Added Hopper

content/portfolio/frcarm/index.md

@@ -9,7 +9,7 @@ tags:
 image:
   caption: 'FRC 2023 Telescoping Arm'
 ---
-In high school, I was part of an award winning [FIRST Robotics Competition](https://www.firstinspires.org/robotics/frc) team. [Team 3476: Code Orange](https://www.teamcodeorange.com/). In the 2023 season, I built a belt-driven telescoping "arm" that could extend up to 19 inches in 0.5 seconds.
+In high school, I was part of an award winning [FIRST Robotics Competition](https://www.firstinspires.org/robotics/frc) team. [Team 3476: Code Orange](https://www.teamcodeorange.com/). In the 2023 season, I designed a belt-driven telescoping "arm" that could extend up to 19 inches in 0.5 seconds.
 
 Here is our reveal video:
 
@@ -31,7 +31,7 @@ Some other highlights of this design include the see-through pocketing (which to
 ## Manufacturing
 I directed the manufacturing of this arm, making all the drawings for parts, giving them to the manufacturing team, and keeping track of a manufacturing list. Here are some photos of the process:
 ![3D Printed Parts](arm3-printed-parts.jpg)
-![Drawing](arm3-drawing.jpg)
+![Drawing](arm3-drawing.jpg "(I wasn't great at drawings back then 😅)")
 ![Arm on Robot](arm3-on-robot.jpg)
 ![Final Build](arm3-final-build.jpg)
 ![Final Robot](arm3-final-on-robot.jpg)

content/portfolio/frchopper/index.md

@@ -9,18 +9,47 @@ tags:
 image:
   caption: 'FRC 2022 Hopper'
 ---
+This was my first time touching SolidWorks! In high school, I was part of an award winning [FIRST Robotics Competition](https://www.firstinspires.org/robotics/frc) team. [Team 3476: Code Orange](https://www.teamcodeorange.com/). In the 2022 season, I designed a "hopper" that delivered balls from the bottom of the robot to a shooter at the top using polycord.
 
+Here's our reveal video from that year:
 {{< youtube sENzTtd2u-4 >}}
 
+## Prototyping
+
 ## Design
-### Overall Design
+Everything I learned from prototyping, including travel distance, travel speed, ideal compression, and design concept, I took into the design phase. This was my first time using SolidWorks, so I spent probably hundreds of hours crunching this out in the first few weeks of the build season. Nevertheless, it was tons of fun.
+
+This layout sketch helped me to map out the system.
+![Layout Sketch](hopper-sketch.jpg)
 
-### Structure
+Central to the design were these polycarbonate rollers with polyurethane cords that acted as belts to drive all the rollers in the system. They were held in place by rubber tubing.
+![Rollers](hop-rollers.jpg)
 
-### End Effector and Wrist
+I also experimented with making an exploded view for my design:
+![Exploded View](hop-exploded.jpg)
 
 ## Manufacturing
+In the manufacturing phase, I kept track of a parts tracker and learned how to make drawings for the manufacturing team. Once all the parts had been fabricated, I led the assembly for the subsystem!
+![Drawing](hop-drawing.jpg)
+We had the side plates outsourced for waterjetting.
+![Waterjet Plates](hop-waterjet.jpg)
+Here are a few pictures of the beginning of the assembly:
+![First Build](hop-first-build.jpg)
+![Comparison](hop-comparison.jpg)
+Here are a few pictures of the final build:
+![Final Build](hop-final-build.jpg)
+![Ball in Hopper](hop-ball-in.jpg)
+{{< video src="hop-function.mp4" controls="yes" >}}
 
 ## Competition
+After our first regional competition (which we won!), we had a problem: balls were flying out of the hopper when we didn't want them to. And sometimes, we would intake the wrong color ball (there are two colors of balls on the field, and you're only supposed to shoot one color). The problem (and solution!) is pictured below:
+![Eject Concept](hop-eject-concept.jpg)
+
+So, we had to revise the design so that we could eject balls we didn't want, and make sure we were holding on to the ones we did want. This is what we came up with:
+![Eject Design](hop-eject-mechanism.png)
+![Eject Build](hop-eject-build.jpg)
+
+And here is it working!
+![Eject Video](hop-eject.mp4)
 
-## Conclusion
+With this, we went on to win our next regional, advancing to the world championship and placing high in our division there.