Ghost II - The Son of Ghost

Ghost has been getting a makeover....first the we cut the frame and opened it up to allow for tote intake in the front:

Next, we have been modifying the drivetrain to add omni wheels.

Here is the first iteration with four wheel drive and the omni wheels in back:

The rear-steer was a bit tough to get used to, and the swing arc is probably too for tight-maneuvering among tote stacks.

So, we went back to six wheel drive with omni wheels in the corners:

T-Shirt Cannon Overview

The team has begun the process of building a T-Shirt Cannon

Here is a rendering of roughly what the cannon part is going to look like:

I have tasked the programming team to start thinking about the control system for this beast with the notes and lists below.  

This is a group design so everyone's input is welcome!

PROGRAMMING LANGUAGE (optons)

C++ using this method (https://usfirst.collab.net/sf/wiki/do/viewPage/projects.thunder_crio_c_tools/wiki/HomePage)

Labview using this method 
(https://decibel.ni.com/content/thread/26700)

Java ?? I haven’t found a method yet that is workable

ON THE ROBOT
The cRio will require some extra effort on someone’s part to get up and running and programmed to perform the functions:
Drive base mobility
- arcade drive
-

Compressor control
- charging the air system properly

Launcher
- Tilt function (like Lofty’s arm, but most likely with a spike relay and window motor)
- Revolver Indexing (air cylinder / pawl mechanism to index the barrels)
- Firing Mechanism - 12 or 24V solenoid fired with a spike relay
- Safety Mechanism (secondary switch to prevent firing when not wanted)

Bling / Lights
- do we want lights?? Neo Pixel status lights perhaps??

   - charging

   - ready to fire

   - safety off

   - FIRE!!  

   - suggestions???

DRIVERS STATION
- Assumption: Classmate, 1 Joy Stick, 1 Custom firing box

- Lightweight drivers station setup that can easily be transported to events
- Good opportunity to use the (appropriatly named) Launchpad (http://goo.gl/RCAUNF) for a firing control box

We welcome any and all constructive feedback!!