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View Full Version : Team 5012 Offseason Reveal

Jeremy Germita
23-09-2016, 12:50
Team 5012 Gryffingear is proud to present our offseason improvements to our robot, Mischief!
Reveal video! (https://www.youtube.com/watch?v=nX633XyrBHk)

http://i.imgur.com/GfKI9Pjl.jpg

Mischief (https://www.youtube.com/watch?v=ErW-yyep2fs) has seen quite a few (http://i.imgur.com/hQYmSur.jpg) iterations (http://i.imgur.com/DtFlOLE.jpg) this season, but we're particularly excited about our offseason changes.
Sitting atop the season's drivetrain and intake systems is an all new superstructure for ball elevation and high goal shooting. The superstructure uses 1/2" plywood, 2x4s, and Vex Versaframe components(especially 2x1 Polycarbonate tubing!!) extensively to allow us to rapidly iterate and tweak the system.
The superstructure is outfitted with a Vex EDR Bumper switch (http://www.vexrobotics.com/276-2159.html) to automatically stage the ball consistently before each shot, a photointerruptor (https://www.sparkfun.com/products/9299) connected to the Talon SRX to control shooter velocity, a photon cannon (https://www.amazon.com/Adjustable-Flashlight-Batteries-Included-Flashlights/dp/B005FEGYCO/ref=sr_1_4?ie=UTF8&qid=1474649332&sr=8-4&keywords=flashlight) for assisting the drivers in alignment, and a Pixy (http://charmedlabs.com/default/pixy-cmucam5/) for automatic vision tracking.

See Mischief compete at Chezy Champs this weekend and Battle at the Border on October 15!
WesleyK
26-09-2016, 17:20
That robot is awesome. My team is working on a few upgrades for our bot too.
Hopefully we'll get all the upgrades built and functioning correctly in time for battle at the boarder. We going to add flippy floppy arm with a spinning drum at the front of the robot for an intake system, fix up the bumpers to make them legal, and Add the ability to shoot high goals(maybe).
kylemikableh
27-09-2016, 16:09
That robot is awesome. My team is working on a few upgrades for our bot too.
Hopefully we'll get all the upgrades built and functioning correctly in time for battle at the boarder. We going to add flippy floppy arm with a spinning drum at the front of the robot for an intake system, fix up the bumpers to make them legal, and Add the ability to shoot high goals(maybe).

Looks great! How is that pixy? Is it worth getting for future image processing?
Harrison.Smith
27-09-2016, 16:16
Looks great! How is that pixy? Is it worth getting for future image processing?

The pixy is an awesome thing for vision tracking! The only downside is that its does not stream the image back as all the processing is done on board.
Jeremy Germita
27-09-2016, 16:38
Looks great! How is that pixy? Is it worth getting for future image processing?

We love the pixy. Rev1 of our rebuild was configured for an outerworks shot that relied heavily on the pixy (https://www.youtube.com/watch?v=lsaHjSr1L_Y&feature=youtu.be) for correcting for yaw misalignment.

The pixy was really easy to get set up. You can tune the pixy offboard the robot using pixymon. Once we had that all tuned, we were successfully tracking the target (https://www.youtube.com/watch?v=kT4cYCgdmCg&feature=youtu.be) within an hour of mounting it to the robot.
kylemikableh
28-09-2016, 16:04
We love the pixy. Rev1 of our rebuild was configured for an outerworks shot that relied heavily on the pixy (https://www.youtube.com/watch?v=lsaHjSr1L_Y&feature=youtu.be) for correcting for yaw misalignment.

The pixy was really easy to get set up. You can tune the pixy offboard the robot using pixymon. Once we had that all tuned, we were successfully tracking the target (https://www.youtube.com/watch?v=kT4cYCgdmCg&feature=youtu.be) within an hour of mounting it to the robot.

Wow, that looks amazing! How does this translate to robot code? Must had taken hours to accomplish that.
Citrus Dad
28-09-2016, 17:01
Your offseason robot performed amazingly well at Chezy Champs! Congrats!
Jeremy Germita
29-09-2016, 03:10
Wow, that looks amazing! How does this translate to robot code? Must had taken hours to accomplish that.

After tuning the pixy's settings to only give us data on the target's X position through the analog out, we used a simple P-controller on the drivetrain. It could have been tuned a little better, but we found that in outerworks shot config, our drivers were good at getting close enough for the P loop to get us into position reliably. You can take a peek at the code here (https://github.com/FRC-Team-5012-GryffinGear/FRC5012-Code-2016/blob/master/FRC5012-Code-2016/src/com/gryffingear/y2016/systems/SuperSystem.java), although it isn't anything groundbreaking - lines 84-89.

This never ended up being used on the competition field at Chezy Champs due to us pivoting to a ramp camp shot at the base of the batter that was a lot easier and faster for our drivers to hit. It was a pesky measurement error in translating rev 1's shooter exit angle to CAD for rev 2 that wasn't caught until after we had cut the plates for rev 2. Measurement was 30 deg from vertical, CAD was 30 deg from horizontal! Ended up working out in the end, but expect to see one more big revision for Battle at the Border in a few weeks...