In the fourth week all departments contributed to tune version 1 robot and build version 2 robot. What the departments did are listed below:
Programming: Worked on auto rotation and cross piling vision code. They finished debugging autos, testing algae intake, redeveloped deep climb mechanism, and reinverted drive controls.
Mechanical: Finished all 2×1 frame extrusions, assembled climber and mounted it onto frame, finished telescoping arm, started assembling and riveting 2nd frame, made spacers for climber, made climber brackets
Electrical: Started working on the manufacturing on polycarbonate electrical board. Electrical finished the v2 CAD electrical board and made correct length ethernet cables
Cad: Started working on designing a mechanism that can do both coral and algae at once. Finished working on v2 robot.
The goals for next week are as follows:
Programming: Fix autos and program roller claw.
Mechanical: Finish making barge, build roller claw, and manufacture all of v2.
Electrical: Wire finished electrical board.
Cad: Finish drawings and work on rev 2 V2.
Finalized V2 Elevator: We needed to clear more space in the elevator’s inner most stage (carriage) for our Coral Claw to rotate without collisions. The solution is moving the cabling to the side extrusions of the carriage. 
Climber: Because V1 was fully together we tested our climber. The test proved that the design is about 90% correct. The arm walls had some collapsing causing the forks to twist and bend. We learned we need the fill the arm tubes with something that disallows this. 
Climber Break (Part 2): Because we chose to not add any sensors, we also ran the climber too long causing the Winch mount to be ripped on the robot. Luckily the design doesn’t need to change because it was cause by the winch running too long and the climber hitting metal and the winch mount lost the battle. We are still going to strengthen this by using 1/8″ wall instead of 1/16″. 
Coral Clawz: Cad is working on several new coral claw revisions that attempt to grab algae as well but currently don’t have anything substantial to see so here are some fun CAD whiteboard drawings.
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