Today, several improvements on the roller assembly were completed. The holes on both roller plates were hex broached to accommodate a new lower roller. A design flaw in the previous design allowed the lower roller to free itself and spin in a direction that did not allow the robot to properly hold the ball. A new shaft was completed. Additional shafts for the remaining robots will be manufactured in coming days, once the design is tested.
Work continued to tune the kicker positions for accurate ball scoring. With our 128 count encoder on the kicker, it zeros itself on every kick and is able to winch back accurately each time. The trampoline springs provide extremely repeatable force (as long as ball pressure is consistent). We have been working to tune the number of encoder counts which the kicker must winch back for optimum scoring from any point on the field.