4183's Full Auto Shooter

[nixiebunny]

We decided to see how fast we could shoot a bunch of Frisbees. The shooter is a standard dual 8" pneumatic wheel one, with a mini-CIM and a CIM in direct drive. We got our speed control working today. The code fires the next Frisbee as soon as the speed recovers.

http://www.youtube.com/watch?v=AfY-uYwHv50

The distance is half court.

[arun4444]

class 1 laser?

[z_beeblebrox]

Illegal but temporary laser. Our real robot uses the pyramid or the camera to align.

[z_beeblebrox]

More of our progress:
http://www.bitbuckets.org/wp-content/uploads/2013/02/2013-02-04-18.31.00-1024x577.jpg

CAD of final robot; should be submitted to sheet metal shop tomorrow-ish. Doesn't show shooter support/ tilting/ hanging mechanism

http://www.bitbuckets.org/wp-content/uploads/2013/02/2013-02-04-18.29.18-1024x577.jpg

Prototype robot featured in video. Built on off-season drivetrain. Prototype intake in bottom-left corner.

http://www.bitbuckets.org/wp-content/uploads/2013/02/2013-02-04-18.29.33-1024x577.jpg

Driver station, complete with our custom game-pad/ pistol grip controller and my precious, fluffy dog.

200th POST!!!

[DELurker]

Looks good. Seems like you have some vibration in the system, though ... ;)

[nixiebunny]

...Looks good. Seems like you have some vibration in the system, though ...

Indeed. We need to find a tire shop that can balance a tire on a 4 inch rim.

We have made a fair attempt at it using some screws as counterweights taped inside the rim opposite the valve stem.

[Siri]

We have made a fair attempt at it using some screws as counterweights taped inside the rim opposite the valve stem.When you say taped, you don't mean 'adhesive attempting to hold pointy metal objects onto a wheel spinning at 6,000 RPM', do you?

Please be safe ::ouch:: Even duct tape cannot guarantee safety here.

Awesome shooter, though! And very cute dog.

[kuraikou]

When you see the shooter from a non first person mode it doesn't vibrate as much as it appears in the video, especially for a prototype made of wood and bolts.

[nixiebunny]

When you say taped, you don't mean 'adhesive attempting to hold pointy metal objects onto a wheel spinning at 6,000 RPM', do you?

Yes, they are held in place *inside* the rim with double-sided foam poster mounting tape. The centrifugal force of spinning presses the screws more tightly into the tape. In order to fall out, they'd have to violate a couple of the laws of physics.

We will use hot glue to install them on the final assembly.

[Jackladd]

We decided to see how fast we could shoot a bunch of Frisbees. The shooter is a standard dual 8" pneumatic wheel one, with a mini-CIM and a CIM in direct drive. We got our speed control working today. The code fires the next Frisbee as soon as the speed recovers.

http://www.youtube.com/watch?v=AfY-uYwHv50

The distance is half court.

I'm digging the earthquake simulator your robots also works as.

[apm4242]

The code fires the next Frisbee as soon as the speed recovers.

How are you reading the motor speed and sending it to the code with direct drive?

[Bruceb]

Here is 706's full auto shooter. We slow it down an auton but watch after that. Driver justs holds the trigger down.
Sorry if you have seen this already, I just think it is so cool.

(http://www.youtube.com/watch?v=zViWA9QbeJ4)

[Bruceb]

dang it this link didnt show up
http://www.youtube.com/watch?v=zViWA9QbeJ4

[ykarkason]

dang it this link didnt show up
http://www.youtube.com/watch?v=zViWA9QbeJ4

Cool! I liked how fast it recovers!
Are you using a bang-bang controller or a PID controller?
If it's a PID, how much time did you spend on optimizing it?

[TheOtherGuy]

How are you reading the motor speed and sending it to the code with direct drive?

We're using optical switches. A small metal tab passes through it once a revolution and we measure the time between pulses to determine the RPM.