---
# System prepended metadata

title: Shooter
tags: [機構進度]

---

##### tags :`模板`

# project name:==shooter==


## 1st update
### 2024/1/20:
:::success
design
:::
#### design: We use the onshape to design the shooter  the first generation utilized vertically aligned rubber wheels to launch musical notes. This design had two primary advantages: 
1. firstly, the vertical arrangement of the wheels allowed for greater compression of the notes, resulting in longer range 
2. secondly, having both upper and lower wheels facilitated better chain connection.

![image](https://hackmd.io/_uploads/SJEKixAqT.png =40%x)+![image](https://hackmd.io/_uploads/rkInkWC5T.png =40%x)==
![LINE_ALBUM_shooter_240205_3](https://hackmd.io/_uploads/rkQ_gWRcp.jpg =500x)
* test video
{%youtube PO3Iq1R3pPI %}

### problem:
1. It just can shoot 
2. Insufficient compression
3. Durometer of wheel too soft.

## 2nd update
### 2024/1/25:
:::info
test
:::
#### design: 
We made two changes in the second generation:
1. We first tested the compression amount with a dense board that has multiple compression amounts. We finally determined the upper and lower compression amount to be 0.5in. We used this compression amount for testing, and the results met our expectations.
2. We added a board machine above the trigger to collect notes. We set the position of the board machine parallel to the rubber wheel for easy note collection.

![38704](https://hackmd.io/_uploads/H1rTc-C9a.jpg =80%x)
* After multiple tests, we finally determined that after deducting the compression amount of the rubber wheel width, there are 0.5 inches left.
![image](https://hackmd.io/_uploads/HkolkfRc6.png =40%x)------------------------>![LINE_ALBUM_2024.2.5_240205_1](https://hackmd.io/_uploads/HyqxUzC5p.jpg =40%x)
* After testing many compression amounts, we determined that it is 0.5 inches, and using larger rubber wheels will shoot the furthest.


* And the final we can shoot further
{%youtube _jM67115kIs %}


* another one
{%youtube 8kX1T-yvIoo %}

* the others
{%youtube AAvec6jCMTM %}

* ==and the four larger rubber wheels are the furthest==

### problem:It can shoot on the speaker and it is too heavy


## 3rd update:
### 2024/2/1:
:::warning
important update
:::
### design: 
We have decided not to use the second-generation model and have made the following changes.
1. First, we moved the rubber wheel to the base plate in order to increase its compression amount.
2. Secondly, this design can significantly reduce the weight of the mechanism itself.
3. Next, it solves our motor connection problem. This design can directly use a direct-drive motor
![image](https://hackmd.io/_uploads/rkiAMgzi6.png =30%x)+![image](https://hackmd.io/_uploads/SJ5f7xfjT.png =30%x)+![image](https://hackmd.io/_uploads/BkoLXlGj6.png =30%x)==
![LINE_ALBUM_2024130 （工程筆記製作，shooter三代改版，BP製作，程式測試）_240130_1](https://hackmd.io/_uploads/BJXpQgGsp.jpg)

* Under the shooter we contact them for NEO motor
![37853](https://hackmd.io/_uploads/H13i-xzsp.jpg)

* We have added a trigger to it and the production is completed. 
![image](https://hackmd.io/_uploads/S19_PgfiT.png)

* shooter test video 
{%youtube 6TbmeD52mkc %}
* Elevation Angle Test Video
{%youtube  zbIOlHrxoxQ %}
* ==Finally we can shoot into the speaker==


     
## 4th update:
### 2024/2/3
Due to significant updates to Swerve, we can mount our shooter on the machine and add a baffle. 
![LINE_ALBUM_shooter_240205_1](https://hackmd.io/_uploads/r1EjYpSoa.jpg)



## 5th update:
### 2024/2/5
:::danger
debug
:::

* In the testing process, we found that the note cannot enter Shooter as expected 

* problem: The upper trigger will stick the note on the top of the trigger during the collection process.
* test bug video
{%youtube KJqtsJULXUQ%}


* Solution : After our discussion, we came up with two solutions.

- [ ] Extend the length of the existing base plate so that there is space for the note to be collected without being compressed. 
- [x]  Add a wooden board on top of the machine so that when the note comes in, it can be compressed by the upper wooden board to the size of the rear space.
* cause: After considering many factors, we chose the latter.
1. The process of the former is too long, which would waste a lot of time.
1. The former would consume more materials than the latter.
1. The former would obstruct the operation of the arm.
* But actually, the latter also has corresponding disadvantages.
1. The force exerted when the note is ejected will be smaller after it is compressed.
1. The area for collecting notes becomes smaller.

* However after various analyses, we still chose the latter, which has a higher cost-performance ratio.

---------------------------befor -----------------------------------------------------------------after
![LINE_ALBUM_shooter_240205_2](https://hackmd.io/_uploads/Skhkphrip.jpg =40%x)----->![S__10559740](https://hackmd.io/_uploads/HJDb6nrsT.jpg =40%x)

## 6th update
### 2024/2/13
:::info
upgrade
:::
* During testing, we found that the position of the trigger was still too far forward, so we moved the trigger back one grid and replaced it with a harder rubber wheel.
* Reason for modification : the current position of the trigger tends to reduce the force of the note being shot out after compression. Therefore, we moved the position of the trigger back to one grid to give the note a space to shoot 
![39521](https://hackmd.io/_uploads/SJVM4FOoa.jpg)
* Next, we removed the direct-drive motor and used a 1:4 NEO motor instead. This can make the initial speed of our shooter faster and shoot the note further.
![39528](https://hackmd.io/_uploads/H1J9PFuoa.jpg)









