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[[File:LOGO - Combat Robotics.png|thumb|Duke Combat Robotics logo]]
[[File:LOGO - Combat Robotics.png|thumb|Duke Combat Robotics logo]]
Welcome to the technical reference wiki for '''Duke Combat Robotics'''. [https://sites.duke.edu/combatrobots/ If you want general information about the team, see our website].  
Welcome to the technical reference wiki for '''Duke Combat Robotics'''. If you want general information about the team, '''[https://sites.duke.edu/combatrobots/ see our website]'''.  


== Semester ant-weight build schedule ==
== Semester ant-weight build schedule ==
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|mid-late February
|mid-late February
|Research and design of prototype bot. Figure out overall shape, how to attach motors, etc.
|Research and design of prototype bot. Figure out overall shape, how to attach motors, etc.
'''''SendCutSend''* order #1 happens at end of week 5'''
'''''[[Ordering from SendCutSend|SendCutSend]]''* order #1 happens at end of week 5'''
|-
|-
|6-9
|6-9
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|March
|March
|Fabricate and assemble full robot in detail, test it in the box, see what's bad, fix it, etc.
|Fabricate and assemble full robot in detail, test it in the box, see what's bad, fix it, etc.
'''''SendCutSend''* order #2 happens at end of week 9'''
'''''[[Ordering from SendCutSend|SendCutSend]]''* order #2 happens at end of week 9'''
|-
|-
|10-12
|10-12
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|'''Competition!''' Typically the first Saturday or Sunday of undergrad reading period.
|'''Competition!''' Typically the first Saturday or Sunday of undergrad reading period.
|}
|}
<nowiki>*</nowiki> ''SendCutSend'' is a commercial service that offers precision cutting of many materials. We especially use them to order laser cut AR500, an armor plating steel suitable for combat robot weapons. See technical tutorials below for details.
<nowiki>*</nowiki> ''[[Ordering from SendCutSend|SendCutSend]]'' is a commercial service that offers precision cutting of many materials, including AR500 armor plating steel, suitable for combat robot weapons.  


== Making your first combat robot ==
== Major pages ==
[[File:2S LiPo battery.png|thumb|2S LiPo battery]][[File:N20 brushed DC motor.png|alt=N20 brushed DC motor|thumb|N20 brushed DC motor]]
[[File:Brushed dual motor controller.png|thumb|Brushed dual motor controller]]
[[File:"Tyler wheels" - two part 3D printed wheels for N20 motors.png|thumb|"Tyler wheels" - two part 3D printed wheels for N20 motors]]
[[File:A2212 Brushless DC (BLDC) motor with motor controller.png|thumb|A2212 Brushless DC (BLDC) motor with motor controller]]
[[File:Microzone MC6C transmitter and receiver.png|thumb|Microzone MC6C transmitter and receiver]]
[[File:Automotive rocker switch with LED.png|thumb|Automotive rocker switch with LED]]
Our internal competition is for '''antweight''' robots, meaning a weight limit of 1 lb (454 g). We follow [http://sparc.tools/ the SPARC rules], which you should read (they're not long).


This tutorial assumes you're making the most common type of antweight design: '''two drive wheels''' and '''one weapon motor''' with a spinning kinetic weapon. You don't have to make a bot like that, but it's a good place to start.
* [[Battery management]]
 
* [[Making your first combat robot]]
=== Components and general layout ===
* [[Competition rules and procedures]]
The basic combat robot doesn't have any code or autonomy -- it's plain remote control, like an RC car. We use the following components:
* [[Hudson 3D printers|Access to TPU-capable 3D printers in Hudson]]
 
* [[Tyler Wheels]]: 3D printed wheels with silicone tread
# '''Lithium Polymer (LiPo) batteries''', typically of the "2S" (7.4V) variety. These connect with a yellow XT30 plug, but also have a white connector used only for charging. [https://www.amazon.com/gp/product/B0719TD5BT Example].
* [[CORO 2|Tyler's Robot: CORO 2]]
#* NOTE: LiPo batteries can be dangerous! Don't over-drain them, puncture them, or short them out. If you do, they may swell, become hot, and even shoot fire. Dangerous-looking batteries go in the "oh crap" metal box in the Foundry, or in the team's sand bag.
* [[Ordering from SendCutSend]]
# '''Brushed DC motors.''' Used to drive the wheels. We typically use "N20" model motors, which have a little integrated gearbox. [https://www.amazon.com/300RPM-Torque-Reduction-Gearwheel-Gearbox/dp/B0B8DBZLT4 Example]. 
# '''Wheels'''. We mostly use "Tyler wheels", a two-part 3D printed design that Tyler Bletsch came up with. Some groups order commercial wheels or do something else instead. If you give a desired diameter in #3d-printing on Discord, Tyler will print some for you. [https://cad.onshape.com/documents/40839d0e3bb07b8b41b1f054/w/f84b27d1a7ba6444fd4af164/e/97b3036297a7595f462067ce CAD]. 
# '''Brushed Electronic Speed Controller (ESC)'''. An electronic component that listens to the radio receiver and governs brushed DC motor speed and direction accordingly. We use a model that controls two motors from one unit: [https://www.amazon.com/gp/product/B081LBL42J example]. 
# '''Brushless DC (BLDC) motors'''. Used for spinning kinetic weapons. These have 3 wires instead of 2, and need a different kind of controller. They get to crazy fast speeds. We most commonly use [https://www.amazon.com/gp/product/B07CV8WH2F A2212], but some groups use [https://www.amazon.com/AKK-RS2205-Brushless-2300KV-Quadcopter/dp/B07BQRGT7Q RS2205], which is more fragile but has an easy to use screw shaft. 
# '''Brushless Electronic Speed Controllers (ESC)'''. Listens to the radio receiver and governs the brushless DC motor speed. [https://www.amazon.com/gp/product/B00QRR7N32 Example]. 
# '''Electrical connectors'''. We use various wire and electrical connectors, including:
## '''XT30''': Yellow, two conductor, can only be plugged one way. We use these for all high power connections (battery, brushless ESC) 
## '''JST''': Red, two conductor, can only be plugged one way. Lower current than XT30, these are what come on the brushed ESCs, and what we solder onto the brushed motors.
# '''Switch and LED'''. You gotta have a power switch that is externally accessible. The cheap and easy option are automotive rocker switches ([https://www.amazon.com/gp/product/B091TMBVH6 example]), but more ambitious groups can use [[screw switches]] to prevent accidental deactivation of your robot. 
# '''Radio transmitter/receiver'''. We use standard RC transmitters and receivers. [https://www.amazon.com/gp/product/B07RPFMPKZ Example].
The electrical layout of the above typically looks like this:
[[File:Electrical layout of a two-wheel one-spinner combat robot.png|none|frame]]
We'll cover how you achieve this below.
=== Battery management ===
 
=== Wiring harness ===
 
=== Scrap bot ===
 
=== Common robot designs ===
 
=== Fabrication tips ===
TPU
 
Weapon hubs
 
Advanced material selection


== Meta-information: About this Duke MediaWiki ==
== Meta-information: About this Duke MediaWiki ==

Latest revision as of 13:12, 27 April 2024

Duke Combat Robotics logo

Welcome to the technical reference wiki for Duke Combat Robotics. If you want general information about the team, see our website.

Semester ant-weight build schedule

Students work in groups of 1-4 to build an ant-weight (1lb) combat robot, with an internal competition being held at the end of each semester. Students are strongly encouraged to keep to the following schedule to ensure they end up with a robot they can be proud of!

Week Fall dates Spring dates What to work on
late August - early September mid January (Pre-season: first ~3 weeks of classes)
1-2 mid September late January - early February Wiring harness, "scrap bot"
3-5 late September - mid October mid-late February Research and design of prototype bot. Figure out overall shape, how to attach motors, etc.

SendCutSend* order #1 happens at end of week 5

6-9 late October - early November March Fabricate and assemble full robot in detail, test it in the box, see what's bad, fix it, etc.

SendCutSend* order #2 happens at end of week 9

10-12 mid-late November early-mid April Do test skirmishes with your robot, refine as needed.
13 early December late April Competition! Typically the first Saturday or Sunday of undergrad reading period.

* SendCutSend is a commercial service that offers precision cutting of many materials, including AR500 armor plating steel, suitable for combat robot weapons.

Major pages

Meta-information: About this Duke MediaWiki

Access: This wiki uses the same underlying software as Wikipedia, mediawiki. To edit, you need to login (upper right of the page) and to have been granted edit access. To request edit access, ask Tyler Bletsch to add you. All club members are eligible to get wiki access; just ask. Note to Tyler: You can edit who has wiki access at your policy group at this link. Details here here.

Editing: The various edit buttons bring up different editors, but all do the same thing. Use your favorite.

Making pages: Link to a page with a new name, then go to that empty page and edit it to add stuff there.

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