Vex Cte Workcell Final Project

This is a tutorial on how to build a vex cte workcell station. Anyone looking to do this follow these steps as follows below. open the pdf files for images. The image above is what your board should look like to begin.

Make sure board is cleared except Light tower and arm. To Begin the building process, you need to first start by making sure you have your “brain” on the board by screwing it in, this is the main power to your work cell. Once you have placed this then you will now place the tracks with the rubber parts on them with the ones on the left of the image having the side with the gears facing away from you, then you will place the other ones with the gear side facing you. After those are on you will now go through and place the corner pieces and screw them down using the medium sized screws and a nut on the bottom to hold the corners in place.

The numbers are the numbers on the vex brain component. You can name these motors whatever you want but i recommend the following because it makes it easier to differentiate between them. Make sure when you set up your motors that you have them going in the right direction. You want the conveyors to both spin the same way, your entry motor towards the conveyor, the conveyor belt to go clockwise, and you want your exit motor to spin away from the conveyor belt.

The Image above has fully finished work cell.

This is all of the coding used.

The cte is coded so that when you press the button on the signal tower that it will push out a puck onto a conveyor belt and this belt will carry it to another belt in order to make it to where the sorting arm is. If the puck is red, then you press the right arrow on your brain to send it to the drop box. If it is green then you dont press anything and you let it go to the arm and it will be placed on the pallet. If it is green but the arm is moving then press both buttons right and then left to send it back around the belt so that it has time to reset the arm to home so it will grab the green puck.

My trial and error

1. I found that the object sensor had to be low to the conveyor belt to pick things up
2. The arm can get confused if you use too many waits so try to limit it to 4-5 waits total in your code
3. Make sure you check EVERYTHING for updates
4. Put collectors for the pucks so they don't get flipped and roll making the arm struggle to grab them

This video shows it working fully.