strategies, such as an alliance with a scaler, vaulter, and counter-switcher (defense on the opponent’s switch). After this, we listed out all possible robot actions during autonomous, teleop, and the endgame. Considering all the individual point values for the different roles, we decided on primarily being a scaler. With this in mind, we began to work on our Need/Want/Wish list to prioritize our design goals. -Annie Liang, Strategy Lead  


Today, we went to Hatboro-Horsham High School to see the game reveal for FIRST Power Up, FIRST’s 2018 competition for FRC. There, we took notes on the videos and rules and studied the wooden mockup structures that Team 708 volunteers and FIRST employees had brought out and developed. Afterwards, we returned to Lower Merion and reviewed the game manual as a team. Following our strategic design process, we created questions about the rules and answered them as we read through the manual. -Chris De Santis, Awards Lead


Today was the first test run of our swerve drive! The “Calculate swerve commands to wheel angles and speeds” and “Use PID to set wheel angles, and open-loop the speed” teams finished their code, which was then merged with the “Joystick data to swerve commands” team’s code to make a fully functioning (albeit poorly) swerve drive. -Ethan Frank, Control Systems Lead


We calibrated the absolute encoders that measure wheel angle on our swerve modules. We also fixed an issue where we were telling the wheels to turn to an angle that was outside of their range. Ethan Frank, Control Systems Lead