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 My experience in FIRST has taught me that, whatever you do, make sure that no single failure can eliminate half your drive system.[...] The worst feeling in the world is having your robot driving around in circles when there is critical business to be done on the playing field. - Andrew [more] |
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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!
Discussion
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05-18-2012 02:58 AM
animenerdjohn
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 05:28 AM
LeelandS
Re: pic: 1126 - from 4 Wheel Swerve to 3 Wheel
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Originally Posted by animenerdjohn
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? |
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 05:58 AM
ttldomination
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 04:36 PM
GCentola
Re: pic: 1126 - from 4 Wheel Swerve to 3 Wheel
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Originally Posted by ttldomination
Especially when you watch the drive team go through the emotional roller coaster that is from absolute horror to laughter.
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05-18-2012 06:12 PM
MICHAELABICK
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 06:19 PM
AdamHeard
Re: pic: 1126 - from 4 Wheel Swerve to 3 Wheel
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Originally Posted by MICHAELABICK
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.
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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 07:42 PM
RayTurner1126
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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