Canburglar Mechanisms

[safiq10]

As we head into week 4, I'm intrested in Canburglar Mechanisms that were built at the competition? Our team is thinking about having a back up mechanism for this and we wanted to see some designs that were already out there.

[GeeTwo]

Heh? Do you mean devices to pull RC's off the step, perhaps?

[Mike Marandola]

Heh? Do you mean devices to pull RC's off the step, perhaps?

Yeah, they have been referred to on here as canburglars.

[DarkRune]

Well, a piston and a polycarb hook is all you really need right? ;)

[theawesome1730]

At GKC last weekend 1806 SWAT and 1730 Team Driven outfitted 1777 Viking Robotics with dual fishing poles/aluminum hooks during the first several matches of playoffs. Worked fantastically in autonomous (which only got a single trial btw). Can be done very easily with good results on a robot that is underweight and has pneumatics already.

[JesseK]

There are tons of videos from Weeks 1 & 2 up on The Blue Alliance. It'll take an hour or two, but going through the events and watching Quarter Finals yields some pretty nifty designs. There are some things we thought wouldn't work, but teams found a way to do it. There are some pretty awesome designs out there.

[Jay O'Donnell]

At GKC last weekend 1806 SWAT and 1730 Team Driven outfitted 1777 Viking Robotics with dual fishing poles/aluminum hooks during the first several matches of playoffs. Worked fantastically in autonomous (which only got a single trial btw). Can be done very easily with good results on a robot that is underweight and has pneumatics already.

Do you have any pictures of this? Or an idea of how much it weighed?

[theawesome1730]

Do you have any pictures of this? Or an idea of how much it weighed?

There is some match video
https://youtu.be/fv-m27y7new
I would guess that the whole system weighed maybe 10lbs the poles weren't that much weight and the pneumatic cylinders were probably a pound a piece. The structure below was maybe 3-4 pounds.

[Dave Campbell]

Team 144 had them at Pittsburgh (week 2) and ran most of the matches refining the timing and accuracy. Cool to see that we had them in our initial design.:cool: We're built to play our part of the game! Check em out here. (https://www.youtube.com/watch?v=BuFNEwq-hoQ) about 7:05 into the video....

[Brian C]

At the NYC Regional team 1796 the RoboTigers mounted a modified tape measure that was motorized to the midpoint of the uprights of their lift mechanism just before Eliminations began.

Something along the lines of a Stanley "Fat Max" style with a small hook on the end. They were able to pull up to the edge of the landfill and extend it like a snakes tongue into the top hole of the recycling can. It was a very simple yet effective way to accomplish the task and overcome the distance challenge of reaching the cans on the step.

The only time I saw it not work was when a piece of litter thrown by the opposing alliance just happened to hit it while extended. They reeled it in and sent it back out again right away with no lasting issues.

It reminded me of 2002 when we were all trying to have a piece of the robot extend back into our "home zone"

[Mrcope9]

We have a mechanism built, but due to weight restrictions and our robot not being able to start on the other side of the landfill, we probably won't be able to use it. But, we will bring it to both Bayou and Lone Star, and hopefully strap it on an alliance partner if possible.

[c.shu]

I haven't seen anything like ours yet. :rolleyes:

https://www.youtube.com/watch?v=710_8mUA-0g

[topgun]

How did you do that?

[billbo911]

I was able to catch 1678's Canburgler (https://www.youtube.com/watch?v=k4W50crBroE) in action at CVR.
Count on them improving this system. It is fast now, but likely will get faster and may even grab more in the future.

[PaulDavis1968]

I haven't seen anything like ours yet. :rolleyes:

https://www.youtube.com/watch?v=710_8mUA-0g

What team is grabbing the yellow bins?

[PaulDavis1968]

Carbon fiber to reduce weight ... https://www.youtube.com/watch?v=-Bj9MsC7UOM

[Cory]

We have a mechanism built, but due to weight restrictions and our robot not being able to start on the other side of the landfill, we probably won't be able to use it. But, we will bring it to both Bayou and Lone Star, and hopefully strap it on an alliance partner if possible.

Can't do that anymore :rolleyes: (http://www.chiefdelphi.com/forums/showthread.php?threadid=135836)

[chrisfl]

I haven't seen anything like ours yet. :rolleyes:

https://www.youtube.com/watch?v=710_8mUA-0g

Team 1699 has something like this on the back of our robot but haven't gotten a chance to use it.:yikes:

[nickbrickmaster]

Team 3184 grabs two cans at a time. https://youtu.be/qSD1OgMCxR8

[c.shu]

What team is grabbing the yellow bins?

That was 67, the HOT team.

[Brian C]

I haven't seen anything like ours yet. :rolleyes:

https://www.youtube.com/watch?v=710_8mUA-0g

1796 Robotigers

[magnets]

I'm waiting for a team with four 'minibots' that fall over onto the containers and are pulled back to the robot.

[Mrcope9]

Can't do that anymore :rolleyes: (http://www.chiefdelphi.com/forums/showthread.php?threadid=135836)

Ah well. It's still a prototype. It'll probably be used for extra material if need be. But would still love to share the idea if anyone wants to copy;)

[Abhishek R]

Ah well. It's still a prototype. It'll probably be used for extra material if need be. But would still love to share the idea if anyone wants to copy;)

Thanks to the new update, you're good to go again.

[Mrcope9]

Thanks to the new update, you're good to go again.

#TeamCheesecake

[Ozuru]

Team 3184 grabs two cans at a time. https://youtu.be/qSD1OgMCxR8

I was expecting the rocket to blow up for some reason. Lol.

[JesseK]

We designed a can grabber last night in under 3.5 lbs. With a high flow valve, it could be under half a second to grab. With CAD, it's fairly easy to get right. I'll release the design once we fabricate it and know it works as-intended.

1.) 2D sketch the landfill & step, including totes/RB's
2.) Position robot in notional grabbing position in that sketch.
3.) Figure out where on your robot a can grabber would mount, then measure from that point to the center hole of the RC can
4.) Subtract that distance from 78" and that's the maximum height the pivot point can be at for the grabber.
5.) Add Pneumagics. Since the total rotation is ~90 degrees, the math for a bell crank is extremely simple.
6.) CAD mounts, fabricate them (CNC or any other plate-milling/cutting machine really helps, but isn't 100% necessary)
7.) Plan to get calibrations of angle on Thursday at the event

[Michael Corsetto]

1.) 2D sketch the landfill & step, including totes/RB's
2.) Position robot in notional grabbing position in that sketch.
3.) Figure out where on your robot a can grabber would mount, then measure from that point to the center hole of the RC can
4.) Subtract that distance from 78" and that's the maximum height the pivot point can be at for the grabber.
5.) Add Pneumagics. Since the total rotation is ~90 degrees, the math for a bell crank is extremely simple.
6.) CAD mounts, fabricate them (CNC or any other plate-milling/cutting machine really helps, but isn't 100% necessary)
7.) Plan to get calibrations of angle on Thursday at the event

This looks like a recipe for some delicious cheescake...

-Mike

[Richard Wallace]

This looks like a recipe for some delicious cheescake...Give someone a cheesecake, and she'll (probably) enjoy eating it. Teach her to make cheesecake, and ... ;)

[Michael Corsetto]

Give someone a cheesecake, and she'll (probably) enjoy eating it. Teach her to make cheesecake, and ... ;)

...she'll be inspired either way? ;)

[Richard Wallace]

...she'll be inspired either way? ;)

No doubt at all. The teaching just helps spread the inspiration further. :)

[hrench]

At GKC last weekend 1806 SWAT and 1730 Team Driven outfitted 1777 Viking Robotics with dual fishing poles/aluminum hooks during the first several matches of playoffs. Worked fantastically in autonomous (which only got a single trial btw). Can be done very easily with good results on a robot that is underweight and has pneumatics already.

I got a pretty good video of this from the field level too.

https://www.youtube.com/watch?v=oDR07Pw7qwg

[The_ShamWOW88]

Give someone a cheesecake, and she'll (probably) enjoy eating it. Teach her to make cheesecake, and ... ;)

Why's it gotta be a she? I <3 cheesecake....

[mrmummert]

1610 has one....https://www.youtube.com/watch?v=BJoD67WWd5E&list=UUuxJRpGPzRUtz3Dy8ynfN3A

[TDav540]

Although our team doesn't have something (yet) that grabs the bins during autonomous, we were able to grab the bins from the step over the upside down totes once a member of our alliance (sometimes us, but many times our partners) cleared the landfill. It was a critical component of our success at Virginia this year, but we do hope to improve the system's capabilities.

[tStano]

3418: Robo-Riot had a really cool design in Wisconsin which went in the top of the can and expanded, allowing the can to be lifted. It wasn't the most successful, but it was the coolest design I've seen so far. It looks light.

I'll try to dig up some video. 2530: inconcievable had a more effective canburglar, which was definitely part of their original design, its just a 4 bar with hooks on the end. Very effective, although they didn't do it in auto.

[brandon.cottrell]

1538 did a really nice steal mid-match in the finals of Arizona east. Less than 20 seconds left, they saw the opposite alliance trying to grab a can, so they stopped pursuing the one they were already going for and grabbed that one out of the clutches of their opponent. Even though they lost, it was still a really good play.

[themccannman]

I was able to catch 1678's Canburgler (https://www.youtube.com/watch?v=k4W50crBroE) in action at CVR.
Count on them improving this system. It is fast now, but likely will get faster and may even grab more in the future.

I can tell you will not be improving that particular mechanism at all, it's getting junked.

[Anteprefix]

I can tell you will not be improving that particular mechanism at all, it's getting junked.

The canburglar is starting to sound like 2015's version of our ground intake from 2013.

[themccannman]

The canburglar is starting to sound like 2015's version of our ground intake from 2013.

Worse, we only did 3 complete re-iterations on that mechanism :rolleyes:

[GeeTwo]

It won't win any speed races, but we managed to mine a bit of green gold in seven straight playoff matches at Bayou this weekend:
http://www.michelfamily.org/slow-canburglar.jpg

Clear the two end totes out - at the same time
shove the rest of the upright totes to the left
roll an inverted tote on its side
roll that tote upright (and carry it a way)
get the RC!

[jdunston94]

Worse, we only did 3 complete re-iterations on that mechanism :rolleyes:


May i ask what revision you are on now?:rolleyes:

[audietron]

The canburglar is starting to sound like 2015's version of our ground intake from 2013.

They are really starting to turn into the minibot, there are a lot of designs but only a couple are consistent and fast. I would say there is going to be a team at champs that is almost completely over looked because they have difficulty stacking but have a really fast can burglar. Somewhat like 973 is 2011 not having an auto but having one of the best minibot.

[FIMAlumni]

Is there a list anywhere of teams with Canburglers?

Canburgler- A robot component designed to retrieve recycling container(s) from the step in autonomous.

My quick list would be:
27
33
118
610
987
1114
2056
2137
3322

My list is skewed heavily to Michigan and big name teams. I would also like to count only teams that have done it in a competition, videos are easy make when you have unlimited takes.

[mrnoble]

Is there a list anywhere of teams with Canburglers?

Canburgler- A robot component designed to retrieve recycling container(s) from the step in autonomous.

My quick list would be:
27
33
118
610
987
1114
2056
2137
3322

My list is skewed heavily to Michigan and big name teams. I would also like to count only teams that have done it in a competition, videos are easy make when you have unlimited takes.

1339 has been doing two in <1 sec in auto today during practice rounds. Just sayin

[gurellia53]

Is there a list anywhere of teams with Canburglers?

Canburgler- A robot component designed to retrieve recycling container(s) from the step in autonomous.

My quick list would be:
27
33
118
610
987
1114
2056
2137
3322

My list is skewed heavily to Michigan and big name teams. I would also like to count only teams that have done it in a competition, videos are easy make when you have unlimited takes.


Add 1736. We consistently took at least 1 off the step during auto at Central Illinois. Video here (https://www.youtube.com/watch?v=7xKIfHtcGEg&index=11&list=PLmgc4_l37GLA5K5XzqJXyAV8g1rINyrAU) of a 'race' to the step.

Here's a playlist (https://www.youtube.com/playlist?list=PLmgc4_l37GLA5K5XzqJXyAV8g1rINyrAU) if you would like to see how consistent we were. We took at least one off in autonomous in all but our first qualification match.

[BBray_T1296]

Is there a list anywhere of teams with Canburglers?

Canburgler- A robot component designed to retrieve recycling container(s) from the step in autonomous.

My quick list would be:
27
33
118
610
987
1114
2056
2137
3322

My list is skewed heavily to Michigan and big name teams. I would also like to count only teams that have done it in a competition, videos are easy make when you have unlimited takes.

I think 3310 gets top slot in this list. 0.25s dual can grab before bag day.

[c.shu]

1918 and 1718 have them as well.

[Rachel Lim]

Is there a list anywhere of teams with Canburglers?

Canburgler- A robot component designed to retrieve recycling container(s) from the step in autonomous.

My quick list would be:
27
33
118
610
987
1114
2056
2137
3322

My list is skewed heavily to Michigan and big name teams. I would also like to count only teams that have done it in a competition, videos are easy make when you have unlimited takes.

You can't make a list of canburglars without mentioning 1678 who is now completely redesigning theirs again (http://www.chiefdelphi.com/forums/showpost.php?p=1460687&postcount=38). The videos YPatrick linked to here (http://www.chiefdelphi.com/forums/showpost.php?p=1461264&postcount=23) show that both they and 971 had them at Sacramento.

16's reveal video showed a 2 container auto, and this video (http://www.thebluealliance.com/match/2015arfa_qm86) you can see them aiming for two and getting one.

At Alamo, 4063 had a 4 container auto that hooked onto the handles, and 2415 had a 2 container one (I believe 2415 only had it in elims though). I'm not sure if there are videos of Alamo recorded as they're not on TBA.

2848 got 3 out of 4 (and knocked the 4th over onto their side) here (http://www.thebluealliance.com/match/2015txda_qm70)

This video (http://www.thebluealliance.com/match/2015arfa_f1m1) shows 1986 getting 2

An updated list (adding every team that has been mentioned so far):
16
27
33
118
610
971
987
1114
1339
1678
1718
1736
1918
1986
2056
2137
2415
3310
3322
4063

[Mr. B]

From the match videos that I have seen teams 118 and 1678 seem to be the fastest. Both robots do not need to move before releasing their can grabbers. In order to reach the 2 cans their arms extend out as/or after they are released.(required to stay below the 78" height limit) Most other robots must drive to the totes before releasing their arms.
Does anyone that has seen these robots in person know how the arms are extended?:confused:
Thanks
Also, 558 and 329 can be seen grabbing cans here
http://www.chiefdelphi.com/forums/showthread.php?t=136071&highlight=waterloo

[JohnSchneider]

From the match videos that I have seen teams 118 and 1678 seem to be the fastest. Both robots do not need to move before releasing their can grabbers. In order to reach the 2 cans their arms extend out as/or after they are released.(requires to stay below the 78" height limit) Most other robots must drive to the totes before releasing their arms.
Does anyone that has seen these robots in person know haw the arms are extended?:confused:
Thanks
Also, 558 and 329 can be seen grabbing cans here
http://www.chiefdelphi.com/forums/showthread.php?t=136071&highlight=waterloo

Sure about that?

[Dave Campbell]

Team 144 - regularly at Pitt and next week at QCR - seen here about 7:04 of this video (https://www.youtube.com/watch?v=BuFNEwq-hoQ)

[Siri]

365. They're grab is actually pretty quick, though I think they're still working on how long it takes to back up. Example match (http://www.thebluealliance.com/match/2015paphi_qf1m6). (This is just the first match I clicked on; I only watched the first few seconds.)

[George1902]

I wonder how long this list is going to get...

Here's an example of 180's mechanism in Orlando:
https://www.youtube.com/watch?v=Ei0pQy2Y7aI&list=PLTQ7p60tDSUin72gTt2xoRYRfumQK9Fgt&index=96

[orangelight]

Add 548 to the list

[BBray_T1296]

Sure about that?

Ikr? :rolleyes:

[Jonathan Norris]

It really doesn't matter who is fastest at getting to the bins... it matters who comes away with them :ahh:, I'm excited to see these mechanisms go head to head.

[Wayne TenBrink]

It really doesn't matter who is fastest at getting to the bins... it matters who comes away with them :ahh:, I'm excited to see these mechanisms go head to head.

Team 141 (the WOBOTs) also have a canburglar mechanism. We went head to head in Match 34 at West Michigan. https://www.youtube.com/watch?v=ODyiCO4gpSU&list=PL6fCSvDccI_5gbCNQx9POAMIp7RVa0Xfc&index=30

We inadvertently had our getaway in "delay" mode, so we both had hold of the same can - 141 by the handle and 1918 by the lid. We took the can and also part of their "hand". Later, they stopped by our pit and "gave us the finger", decorated with a fingernail and knuckle. We all had a good laugh.

[Matt_Boehm_329]

Is there a list anywhere of teams with Canburglers?

Canburgler- A robot component designed to retrieve recycling container(s) from the step in autonomous.

My quick list would be:
27
33
118
610
987
1114
2056
2137
3322

My list is skewed heavily to Michigan and big name teams. I would also like to count only teams that have done it in a competition, videos are easy make when you have unlimited takes.

I think 329 should be on this list ^.^ but I have a horse in the race. We are about 300-400ms in Waterloo playoffs and we are looking to go faster this week (no more need to drive back)

http://www.chiefdelphi.com/forums/showthread.php?t=136071

[themccannman]

It really doesn't matter who is fastest at getting to the bins... it matters who comes away with them :ahh:, I'm excited to see these mechanisms go head to head.
I'm going to disagree, it's 100% about who gets there first, it's very easy to prevent your opponents from grabbing it once your mechanism is there before you even pull them back.

From the match videos that I have seen teams 118 and 1678 seem to be the fastest. Both robots do not need to move before releasing their can grabbers. In order to reach the 2 cans their arms extend out as/or after they are released.(required to stay below the 78" height limit) Most other robots must drive to the totes before releasing their arms.
Does anyone that has seen these robots in person know how the arms are extended?:confused:
Thanks
Also, 558 and 329 can be seen grabbing cans here
http://www.chiefdelphi.com/forums/showthread.php?t=136071&highlight=waterloo

Considering both us and 118 are scraping our mechanisms I think I can tell you all about them. I was a little surprised when I first saw their telescoping mechanism because was actually completely identical to ours which was kind of funny.

We both have round tubing held inside of square tubing. We used a bearing block on the outside of the square tubing, and an internal bearing block on the end of the round tubing inside to keep it constrained at two points while it slid.

We both extended our mechanisms by just running a string from our elevator frame down the end of the square tubing to the bottom of the round tubing. As the arm traveled through it's range of motion the string would pull the round tubing up through the square tubing the exact same amount every time it fired.

I can also tell you though that 3310's mechanism was faster than ours when we were running it with two motors (decided we didn't need all 6 for sac since it's getting scrapped anyways).

Hope that answers your question.

[Michael Corsetto]

Considering both us and 118 are scraping our mechanisms I think I can tell you all about them. I was a little surprised when I first saw their telescoping mechanism because was actually completely identical to ours which was kind of funny.

Um... I wasn't as surprised. Mostly because we copied 118's can grabber after watching their reveal video ;)

Steal from the best, invent the rest! And after working with them at Sac, and can accurately and emphatically state that 118 is the best.

-Mike

[The other Gabe]

no one ever mentions the PNW :'(

we have 1318 who's auto works quite well... and well that's actually all I've seen in competition (for auto anyways)

skunkworks robotics has retrofitted one as shown here https://www.facebook.com/Skunkworks1983?fref=nf

and we are planning on a similar retrofit (functionality unknown as of now, I couldnt go to the meeting today)

[themccannman]

Um... I wasn't as surprised. Mostly because we copied 118's can grabber after watching their reveal video ;)

Steal from the best, invent the rest! And after working with them at Sac, and can accurately and emphatically state that 118 is the best.

-Mike

It was even closer than I expected though, practically down to the bearing brand.

[FIMAlumni]

Updated list with state/country

16-AR
27- MI
33- MI
118- TX
141-MI
144- OH
180-FL
329- NY
365- DE
548 -MI
558- CT
610- Canada
971- CA
987 - NV
1114- Canada
1318- WA
1339- CO
1678- CA
1718- MI
1736- IL
1918- MI
1986- MO
2056- Canada
2137- MI
2415- GA
3310- TX
3322- MI
4063- TX

This seems like a very underwhelming number to me right now...

[jwfoss]

FRC558 has one, we ran Rev 1.0 and Waterbury and 2.0 at the Rhode Island District last week.

[The other Gabe]

Found a fight over some cans https://www.youtube.com/watch?v=R8JMrLVWj2E (I know there was a post about that at some point but I cant find it so I'm just gonna put this here)

[Jay O'Donnell]

Some NE teams that have Canburgars: 58, 126, 138, 237, 230 (?)

[wesbass23]

Updated list with state/country

16-AR
27- MI
33- MI
118- TX
141-MI
144- OH
180-FL
329- NY
365- DE
548 -MI
558- CT
610- Canada
971- CA
987 - NV
1114- Canada
1318- WA
1339- CO
1678- CA
1718- MI
1736- IL
1918- MI
1986- MO
2056- Canada
2137- MI
2415- GA
3310- TX
3322- MI
4063- TX

This seems like a very underwhelming number to me right now...

That's because you are missing quite a few (unless you are only talking about teams that have built one at an event).
Here a couple from the Wisconsin regional:
93-WI
1714-WI
2338-IL
2530-WI
2481-IL (Not at WI Regional but I know they have one)

There were a few more that I know I am forgetting.

[tStano]

1421, team Chaos from MS has one.
https://www.youtube.com/watch?v=4syNfEvE3TU&feature=youtu.be

[Abhishek R]

Team 4334 from Canada has one.

https://www.youtube.com/watch?v=_q3GQ7v79xI

624 has one too, but we've never actually used it in competition (no need to, we've been the 3 tote auto team for our alliance at both of our regionals so far), so I guess it may not count officially.

[IronicDeadBird]

Apparently taking bins from the middle almost every round makes it your signature move...

[Gdeaver]

We do not have a canburglar but are in the design process. How do you build a world class 2 can canburglar with 4 lbs of weight to spare?

[mrnoble]

How do you build a world class 2 can canburglar with 4 lbs of weight to spare?

I don't know about world class, but ours works fast and hasn't missed one can in the five or six matches it was deployed yesterday. It weighed about 6 pounds. Its primary components are two fiberglass painting rods, a stick of .040" Vex VersaFrame, and two 1/2" bore 8" pistons. I bet my students who designed it would share it with you if you are interested, send me a PM.

[SkittlesCharge]

There were a few more that I know I am forgetting.

537 has a canburglar mechanism (which we actually call a "hoarder"). :p
We only used it a few times at Wisconsin, but we're getting it all ready to go for the Queen City Regional next week. Our is basically just a 4 bar linkage with a hook on the end. The mechanism is the inspiration for our robot's name this year, Captain Hook.

[XaulZan11]

There were a few more that I know I am forgetting.

3418 (who was likely the best capper at Wisconsin) and 4531 both had one at Wisconsin. Both were effective and used in teleoperated.

[Landonh12]

We have one that worked successfully (90% success rate) at the Bayou Regional.


https://www.youtube.com/watch?v=SplhWEm06K0

[xXhunter47Xx]

I'm currently designing a middle step can grabber like 610's but strictly mechanical actuation as an afterthought, until I realized that the empty step area is nearly 4 feet in width and then I have to add the width of the cans meaning I'd have to make an appendage with at least a 7.5 foot wingspan in order to grab both cans in the middle. I really hope my calculations are incorrect because that's a fairly large thing to be swinging around in the field.

[themccannman]

I really hope my calculations are incorrect because that's a fairly large thing to be swinging around in the field.

Nope, you're right, you need a pretty large mechanism to do it. Also if you watched hawaii 610 brought out the same mechanism but with extensions to reach all 4 cans, that needs to be a little over 20 feet long to do it.

[Everett33]

Yesterday in the two Finals matches at the Livonia District there was a canburglar race between 503 and 548. Very fun to watch.

https://www.youtube.com/watch?v=oiOZN4G4OxI

[Wortmann]

Yesterday in the two Finals matches at the Livonia District there was a canburglar race between 503 and 548. Very fun to watch.

https://www.youtube.com/watch?v=oiOZN4G4OxI

Here is a closer look at our can battle in Livonia Finals Match 2:
https://www.youtube.com/watch?v=fXzkTojMot4&feature=youtu.be

[AGPapa]

Here is a closer look at our can battle in Livonia Finals Match 2:
https://www.youtube.com/watch?v=fXzkTojMot4&feature=youtu.be

This an excellent view, you can see from here that 548 had grabbed the RC before 503 had even started to move.

How do both you and 503 actuate your canburglers? Does this difference in start time come mostly from the difference between the mechanisms, or does FMS initialization delay factor in?

[orangelight]

This an excellent view, you can see from here that 548 had grabbed the RC before 503 had even started to move.

How do both you and 503 actuate your canburglers? Does this difference in start time come mostly from the difference between the mechanisms, or does FMS initialization delay factor in?
We run a PID loop when auto starts to lower the grabbers. I don't think FMS plays that much of a delay factor. The delay should be less than 10ms. (https://wpilib.screenstepslive.com/s/4485/m/24193/l/291972) Are canburglers can hit the can in <450ms. I assume it would have to do much more with the mechanisms.

[Cory]

We run a PID loop when auto starts to lower the grabbers. I don't think FMS plays that much of a delay factor. The delay should be less than 10ms. (https://wpilib.screenstepslive.com/s/4485/m/24193/l/291972) Are canburglers can hit the can in <45ms. I assume it would have to do much more with the mechanisms.

.045s? No way.

I went through frame by frame and it looks like .3s...seems a lot more realistic.

Congrats though. Your grabber looks like it's among the fastest that's been released.

[choprane]

This an excellent view, you can see from here that 548 had grabbed the RC before 503 had even started to move.

How do both you and 503 actuate your canburglers? Does this difference in start time come mostly from the difference between the mechanisms, or does FMS initialization delay factor in?

Ours are two separate fourbar linkage sytems actuated by Banebot 775 motors attatched to Versa Planetary gearboxes using a 40:1 ratio. I'm sure Bryce can provide some insight on how 503 actuates their canburglars.

[orangelight]

.045s? No way.

I went through frame by frame and it looks like .3s...seems a lot more realistic.

Congrats though. Your grabber looks like it's among the fastest that's been released.

Sorry meant 450ms

[Bryce Paputa]

This an excellent view, you can see from here that 548 had grabbed the RC before 503 had even started to move.

How do both you and 503 actuate your canburglers? Does this difference in start time come mostly from the difference between the mechanisms, or does FMS initialization delay factor in?

We had four CIMs pulling ours down with a 28:1 reduction. We use Command Based Java and CAN Talons (anybody on Northville willing to comment on their control system?). We think that we are applying power down for 1 second as soon as the match starts, but clearly there is some delay. Match one was constant 80% power and match 2 was 100%. We're still trying to figure out if this is our code's fault, something to do with the field, or caused by a chain skipping teeth.

One of our mentors took some 60 fps video of it and claims that our travel time was 1 frame shorter once we started moving :).

[orangelight]

We had four CIMs pulling ours down with a 28:1 reduction. We use Command Based Java and CAN Talons (anybody on Northville willing to comment on their control system?). We think that we are applying power down for 1 second as soon as the match starts, but clearly there is some delay. Match one was constant 80% power and match 2 was 100%. We're still trying to figure out if this is our code's fault, something to do with the field, or caused by a chain skipping teeth.

One of our mentors took some 60 fps video of it and claims that our travel time was 1 frame shorter once we started moving :).

We use iterative based Java and run PID on CANTalons. In order to make ours faster we changed the P value

[TJP123]

Ours are two separate fourbar linkage sytems actuated by Banebot 775 motors attatched to Versa Planetary gearboxes using a 40:1 ratio. I'm sure Bryce can provide some insight on how 503 actuates their canburglars.

The obvious answer: apparently, not fast enough.

That was fun to be a part of, though.

[viper196]

We have one as well (https://www.youtube.com/watch?v=e918aRlqkF8). Haven't had any Can battles yet, but it should get interesting at the PNW DCMP.

[Paul Boehringer]

Ours are two separate fourbar linkage sytems actuated by Banebot 775 motors attatched to Versa Planetary gearboxes using a 40:1 ratio. I'm sure Bryce can provide some insight on how 503 actuates their canburglars.


Do those arms extend at all? Do you drive forward at all?

[zsm150]

This an excellent view, you can see from here that 548 had grabbed the RC before 503 had even started to move.


Can't wait to see how much faster both teams can get in the next two weeks to face off at States:yikes:

[cjl2625]

During elims, we had a dual can grabber. Two hooks actuated by pistons.
The consistency and speed need work, but we ended up with grabbing at least one can in each of our playoff matches.

[AndrewPospeshil]

One interesting thing to note is that at the Livonia district (where the 503/548 "Battle of the Baseline Bins" occurred) the first three picks were all bin stealers - 548, 27, 503. Granted Robotstangs were seeded 2nd and had been 1st for most of the previous day, but neither 27 or 503 were in the top 8 during alliance selections - 10th and 12th iirc. This goes to show how control of the center bins becomes much more important during high levels of play. Even in a district playoff, alliances can exceed the 3 standard cans and will need extras. Especially in finals where games are win/loss, controlling these center game pieces is crucial. I'm excited to see how the FRC meta progresses. Last year's was really fun to see how the game gradually evolved into passing the ball as fast as possible without using the actual floor, but this year's bin stealing meta will be just as exciting I predict. I think the FRC community is gonna go wild when tug-of-wars become really common.

[choprane]

Do those arms extend at all? Do you drive forward at all?

The arms do not extend at all, and are made of carbon fiber with custom water jet hooks clamped on the top. (I believe Alex hinted at this in the FIM Livonia thread). We use PID to get the arms to a position in which the hooks are just inside the hole of the RC. As soon as we are in position, we drive forward pulling the cans off the step and turn while retracting the arms back to their original upright position.

[Bennett548]

Do you have to fire the pneumatics for the power takeoff, or do they start in burglar mode?

[zsm150]

Do you have to fire the pneumatics for the power takeoff, or do they start in burglar mode?

We always shift into them before the match but some how there is still a delay in our start.

[Bryce Paputa]

Do you have to fire the pneumatics for the power takeoff, or do they start in burglar mode?

We fire them in queue before the match, however in the past we shifted at the beginning of autonomous. Its possible we forgot to take the wait out here but I don't think that's the case. At least our lord and savior (and programmer) Suhas says he took it out.

[Anthony Galea]

Team 2851 had one at Center Line (https://www.youtube.com/watch?v=taEC23IVQpk), and AFAIK it was the only one there.

[Bryce2471]

Team mean machine has been developing some burglars in the gaps between events. Unfortunately, we had literally no weight to spare, (after factoring in other planned changes) so the whole thing had to be less than the weight lost by switching to mini cims (2.5 lbs).

Our current iteration has two modular mechanisms that can grab one RC each in about 0.5 sec. They attach with two bolts each, so they are easy to cheesecake. Each one weighs 1 lb and 2.3 oz!

I'll try to post a picture when I get a chance. Otherwise, they will hopefully be seen at pnw this weekend.

[Boltman]

We now have "fast" Dual-RC ability (we can be official "CanS burglar" in auto) woo hoo!!!.. thanks! GB via MK!

Cheese-caking in crunch time is a great experience for us as a second year team!

Already a regional was won with those very arms we borrowed.... via other bot (let you guess which fantastic team). Hope to do the same and repeat with hopefully a win in SD this week to make it back to STL...just missed in Ventura by 2 average points getting it to work to finals knocking eventual winners out. Was not ready in time for semi #1. Was for #2 and #3. Oh well we (with can burgling arms that work) live on...with that new found can burgling capability and bringing it to our second regional in SD this week should be fun.

We were most "modifiable" lost weight over 13 lbs and ..great for us we hope to put those arms to great use in SD...and hope to make it to STL with our bot!

Amazing add on in crunch time! just shows how one "bad over 100" trying to get it working (we got a foul with arms extended out of field) ... match knocks you out of finals by only 2 average points... I feel particularly bad for teams 696 and 1836...they both tried extra hard to get it working in time for first semi. Thanks for all your efforts teams ! Good luck rest of way!

We love the new can-burgling arms when needed. Thank you! You made us a better/stronger alliance partner.

[Greg Needel]

2848 got 3 out of 4 (and knocked the 4th over onto their side) here (http://www.thebluealliance.com/match/2015txda_qm70)




We removed our successful 4 can grabber (which went 35/40 in Quals at Dallas) for Hub City for a 2 can grabber based on the same design. While it was successful at the event, we will be swapping the mechanism out at the championship for something much faster.

[JesseK]

Our design is a bit clumsy - it requires re-alignment every match and is only good for 1 firing before the inaccuracies add up. We only ever used it on the practice field because it wasn't advantageous at the time to use it on the field given our alliance strategies. We'll have something better for Champs.

[Bryce Paputa]

Alright I think I may have found the problem. Take a look at these logs:
Finals 1
http://imgur.com/svtxMQb.png

Finals 2
http://imgur.com/dXeEvpT.png

Except for one frame, the robot auto tracker doesn't come on until .3 seconds into the match (exact same as what our video says the delay is). Is this normal? What could cause it? I've attached the logs here too. Haven't had a chance to test it on the practice robot yet.

[Bryce Paputa]

And we found the issue, we make all of our subsystems static objects in our code and while debugging something we got rid of the code that initialized them during the robo rio booting. This made it initialize everything in the beginning of autonomous and created the .3 second delay. It's fixed now and we can't wait for a rematch at states.

[orangelight]

And we found the issue, we make all of our subsystems static objects in our code and while debugging something we got rid of the code that initialized them during the robo rio booting. This made it initialize everything in the beginning of autonomous and created the .3 second delay. It's fixed now and we can't wait for a rematch at states.

Yeah! The Northville vs. Novi rivalry is real

[Xavbro]

This was our first version of our can grabber at Bayou 2 weeks ago. It worked very well for us but we're already hard at work on a version 2.0 for Lone Star this weekend.

https://youtu.be/89MKULfYgsY?list=PLJnV_J-BBajGGgFbpWsygX6SSrKEcj5UG

[JoeyD]

Hawaii had a good can battle in the finals between 610 and 359.

https://www.youtube.com/watch?v=xNPW2zrg9Xs (http://www.youtube.com/watch?v=xNPW2zrg9Xs)

[troxbots]

Here is ours team 1111
https://twitter.com/i/cards/tfw/v1/579349031832403968?cardname=__entity_video&native=true&earned=true
it only grabbed one because of the other robot's claw was in the way,
We were at New York Yech Valley Regional for more video.
Reveal Video
https://www.youtube.com/watch?v=Ezpvkd_fZ_M

[TJP123]

Yeah! The Northville vs. Novi rivalry is real

Nice avatar, by the way.

[donnie99]

Updated list from NE as far as I know

69 MA
125 MA
126 MA
176 CT
237 CT
1768 MA

Here's a video of 126, 1768, and 69 all doing it in one match.

https://www.youtube.com/watch?v=mUb7N_fQpxk

Here's my team, 237, doing our four bin autonomous, but barely missing the last one. It's been fairly consistent all year, and we pride ourselves on the fact we leave the bins upright on the totes ready to be stacked.

https://www.youtube.com/watch?v=BVY1osp7LEs

[philso]

This was our first version of our can grabber at Bayou 2 weeks ago. It worked very well for us but we're already hard at work on a version 2.0 for Lone Star this weekend.

https://youtu.be/89MKULfYgsY?list=PLJnV_J-BBajGGgFbpWsygX6SSrKEcj5UG


Here is one of us "sharing" the RC's with another team.

https://www.youtube.com/watch?v=LERmiUfstpU

[s_forbes]

Here's some slow-mo of 987's absurdly fast burgling. It's gonna be tough to beat!

https://www.youtube.com/watch?v=MevxhUgNAk0

[Boltman]

Here's some slow-mo of 987's absurdly fast burgling. It's gonna be tough to beat!

https://www.youtube.com/watch?v=MevxhUgNAk0

As long as other two aren't taken :)

[Michael Corsetto]

As long as other two aren't taken :)

Cheesecake should fix that issue ;)

#winthecheesecakerace

[Abhishek R]

Cheesecake should fix that issue ;)

#winthecheesecakerace

Discover this one SHOCKING secret to make your cheesecake faster!!!

On another note, any chance we'd get to see a video of the old 1678 4 can grabber in action?

[MamaSpoldi]

Updated list from NE as far as I know

69 MA
125 MA
126 MA
176 CT
237 CT
1768 MA


Some NE teams that have Canburgars: 58, 126, 138, 237, 230 (?)

Yes, 230 has a canburglar autonomous that works exceedingly consistently... it only missed twice: the first time we tried it in Waterbury week #1 and once when we tried it when tipped on the scoring platform. [Note this is being fixed as I write this.] In fact it was also proven to be a CanBurgling Cop (to coin a new term), by preventing the burgling of at least one can (by holding on to the can we were grabbing) in each of the finals matches at the Hartford district.

[Citrus Dad]

Here's my team, 237, doing our four bin autonomous, but barely missing the last one. It's been fairly consistent all year, and we pride ourselves on the fact we leave the bins upright on the totes ready to be stacked.

https://www.youtube.com/watch?v=BVY1osp7LEs

Quite impressive at lining up the bot over that run.

[AdamHeard]

Updated list from NE as far as I know

69 MA
125 MA
126 MA
176 CT
237 CT
1768 MA

Here's a video of 126, 1768, and 69 all doing it in one match.

https://www.youtube.com/watch?v=mUb7N_fQpxk

Here's my team, 237, doing our four bin autonomous, but barely missing the last one. It's been fairly consistent all year, and we pride ourselves on the fact we leave the bins upright on the totes ready to be stacked.

https://www.youtube.com/watch?v=BVY1osp7LEs

The bummer is in any competitive elims match at champs this robot gets 0 of 4 bins.

[Thad House]

4488 Shockwave has our Canburglar ready to go for the PNW champs. https://www.youtube.com/watch?v=UiqXO4Zr6Bg&feature=youtu.be

[Hallry]

Updated list from NE as far as I know

Anyone have the time to make a list of canburglar teams in MAR?

[GuyM142]

Team 3339 BumbleB from Israel has one.

you can see it in this post:
http://www.chiefdelphi.com/forums/showthread.php?p=1464518

[nlknauss]

Anyone have the time to make a list of canburglar teams in MAR?

Based on the events I've seen and the top of my head:
223
225
365
433
1089
1391
1676
2729
3637
5407

Need some confirmation on this.

Nate

[Bryce2471]

I'll try to post a picture when I get a chance. Otherwise, they will hopefully be seen at pnw this weekend.

240 fps slow motion footage of the burglars being tested can be found here (https://www.facebook.com/video.php?v=924804820904452&set=vb.100001248290981&type=2&theater&notif_t=video_comment).

[Hallry]

Based on the events I've seen and the top of my head:
223
225
365
433
1089
1391
1676
2729
3637
5407

Need some confirmation on this.

Nate

Thanks, Nate. Here's a list of MAR autonomous canburglaring teams that I made up while I had some free time this evening:

223 (2)
225 (2)
365 (2)
433 (2)
484
1089 (2)
1391 (4)
1676 (2)
2729
3637
4475
5407

I believe 102, 1218, 3314, and 4653 can also get cans from the step during teleop, and I have heard of some other teams planning on adding their own canburglaring mechanisms for MAR Champs. Lehigh should be fun!

[Ichlieberoboter]

M.O.R.E. Robotics (1714) from Lake Superior regional gets all four in their autonomous.

[Steve Compton]

Hi all! I'd like to add Team 1391 to the MAR canburglar list. We get all four (like 1714) in auton. We were glad to see our mechanism (this was our first event this past weekend) was very consistent.

[Mike Marandola]

Thanks, Nate. Here's a list of MAR autonomous canburglaring teams that I made up while I had some free time this evening:

223 (2)
225 (2)
365 (2)
433 (2)
484
1089 (2)
1391 (4)
1676 (2)
2729
3637
4475
5407

I believe 102, 1218, 3314, and 4653 can also get cans from the step during teleop, and I have heard of some other teams planning on adding their own canburglaring mechanisms for MAR Champs. Lehigh should be fun!

I think 357 can get 2 off the step.

[Ben Martin]

Thanks, Nate. Here's a list of MAR autonomous canburglaring teams that I made up while I had some free time this evening:

223 (2)
225 (2)
365 (2)
433 (2)
484
1089 (2)
1391 (4)
1676 (2)
2729
3637
4475
5407

I believe 102, 1218, 3314, and 4653 can also get cans from the step during teleop, and I have heard of some other teams planning on adding their own canburglaring mechanisms for MAR Champs. Lehigh should be fun!

We can get 4, you just need to drive to get to the second 2

Looking forward to the step can craziness

[nlknauss]

Thanks, Nate. Here's a list of MAR autonomous canburglaring teams that I made up while I had some free time this evening:

223 (2)
225 (2)
365 (2)
433 (2)
484
1089 (2)
1391 (4)
1676 (2)
2729
3637
4475
5407

I believe 102, 1218, 3314, and 4653 can also get cans from the step during teleop, and I have heard of some other teams planning on adding their own canburglaring mechanisms for MAR Champs. Lehigh should be fun!

Not a problem! Also, 2729 is capable of grabbing two containers in auto but not at the same time. Maybe that makes the notation a 1+1? We spent some time at Seneca getting that auto mode set.

[carpedav000]

All of the canburglers I have seen in Indy:

-5188 (1)
-1024 (2)
-447 (1)
-292 (1)
-1760 (1)
-71 (1)
-1720 (1)

[donnie99]

Quite impressive at lining up the bot over that run.

The bot uses a gyro to correct itself if it starts to go off course. As long as it is lined up straight to start, and the sensor doesn't stop working (it did in one match) it will end up going straight every time.

[Eric Scheuing]

Any canburglars other than 237 that grab the cans by the handle? More specifically, I'd like to see a canbattle between a handle and a top grabber.

[Richard Wallace]

Any canburglars other than 237 that grab the cans by the handle? More specifically, I'd like to see a canbattle between a handle and a top grabber.Has the question been asked officially to determine whether an RC can be scored without its cover?

If not, then the battle described above could result in neither side ending up with a game piece, just both getting a chunk of field debris. Zip ties fail, especially the cheap ones.

[M_A._Kelley]

I haven't seen anything like ours yet. :rolleyes:

https://www.youtube.com/watch?v=710_8mUA-0g

Team 58 Riot crew uses a tape measure also.

[Jefferson]

Any canburglars other than 237 that grab the cans by the handle? More specifically, I'd like to see a canbattle between a handle and a top grabber.

Apologies for the terrible quality. It was from the stands, through the driver's station.

https://www.youtube.com/watch?v=q2AGM6whIC0

[philso]

Any canburglars other than 237 that grab the cans by the handle? More specifically, I'd like to see a canbattle between a handle and a top grabber.

Here is one of us "sharing" the RC's with another team.

https://www.youtube.com/watch?v=LERmiUfstpU

[jspatz1]

Grabbed them 7 consecutive times in the Queen City elims. Here's one: https://youtu.be/VRrxaLobL4s

[KitsuneKeira]

I believe 102, 1218, 3314, and 4653 can also get cans from the step during teleop, and I have heard of some other teams planning on adding their own canburglaring mechanisms for MAR Champs. Lehigh should be fun!

Yep, we (4653) have a canburglaring mechanism for Teleop, and we've practiced it on our practice bot since Bridgewater-Raritan, to hopefully get our Drive Team better accustomed to it. We also may have some auto tactics in the works. ;)
We just hope that everything will work out for MAR Champs.
Can't wait to go!

[FrankJ]

Grabbed them 7 consecutive times in the Queen City elims. Here's one: https://youtu.be/VRrxaLobL4s

Excellent example of coordination between teams on an alliance.

[jspatz1]

Excellent example of coordination between teams on an alliance.
That's our bread and butter. We're a very good finisher, and can help our partners make a big contribution even if they don't handle RCs.

[Koko Ed]

https://www.facebook.com/video.php?v=10153289281969444&set=vb.512329443&type=2&theater&notif_t=video_comment

[LDiDomenico]

https://www.facebook.com/video.php?v...=video_comment

That's new...

[billbo911]

https://www.facebook.com/video.php?v=10153289281969444&set=vb.512329443&type=2&theater&notif_t=video_comment

Nicely done!
Now all that is needed to complete the choke hold are alliance partners that can use those extra RCs.

[FrankJ]

https://www.facebook.com/video.php?v=10153289281969444&set=vb.512329443&type=2&theater&notif_t=video_comment

[Ironic sacarsm] That is just not right [/ironic sarcasm]
:]

[EmileH]

In three days, 3467 built one of NECMP's fastest can grabbers out of aluminum shower curtain rods, string and fishing line. Here in Semifinal 1 we beat 175 who had arguably the fast canburglars at the event. Unlike many teams, to make ours larger we made a two-bar system with two cables. To extend, they fell with gravity and retracted by piston.

https://youtu.be/Z04jjIypeKA?t=5s
http://i.imgur.com/IMkwZO6.jpg

There's a CAD file somewhere but here's a google drawing (http://i.imgur.com/WqClcyp.png).

[SoulianPride]

I loved watching the can fights during elims at States. There was one particular one where one (I believe it was 3322) of them was nearly pulled into the over side of the field. They ended up drawing a penalty because part of their robot was extended over.