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

plan A
- advantage:
- disadvantage:
- cost
- Required time:

Right rocker arm remanufacturing

???

MEDIUM

Inventory

Item Name

Status

Cost

referencing document

Insert the product name here

PLANNING

ORDERED

TESTED

INSTALLED

$

datasheet
user manual

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)