Agile design for first robotics
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Agile Design For FIRST Robotics. 2009 FIRST Robotics Conference Atlanta, Georgia. Greg Marra & Tom Bottiglieri. Greg and Tom. TheBlueAlliance.net Boston Regional College Students in Boston( ish ), MA Olin College Northeastern University FRC Alumni & Mentors 177 - Bobcat Robotics

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Agile Design For FIRST Robotics

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Agile design for first robotics

Agile Design For FIRST Robotics

2009 FIRST Robotics Conference

Atlanta, Georgia

Greg Marra & Tom Bottiglieri


Greg and tom

Greg and Tom

  • TheBlueAlliance.net

  • Boston Regional

  • College Students in Boston(ish), MA

    • Olin College

    • Northeastern University

  • FRC Alumni & Mentors

    • 177 - Bobcat Robotics

    • 195 - The Cyber Knights

    • 125 - The Nutrons

    • 2124 - The X Factor


Agile development

Agile Development

  • Movement in Software Engineering

  • Values:

    • Teamwork over Process

    • Frequent Reflection and Adaption

    • System Level Understanding

    • Iterative, Re-usable Designs

  • These values can be applied by FRC Teams


Take home messages

Take Home Messages

Design For Change

System Integration

Record and Reflect

Buddy System

Buy It, Don’t Build It


Design for change

Design For Change

Design For Change


Identify goals and values

Identify Goals And Values

  • Determine Strategy

  • Let function drive design

    • NOT the other way around!

  • Minimize “Confirmation Bias”

  • Don’t shove round pegs into square holes

    • “Building a good launcher” vs. “Scoring Points Effectively”

Design For Change


Triple constraint

Triple Constraint

  • Overall robot quality affected by:

    • Time

    • Budget

    • Scope

  • You cannot change one without affecting another!

  • Which is most important for FRC?!?

Time

Design For Change


Waterfall model

Waterfall Model

  • Plan up front, lock down design

THIS IS BAD!

Design For Change


Agile model

Agile Model

  • Implement small piece

  • Test

  • Evaluate / Review / Reflect

  • Repeat

  • Repeating this process many times allows you to home in on your design goals.

THIS IS GOOD!

Design For Change


Iterative design module re use

Iterative Design / Module Re-Use

  • Make small changes, year to year

  • Use your experience wisely

  • Sometimes it’s ok to understand the switches and knobs, but not what's under the hood.

    • You only have 6 weeks!

  • Spend more time solving higher level problems

Design For Change


Liquidity

Liquidity

  • Nothing is final, nothing is perfect

  • Don’t be afraid to fail

    • Small failures are necessary for iteration

  • Be prepared to jump ship

    • Modular design allows change later

Design For Change


System integration

System Integration

System Integration


What is a system

What is a system?

System Integration


What is a system1

What is a system?

  • A Robot is a system of components

  • Components are also systems

  • You can repeat this tree out to every last nut and bolt on the robot.

System Integration


Agile design for first robotics

Product Level

Robot

System Level

Mechanical

Control

Sub-System Level

Manipulator

Drive

Electrical

Programming

Component Level

Chassis

Power Transmission

Hardware Level

Gear Box

Wheels

Chain/Sprocket


Systems integration

Systems Integration

  • Integrators are concerned with “The Big Picture”

  • Chain is only as strong as its weakest link

System Integration


Record and reflect

Record and Reflect

Record and Reflect


Design notebooks

Design Notebooks

  • What have we accomplished?

  • What is in our way?

  • How can we remove obstacles?

Record and Reflect


Reflection

Reflection

  • You’re smarter than you were on January 6th.

  • Hard problems are now easy

  • Look how much you’ve learned

Record and Reflect


The buddy system

The Buddy System

Buddy System


We me

We > Me

?

!

Buddy System


We me1

We > Me

Buddy System


Don t build things you can buy

Don’t build things you can buy.

Buy It


Cots drives interfacing

COTS Drives Interfacing

  • FRC Robots are prototypes

  • Interface points are most common failure points in FRC robots

  • There IS value in designing higher level systems!

  • Do your research

    • “Off the Shelf” doesn’t mean “Invincible”

Buy It


Design simplification

Design Simplification

  • You solve complex problems by simplifying terms. You can do the same with robots.

  • Finding a partial/full COTS solution for a sub-system will allow more time to concentrate on building a rock solid interface.

  • For example….

Buy It


Agile design for first robotics

Product Level

Robot

System Level

Mechanical

Control

Sub-System Level

Manipulator

Drive

Electrical

Programming

Component Level

Chassis

Power Transmission

Hardware Level

Gear Box

Wheels

Chain/Sprocket


Agile design for first robotics

Product Level

Robot

System Level

Mechanical

Control

Sub-System Level

Manipulator

Drive

Electrical

Programming

Component Level

Chassis

Power Transmission

Hardware Level

Gear Box

Wheels

Chain/Sprocket


Real world examples

“Real World” Examples

  • Here are some successful teams who really “Get It”

  • Each team exemplifies some Agile Design methods


Simplicity in design

Simplicity In Design

  • Rhode Warriors – 121

  • Minimize build time

  • Maximize tweaking time


Cots use

COTS Use

  • Simbotics – 1114

  • They have solved many design problems with “canned” solutions

    • Drive Base

    • 2008 Shooter

    • 2006 Shooter


Module reuse iterative design

Module Reuse / Iterative Design

  • The Pink Team - 233

2004

2005

2007

2008


Take home messages1

Take Home Messages

Design For Change

Systems Integration

Record and Reflect

Buddy System

Buy It, Don’t Build It


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