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Jahnvi Bheemarasetti – Iron Claw Robotics

About Jahnvi Bheemarasetti

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So far Jahnvi Bheemarasetti has created 9 blog entries.

By |2024-12-02T15:59:36-08:00December 2nd, 2024|

Auto Decision (2024-2025) While PathPlanner traditionally has been what we’ve relied on for autonomous routines, in the 2023 season, Choreo began making its rise, a software that could optimize the path far more efficiently. While we made several paths with it, we were unable to figure out event markers, and positions in the path where commands could be added into the path. This was similar to our auto routines in the 2022 season, before the huge PathPlanner update. Our paths had to be broken up, with commands added in individually, each section of the path recorded as an index number to put together afterward. This year, autos were easier to create as commands could be written separately and referenced within the actual path just by writing the name. Choreo, no matter how quickly it optimized the path, would be disadvantageous if we couldn’t figure out event markers, which started this fall project. We tested and were able to get event markers to function within Choreo paths. Yet running them compared to PathPlanner, there wasn’t much difference in execution, merely a UI preference. We began researching to see which would be the best option to switch to in the coming season, as Choreo was relatively new and somewhat buggy. We discovered another big PathPlanner update, which included several new [...]

By |2024-12-02T16:02:02-08:00December 2nd, 2024|

During the 2024  fall season for Iron Claw Robotics, team 972, we began driver training much earlier than in previous years. We started the process in mid/late September to give new and returning students a chance to try out our last year's competition robot, Vivace. Although initial attempts to provide time for students to get accustomed to the robot did not succeed due to technical issues with tape strength, wheels, and an inconsistent area to drive, improvements in field setup meant that with each practice, we were able to get more and more time to drive. In mid-October, we decided that we were ready to have driver tryouts and set a date for the 27th of October. For driver tryouts, we brought out each student who wanted to become the driver one at a time to complete certain tasks in front of a group of evaluators consisting of the team captains. These tasks included weaving through cones, driving in circles while keeping the robot pointed at a target, driving in a straight line, and driving in figure eight. Throughout these tests, the students were timed and penalized if they hit either one of the cones being used to make the course or the foam balls at the edge of the field. Once the tryouts were done the captains reviewed [...]

By |2024-12-02T15:41:32-08:00November 20th, 2024|

Operations and Organization: The new year means setting up for success, including organizing our Pit, managing operations, and handling new material shipments. Our shop manager, Ellery Han, has been cleaning the Pit and delegating tasks to sort last year's parts, screws, and miscellaneous items. A well-organized Pit is crucial for efficiency. With packages arriving nonstop, we order early to avoid delays and ensure we have everything needed for the Fall and Build Seasons. Students help sort and take inventory, ensuring each subteam knows what materials are available for their projects. The operations subteam, in which all members are required to contribute at least 4 hours of admin tasks and additional upkeep work, is led by our new operations director, Claire Mayder. She’s been training new students and leads, applying for grants, and more. Our new communications lead, Jahnvi Bheemarasetti, assists Claire by training first-year students on the website and managing blog uploads. Our team fundraises the majority of its money in the Fall Season, this includes receiving money from sponsors such as the Wild Cat Foundation–our school foundation that raises money for school-related activities. Big thanks to them as well as all of our other sponsors! We’ve also had significant work done in documentation for operations to ensure efficiency in the build season and the following years. We [...]

By |2024-11-20T15:19:51-08:00November 20th, 2024|

Welcome back, team! This season has kicked off with a burst of energy and excitement. From revamping our leadership selection process to diving into presentations on the latest FRC scoring updates, we've embraced change and innovation like never before! New Leadership Selection Process: This year, we updated our leadership selection process to better align with the team's goals. In previous years, the process involved students giving presentations in front of the class, followed by anonymous voting and an announcement of the new Leadership Council (LC). While team managers made the final decision, this year's system introduced some improvements. Now, students submit videos expressing their interest in joining the LC, which are then reviewed by mentors and the team, who provide their feedback. Although team managers still make the final decision, the new approach emphasizes responsibility. It prioritizes veteran students who have the experience needed to lead, while giving new members the opportunity to get comfortable and integrate into the team more smoothly. Our Leadership Council is led by an outstanding team: Nico Gomez-Llagaria and Piper Robinson as captains, Ellery Han as Shop Manager, Claire Mayder as Operations Director, and Henry Lee and Saara Piplani as our dedicated hardware and software directors. Together, this exceptional group has been working tirelessly, training members, spearheading advanced projects, and managing team operations. [...]

By |2024-11-20T14:56:53-08:00November 19th, 2024|

After every match, the most important thing our team does is debrief. We go over what went well, but more importantly, the big question is what can be improved. Data Analytics is our advanced off-season project that works to answer that question. We can track faults in our robot by logging data from its many sensors during matches. For example, if our robot stops working during a match, taking a quick look at the logs can help us understand which specific subsystem malfunctioned, giving actionable data that our pit crew can execute. A robot generates a lot of data, but not all of it is important in diagnosis. We went around and spoke to every one of our robot subteams asking what data was important to log. Additionally, by logging how each aspect of the robot performs during a match, respective subteams can address faults in their design. If something does not show up as working correctly, we can view these issues before they later affect the robot as a cascading error.  To figure out how to  create our logging system, we did research into multiple different preexisting logging libraries, including readdressing our Log Manager application from last year. We decided to adapt from Team 581’s Dog Log and integrate it into our current Log Manager. Through spikes [...]

By |2024-11-19T16:04:38-08:00November 19th, 2024|

This is the third year we have worked on the vision project. In the 2022-2023 season, we started the project and wrote code for pose estimation using April Tags. In 2023-2024, we mostly focused on improving the accuracy of our pose estimation, but we also started working on object detection. Our pose estimation was accurate enough to shoot into the speaker by the competition, but our object detection was not functional enough to use the competition. This year, we are mostly focusing on object detection. The first step is imaging the Jetson Orin Nano that we plan to use since we currently need help finding the one we used last year. We encountered several problems imaging it and installing all of the necessary libraries, but we eventually finished. Our code runs but gets about 7 or 8 frames per second. We are currently trying to improve our framerate, and then we plan to mount a camera on our test robot to create and tune an algorithm to help the driver intake a game piece. We are also training a practice model. Since FIRST released that there will be two different game pieces next year, we decided to use cones and cubes from 2023 for our model. So far, we have taken hundreds of pictures of the objects and [...]

By |2024-11-19T15:46:13-08:00November 13th, 2024|

One of our off-season advanced projects is creating a cascade elevator. We previously made a continuous elevator for the 2023 Charged Up season, and we hope to expand our knowledge on creating robust elevators for the future. An elevator has been an important system used to achieve game tasks by many top teams in the past. An elevator is often used to manipulate game pieces to a raised position or to climb during the end game. Having an elevator allows for more scoring opportunities to gain an advantage during competition. Compared to a continuous elevator, a cascade elevator is faster due to the simultaneous movement of stages and has a consistent carriage motion, while being simpler to rig.  Going into the project, we set a goal to create an angle-adjustable 2-stage cascade elevator that can extend 4 feet in ~1 second and be able to lift the robot 2 feet off the ground. To learn about creating an elevator for the build season, we aimed to make the elevator fully functional on one of our swerve drivetrains to understand the process from start to finish. Due to our goal of creating an adjustable elevator, used a 7/8in diameter dead-axle tube mounted on an adjustable plate on the swerve drive base. The angle can then be fine-tuned with the carbon fiber [...]

By |2024-11-13T15:58:58-08:00November 6th, 2024|

One of our advanced projects for the 2024 offseason is building a turret. This is a new subsystem for our team that we’ve never made before, so it was a steep learning curve for everyone involved in the project. Having a turret allows a greater range of motion and faster aiming and scoring, giving our robots more versatility and making scoring more efficient. Last year in Crescendo, many of the top teams had turrets, which gave them an edge in competitions. In previous years beyond that, there were several instances where having a turret gave teams a huge advantage over others. Our team decided to take two approaches to the project. Since this is our first time building a turret, we wanted to have a  model for us to design our own. As a result, we purchased the GreyT turret from West Coast Products and then used the design philosophy of that turret to design our version from scratch, which would give us greater flexibility and freedom for design. The manufacturing process went well, but due to issues with assembly, backordered parts, and our project lead leaving the team, we decided to scrap the project and work with the GreyT turret instead, since it would be easier to assemble and test. Assembly went well, with only a few [...]

By |2024-11-13T16:05:31-08:00November 6th, 2024|

Welcome back! We are halfway through the Fall Season and we have been very productive in many projects and finishing tasks by the deadlines. Our year started with Provisional Council (PC) meetings, where students selected by last year’s seniors and team managers planned the kickoff with presentations, workshops, and subteam selections. On the first day, we welcomed new members, reconnected with teammates, and honored the 11 graduating seniors. The first week focused on introducing new students to our community, rules, and expectations, with presentations and activities like scavenger hunts and engineering competitions. These helped us discover the talents and passions of new members while reconnecting with returning students. Our Subteams:  While team managers selected the new LC, students focused on subteam assignments. We welcomed 16 new first-year students, who initially had no subteam. They received a detailed tour, heard from returning students about their subteams, and learned about Programming (Software), CAD, Machining (Manufacturing), and Control Systems (Electrical and Driver Controls). Afterward, they selected their preferred subteams, and senior students carefully assigned them based on skills, experience, and space. After subteam members were announced, subteam training was a go! Our new LC immediately started teaching the first-years the fundamentals, and our veteran students a review of last year. Curious minds were at work, eagerly working hard and learning. Programming: [...]

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