All posts by Diego Barahona

Weekly Update 01/31/22- 02/5/22

Saturday February 5, 2022


  • Tied characterizing the drive train, but got weird numbers, so members had to convene with mentor, Cody, Re-flashed Spaldin, trying to get t to default/characterize the IV’s.


  • Rebuilt the robot transportation unit/ robot cart.


  • Made spacers, designed boxes, and cut parts using the CNC.

Control Systems

  • The first group took motor off, putt small arms together while attaching sparkmax’s as well, Connected the RSL, put LED lights on robot, organized wires, and got ethernet cables for the radio. Another group worked on the fixing the shooting path of the robot.

Friday February 4, 2022

School Cancelled

  • Lufkin plagued by imaginary ice.

Thursday February 3, 2022

Practice Cancelled

  • Senior member, Beth Tatum, kidnaps the robot and takes it home.

Wednesday February 2, 2022


  • Re-flashed Wilson and checked the condition of the camera.

Game Field

  • Members worked on completing OSHA.


  • Made different looking shape in program and worked with the gussets and hooks.

Control Systems

  • Worked on wiring the robot.

Tuesday February 1, 2022


  • Working on limelight code and checking if Wilson (one of the limelights) is ok


  • Making the fabric

Game Field

  • Building a Video Cart for the PR Subteam


  • CNCing the Gussets

Control Systems

  • Wiring “The most OCD wires possible” – Chad Robertson

Monday January 31, 2022

No meeting held

WEEKLY UPDATE FOR 01/17/21 – 01/21/21

Saturday January 22, 2022


  • Creating the dails for it using metal rods

Game Field

  • Putting the support on the lower so upper hub is able to stay on without any major issues


  • Cut the belly pan for the chassis


  • Creating the sub system for the robot.

Chassis Crew

  • Putting on the belly pan.

Friday January 21, 2022


  • Tapped churros for the shooter prototype.

Game field

  • Added more pieces the hub to make it more realistic to the game and to give it more structure. Moved lower hub to where it should be to make it easier to move after upper piece is added.


  • Made progress on simulating both code and the computer.


  • Cut out the arms for the intake and the newest prototype for the shooter.

Thursday January 20, 2022

Chassis Crew

  • Cut metal for he bedpan that will be used to mount parts onto the bottom of the finished chassis.


  • Testing the prototype and made it more robust .

Mechanical/Game field

  • Moved parts and disassembled wood to reuse for this years game field pieces


  • Characterizing drive train for the robot.

Wednesday January 19, 2022

Chassis Crew

  • Added wheels to the chassis, essentially finishing the base of the robot.

Mechanical/Control Systems

  • Finished working on the intake prototype and making it fully functional.


  • Continued to work on the same foundation of coding and reviewed the IMU and pidgin code.

Game Field

  • Dismantled old parts from previous game pieces, finished lower deposits and fender, and added support beams to hold up the bottom/lower ring.


  • Finished design on ethernet switch and created a tiny platform  for the switch between the wheel well.

Tuesday January 18, 2022

Chassis Crew

  • Finished up the tightening up bolts and getting the rest of the chassis finished

Mechanical/Control Systems

  • Started training in pneumatics.


  • Reviewed what was left behind of the previous code and compared coding with Cody, programming mentor.

Game Field

  • Took wood apart from the switch, a 2020 game piece, and cut it. Started cutting steel for the robot.


  • Continued to load the belly pan.

Monday January 17, 2022

Chassis Crew

  • Fixed gearbox (making it functional), attached motor, finished assembly by adding endpoles and wheels


  • Take out some dowels and readjusted the angle, and finalized the geometry program.


  • Successfully able to make the drive train and other pieces move, and beginning to install Pidgin, a coding software.

Game Field

  • Assembled side pieces of the Monkey Bars, and moved everything to a new location for space purposes.

WEEKLY UPDATE FOR 01/10/21 – 01/14/21

Monday January 10, 2022

Game Field

  • 2 rings to go around the bottom scoring mechanism , 1 ring to go around the top scoring mechanism


  • Decided on a prototype shooting module


  • Decided on a prototype intake option


  • Figure out a style of climbing module

Tuesday January 11, 2022

Game Field

  • Completed the last part of rings and started the upper top ring


  • Putting the shooting prototype together


  • Tried out a roller intake with grip take (May be the final design)


  • Start to decide on a climb design


  • Started to install 2022 programming software


  • Helping out game field in figure out how to make a polygon into a circle and the angles required to do so

Wednesday January 12, 2022

Game Field

  • Setting up and constructing the bottom of the shooting hub and cutting out more wood for the hub.


  • Building a prototype, most likely gonna be an adjustable fly wheel


  • No Update


  • Using AutoCAD to start up a prototype design, Most likely hooks


  • Updating the software, and used GitHub for robot data.

Thursday January 13, 2022

Game Field

  • We are really close to getting the hub finished. “Wood difficult, wrestling time right here”- FireDad


  • Got a working prototype shooter (Fly-Wheel), and it was able to shoot fairly high (Even shot at our Videographer Gustavo).


  • Participated in shadow-boxing our new tool chests


  • Using last years code as a reference point for this years code.

Team Leads

  • Our team leads participated in advance academics night. This event consisted of our team leads driving our robot from last year. We used the intake and shooter system to have fun with kids ages 4-14. Many of the kids were inthralled with the robot and had a great deal of fun. Thank you to LufkinISD for inviting us to this lovely event, we were thrilled to share our wonderful robot with this wonderful community

Friday January 14, 2022

Saturday January 15, 2022


  • Routed out the 3rd rendition of the fly wheel prototype. Moved fly wheel mechanism and motors to new panel, along with testing angles by removing/adding dowels to the hood. Also routed out intake panels for Monday

Game Field

  • Learned how to use Skill Saw, Paddle Bit, and Circular Saws. Attached the two side pieces and the bottom supports for the monkey bars. Should be completed by Monday

Chassis Crew

  • Started building the Chassis, they are 3/4th the way through and will be done with it on Monday


  • Tried to deploy robot to drive by code that they produced. Many complications but its a simple fix that can be done on Monday. The problem was that it the code could not find the ID Spark Maxes.

Robotics Summer Camp 2021

Summer Camp

This week the PantherBots partnered with GearUP to host teams of freshmen students for a week of building, programming, and testing their EV3 Lego Mars rover. With many challenges such as budget cuts, lawsuits, and even a last second problem of cosmic radiation that caused a change in code, it was a challenging and exciting experience.  The pictures of the fun are below: 

The teams had the option of two pathways. The red path yielded you 65 points however once you reached Earth you had to back up into Mars. The blue path yielded you 60 points. Hitting a asteroid (Basketballs) or Satellites from different countries (Small Robots) yielded a 1 point deduction and going off the map caused a 2 point deduction. Lastly if the brain of your robot landed directly over the circle it is a 3 point addition.


On Monday all of the campers organized their Lego kits, decided on a team name, and made their logos, which we are now 3D printing. Pictured below are the teams:

The Banana Ducks posing with their robot named “LilDuckieV1”
Pictured from left to right: Patrick Butler, Evan McElroy, Juan Hernandez, Gavin Libby, Dylan Mettlen
Gears, Nuts, and Bolts posing with their robot named “Bolt”
Pictured from left to right: Karsin Laningham, Felix Bermudez, Jayla Culpepper
The Gifted And Young Scientist posing with their robot named “Genius Bot”
Pictured from left to right: Krista Butterfras, Jackson Randall, Samuel Gonzalez Perez
The 3 Gamers posing with their robot named “Forehead”
Pictured from left to right: Julian Martinez, Amiya Evans, Tasia Richard
Stars United posing with their robot named “Obi2.0”
Pictured from left to right: Sacorian Gardner, Raeonna Card, DeMarkus Chinn, Kendrick Butler


On Tuesday the teams started to build their absolutely magnificent robots and develop code. Teams started working on the presentations and completing their 3D logos. Teams are off to a great start with some able to run half of the course by Tuesday. During our break we demonstrated our newest drive train affectionately called Swervey bot as well as our award winning robot that played in the FRC game Steamworks.


On Wednesday the teams started to run the course with ease. Most teams completed their code while others finished up the PowerPoints. Teams were advised NASA would have a press conference on Thursday morning at 10:45 a.m. CST.

Gears, Nuts, and Bolts bot running the course with great success!
However some teams were having some faulty code


Thursday, AKA announcement day. The teams were told that due to cosmic radiations their forward boosters had failed. This meant that if they traveled to Earth they would have to reverse into Mars. Their reaction was very eager to take on the challenge. They also had our first Corporate Espionage lawsuit between Stars United and the Banana Ducks. The suit was dismissed due to lack of evidence.


On Friday all the campers came in ready to work, demonstrate their robots and give their presentations with their minds set on earning the most points and being awarded the Golden Ratio Double Seahorse Gear Trophy. The teams are ready to demonstrate their code and presentations to friends, family, and judges. Our judges for this event are Jeffin James and Matt Millican two of our local Lockheed Martin Manufacturing Engineers.

The BananaDucks route with their robot named “LilDuckieV1”
Stars United route with their robot named “Obi2.0”
The Gifted And Young Scientist route with their robot named “Genius Bot”
Gears, Nuts, and Bolts route with their robot named “Bolt”
The 3 Gamers route with their robot named “Forehead”

Weekly update for 01/23/21 – 01/29/21

Saturday January 23, 2021

  • PR
      • Finished the Woodie Flowers essay
      • Recorded drive team doing some of the challenges
  • Control systems
      • Worked on the wiring for BabyBot
  • Programming
      • Messed with the autonomous code
  • Drive team
      • Did a bunch of tests and did a lot of testing
      • Big improvements to the robot to make it a lot better

Monday January 25, 2021

  • Mechanical
      • BabyBot became one with the electrical team
      • Team member learned to crimp wires
      • The Rio was also connected with shot blue/black jumper cable
      • Teamed the wrench or correct wrench makes all Converting 10 metric to 7/16 wrench the difference
      • Learned to strip wires and how to read the tool
      • N – Neutral Black wire
      • LA – Red wire goes to A in the jumper wire
      • LB – 1 end of jumper wire
      • Talon had no power
      • Repositioned talon so it is right side up
  • PR
      • Firemom took some pictures

Tuesday January 26, 2021

  • Programming
      • Hoping the robot goes in a straight line
      • Robot is moving around but very fast (A little difficult to stop or slow down)
      • Rearing in a lot of different directions
      • Took some pictures of the testing
      • Some photoshop to organize pictures
      • Comp bot “It moves…Just not necessarily in a straight line”
      • Playing with sensors and trying to work w autonomy
      • 2017 robot(as a model to copy onto to 2021 bot.

Wednesday January 27, 2021

  • Team leads meeting
      • The team leads discussed ideas and plans of action for up and coming meetings

Thursday January 28, 2021

  • Drive team meeting
      • Did a couple of drive team tests
      • We lost a neo motor off of the gear box and fixed it
      • 13  sec on the figure 8 course
      • 17 sec on the barrel race

Friday January 29, 2021

  • Game design team
      • Looked over the game rubric
      • Did not finish with the rules
      • Did a game simulation (Human players preformed action that robots would preform in game)


WEEKLY UPDATE FOR 01/16/21 – 1/21/21

Saturday January 16, 2021

  • PR
      • Worked on Woodie Flowers essay
      • Team building exercise
  • Drive Team
      • Took some accuracy shots
      • Repainted dots on carpet
  • Programming
      • Worked on Java code for the robot
  • Game design
      • Finished CADing the field
      • Started writing the rules

Monday January 18, 2021

  • Drive team/Programming
      • Worked on painting dots
      • Doing measurements with lime light

Tuesday January 19, 2021

  • Control systems

      • Beth and Dan (Rivera)  work on shooting the ball at the perfect angle and at the perfect speed at different points: B2, B4, B5, and B8
      • Shooting points/ speed configured in Excel for game field creating a continuous feed for target
      • Autoplay corrected
  • PR

      • Justin worked on tutorials for Lightroom
      • Ms.Segrest to work on internet online pass
      • Program timed out unable to finish tutorial
      • Justin to look @ YouTube videos and able
      • McHaney to help with
      • 5 Photos to sequence and add effects to create short clip

Wednesday January 20, 2021

  • Programming

      • Dan clan is teaching the programming team on how to create a basic drive team program
      • Gonzo observes and giving his input on certain  programming details such as shortcuts that are able to show where lines of code have been used
          • “Find all references” → Shortcut name
      • Dan Dan shows the code that determines the RPM that is able to control the velocity
      • Coded buttons that can decrease and increase RPM
          • So there was inevitably some coding clean up. Now its not an eyesore!
      • Dan Dan showcases how to create a new subsystem in “Drive Team” Java
      • Try to get the example drive team started today
      • Saturday they will set up a base drive team on small robot
  • Team Lead Meeting

      • Each Head gave updates on the state of their subteam

Thursday January 21, 2021

  • Drive/Programming

      • Lime light up is a degree of on robot which affects auto shoot
      • Instead of remounting programming, Fine tuned the variable number
      • Fine tune dot measurements for the bot to rebound align

Friday January 22, 2021



Kickoff 01/09/2021 – 01/15/2021

Saturday January 9th, 2021

Breakdown of PR team

  • Diego – Editor/Award submitter

      • Will come on Wednesday and Saturday
  • Kassidy – Game design

      • Will come on Friday and Saturday
  • Sree – Programming

      • Will come on Wednesday, Saturday
  • Ash – Game design

      • Will come on Friday, Saturday
  • Ashley – Game design/Drive team

      • Will come on Tuesday, Friday, Saturday
  • Justin – Videography/Photography

      • Will come on Monday, Tuesday, Saturday
  • Jake – Artist

      • Will come on Wednesday or Thursday
  • Chandler – Photography

      • Will come on Tuesday, Friday, Saturday

Monday January 11th, 2021


Tuesday January 12th, 2021

  • Wood shop rearranged
  • Carpet gamefield layed out and measured
  • Blue tape marks set @ 2 Ft. 6 Inches
  • Course set up for Barrel race
  • D5, B8, D10 Rivera ——- w/Robertson on auto (Need to tighten turns)
Competition Bot:
  • System cleaned (Blown out)
  • Inspected wiring
  • System/Programming checks
  • Programming to work code on January 13th
  • More time to increase Accuracy
  • Flashing light = Enabled
  • Solid light = Disabled (Safe to approach)
  • Roller needs more grip to grab balls
  • Introduction of system to new mentor

Wednesday January 13th, 2021

  • Programming discussed training
  • Microsoft technology associates: intro to Java
  • OSHA Certification
  • Using Microsoft Teams or Zoom for virtual meetings
  • Discussed language barriers between the team (Members)
  • Modify Lime light code to be able to “Cruise control” into slots and videography to measure how far off target

Thursday January 14th, 2021

Drive team/Mechanical:
  • Worked on three different INFINATE RECHARGE at Home challenges
  • Progress made in transferring and updating code

Friday January 15th, 2021

What could this mean?

By- Diego Barahona

Saturday 2/1/20

These are the events that took place on Saturday 2/1/20:


  • Organized the electrical board
  • Ran testing on the lime lights
  • Ran motors for outtake
  • Fixed ultrasonic sensors
  • Started work on the PID loop
  • Testing on shooting design
  • Figured out code to lime light and made it better
  • Calculate how to keep it going to 60 while shooting
  • Now know what number needed to make it work


  • Got the shooter side plates
  • Getting the climb plates welded soon
  • Made extra shooter adjusters in a different material just in case other weigh to much.


  • Got both of the elevators
  • Attaching the side panels
  • Intake finished
  • All mini assembly for the climb
  • Tested the lift design


  • Chairmans video is finished
  • Waiting to be published

Control Systems:

  • Belly pan onto frame
  • Installing poly carbonate

Along with all of this the blue alliance finally updated the app now you can-

  • Stay up to date with your favorite teams with push notifications for match results with the myTBA notifications feature
  • District ranking search tool
  • A place to find where all the events will be webcasted

Friday 1/31/20

It’s been awhile since I posted on this blog.  I will be updating y’all on what happened in previous meetings. Make sure to tell everyone that the site is now back up and running. If you miss a meeting, just check the record!


  • Worked on lime light
  • Programming a infrared sensors.


  • Machined out the bearing retainer
  • Machined out the climb hook
  • Machined out talon plate
  • Machined a shooter adjuster
  • Machined out a shooter bracket
  • Climb brace that looks like a street sign
  • Plate thing that looks like tubing


  • Elevator foot got completed
  • Work on some more elevator stuff
  • Launcher intake prototype
  • Ground pickup intake is 70% complete
  • Belly pan is 50% complete


  • Finished the video
  • Go through the file and found new pictures
  • Thought of new video ideas

Control Systems:

  • Nothing to report on