Project Drivetrain
Overview:
The drivetrain system is critical to the URC 2025 competition requirement. It enables the rover to move inside the desert and carry the equipment to a specific location required by the competition. The system will also be directly interlinked through IPC with the autonomy system to provide middleware for autonomy to control the rover and focus more on high-level intelligent planning.
Requirements:
Six motor and wheel turning
rocker-boogie suspension
Provide a chassis to install the rest of the system on top of the drivetrain
power through a 48v battery
user joystick input
Autonomy abstract command input
User control mode
Direct joystick mapping (worst-case fallback mode)
speed input controlling
GPS position input controlling
arcade controller (gives the user more control flexibility)
soft-start/ speed ramping(improve current draining performance)
CAN communication
Close loop control
Global positioning estimate(GPS) and local positioning estimate(encoder)
System re-sync and recalibration(if required) [Estop Triggered]
Note: The drivetrain feedback loop differs from the motor driver's built-in control loop. It fuses the global and local positioning systems to compensate for the effect of the desert environment or terrain.
Constraint:
Limited mechanical attention will be on this system
Need to return the 4 spark flex currently used in the system
Nice to have:
The right side of the drivetrain chassis reassembly
wheel remanufacture
driver beyond visual line of sight rover behaviour sensing
support specific tuning on each of the wheel independently
thermal monitoring
Interface:
Interface with communication system
User input
System status dump to GUI
Interface with Autonomy
System control input
Design validation decussion
insert the meeting minutes for all the discussion
Architecture:
Mechanical Design of the current drivetrain system
URC 2025 competition Drivetrain:
Insert a software sequence diagram:
Timeline(need to discuss with @Alex Szabo
define major milestone(decouple all the parts)
three stage
design
MVP
cleanup
Demonstration date
Link to subteam tasks lists and assignee document
Risk mitigation
Subtasks | Status | Impact evaluation | alternative solution | Max allowance time |
|---|---|---|---|---|
danger ??? the impact have not been understood on track | High will affect multiple system functionality Medium will affect one or two low-priority system Low does not affect the rest of the system |
| ||
Right rocker arm remanufacturing | ??? | Medium |
Inventory
Item Name | Status | Cost | referencing document |
|---|---|---|---|
Insert the product name here | Planning ordered tested installed | $ |
|
Update & Action Items
Member | Update | Action Items |
|---|---|---|
New Tasks
@Alex Szabo please fill this section out
General Notes
Investigation on the FRC motor controller
https://docs.revrobotics.com/brushless/spark-max/control-interfaces (High level CAN overview)
https://docs.revrobotics.com/brushless/spark-max/encoders (Encoder system)
https://www.revrobotics.com/rev-21-1652/ (Motor Information)
https://docs.revrobotics.com/brushless/spark-max/closed-loop-control (Close loop control explained)
https://docs.revrobotics.com/brushless/spark-max/parameters (Motor Driver config)
https://docs.wpilib.org/en/stable/docs/software/can-devices/can-addressing.html (Information regarding FRC general CAN)
Project ownership(person to contact)
Name of the person (Onsite/ Remote)