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1126 - from 4 Wheel Swerve to 3 Wheel

LeelandS

By: LeelandS
New: 05-17-2012 07:23 PM
Updated: 05-17-2012 09:10 PM
Views: 1431 times


1126 - from 4 Wheel Swerve to 3 Wheel

That little bit on the floor next to the 1126 bot is a Swerve module that popped off as we came off the bridge.

To the best of my knowledge, we had just become the only team in FIRST to use 4 wheel and 3 wheel Swerve in the same match!

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05-18-2012 03:58 AM

JohnSchneider


Unread Re: pic: 1126 - from 4 Wheel Swerve to 3 Wheel

1296 did something similar in 2010 I think...Though I dont think they were able to drive on 3, so if you did, Kudos to you.

How did it pop off?



05-18-2012 06:28 AM

LeelandS


Unread Re: pic: 1126 - from 4 Wheel Swerve to 3 Wheel

Quote:
Originally Posted by animenerdjohn View Post
1296 did something similar in 2010 I think...Though I dont think they were able to drive on 3, so if you did, Kudos to you.

How did it pop off?
I don't know the specifics, but it got pulled off as we crossed the coop bridge.

Here is a link to the match video. At about a minute, we're crossing the coop bridge. We tip and rock a bit, and then the module falls off as we exit the bridge. I don't know what happened.

We were still able to continue driving. Although we weren't as stable and we were hesitant to drive very much and cross the bridge on 3 wheels.



05-18-2012 06:58 AM

ttldomination


Unread Re: pic: 1126 - from 4 Wheel Swerve to 3 Wheel

I'm sorry for this, but I must say, "lol".

It was equally amusing/painful to watch a team's shooter fall off. Especially when you watch the drive team go through the emotional roller coaster that is from absolute horror to laughter.

- Sunny G.



05-18-2012 05:36 PM

GCentola


Unread Re: pic: 1126 - from 4 Wheel Swerve to 3 Wheel

Quote:
Originally Posted by ttldomination View Post
Especially when you watch the drive team go through the emotional roller coaster that is from absolute horror to laughter.
Yeah....that pretty much sums it up.



05-18-2012 07:12 PM

MichaelBick


Unread Re: pic: 1126 - from 4 Wheel Swerve to 3 Wheel

I'm not sure a lot of people know about this, but throughout eliminations, until the finals of LA, 1717 had only 3 of 4 modules working. Eventually, with the extra long finals waits, they were able to replace it. It is really surprising, seeing how they still did so well in those matches, especially because 4 wheel independent requires all modules to be working.



05-18-2012 07:19 PM

AdamHeard


Unread Re: pic: 1126 - from 4 Wheel Swerve to 3 Wheel

Quote:
Originally Posted by MICHAELABICK View Post
I'm not sure a lot of people know about this, but throughout eliminations, until the finals of LA, 1717 had only 3 of 4 modules working. Eventually, with the extra long finals waits, they were able to replace it. It is really surprising, seeing how they still did so well in those matches, especially because 4 wheel independent requires all modules to be working.
It's an impressive feat, that's for sure.

However, the 4 wheel independent swerve is actually surprisingly resilient in terms of drive or steering failure (especially if you have code that compensates directly for failure). The use of gyro heading stabilization and/or field centric also greatly help.

The entire module hadn't failed from what I heard; either drive or steering worked. With just one or the other down, it's not too bad.



05-18-2012 08:42 PM

RayTurner1126


Unread Re: pic: 1126 - from 4 Wheel Swerve to 3 Wheel

we still did drive after we lost the wheel, and we really didn't notice that much of a difference in driving ability as far as what i could see. that's why in the stands we were like "no...that can't be our module...we're still driving!" as for how it happened: the screws holding the module in backed out. we replaced it relatively quickly, so we did have a pretty good laugh about that one....



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