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pic: FRC971 Spartan Robotics Presents: Renegade
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Wow. Wow wow wow wow wow. This thing is just AWESOME! I expect no less from former world champions, but this is still just awesome! Great job 971! You always make some of the best machines in FIRST each year, and this year is no different!
See you in SVR! P.S. Robot unveil video soon? |
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We also worked to make new wheels this season, to complement the new drivetrain.
Tread is attached via zipties. Wheels measure around 2 inch wide and 3.5 inch tall w/ tread. Thank you to RC for machining these. They turned out great (so far). ;) |
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That is such a clean and beautiful design. You folks always inspire me with your sheetmetal work, and this is no different.
A couple questions: 1. That gearbox orientation looks really nice, would you mind posting a picture of the gearbox/internals of your drive? 2. What OD and ID tubing is that on your structure and why did you use that this year? 3. Any issues with balls jamming in the hopper/conveyor? 4. The entire robot looks incredibly light, what was your final weight and what was your method of conserving weight? How much pocketing went into your structure and what material thickness is used around the whole bot? Looks incredible, thank you for such a beautiful machine. Best of luck in Sacramento. |
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At one point during our season I was thinking about an under the bumper intake based on all the reports of balls getting stuck under robots, but I wish I thought more about an over bumper design. That would leave so much more space for electronics and simplify the frame.
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2) It is 1.5" OD 1/32" wall tubing. We are using it because it is rigid and light. 3) Seems to be working reasonably well. I haven't been at the more recent drivers practices, and I usually don't stay very late, so I can't say for sure. |
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http://www.youtube.com/watch?v=KS3n9...6fFAAAAAAAAOAA http://www.youtube.com/watch?v=rK2et...47FAAAAAAAAPAA |
Re: pic: FRC971 Spartan Robotics Presents: Renegade
I really like the way this robot serializes balls, I'm going to have to keep that in mind for future games.. and the rest of the robot is pretty awesome as well.
Good Luck this year! Regards, Bryan |
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Evan,
Saw this beauty a few weeks ago and I really like what you guys did. Scott seemed very excited about being behind the sticks yet again and I am sure he will go out with a bang this year. Can't wait to hear how you preform this week in Sacramento! Good luck! |
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There may be some better pictures that surface later, but the whole thing is buttoned up pretty tight, so it's a little hard to see what all is going on inside. I don't know the final weight offhand (one of the students can probably weigh in on this), but this is a nice picture of our driver, Scott, holding up the frame with one hand. |
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That is one good looking, and sounding, robot. I really like the speed and control you appear to have in the driving videos.
good luck at your competition. |
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Elegant indeed! Everything is super streamlined, though I'm a tad confused about why you feel a need to cool your CIM's that much. Your new wheel design looks really great as well; zipties make for a pretty nifty way to replace tread.
I look forward to seeing you guys at SVR! It's going to be a fun year competition :) |
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We cooled the CIMs in a similar manner last year. It helps us practice longer and drive longer, really. The motors get quite hot. The way our driver drives, you would want fans on the CIMs. here's a link to last year's discussion http://www.chiefdelphi.com/forums/sh...8&postcount=18 The extended runtime is useful when we have a high match turnaround (practice rounds, elims, etc) |
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The team noticed in 2010 (the first year we ran with these speeds on the driveline) that during the quick turnarounds in eliminations, the motors started to get quite hot, and became much less efficient. I believe they were noticing battery voltage drops towards the end of every match. The driveteam took to fanning the motors between each match. They added the fans after the season, and saw a measurable improvement, especially at demos. Our robot last year used the fans as well, and they feel it's been very beneficial. Somewhere on CD is another post explaining this (by either Austin Schuh or Scott Bahl, IIRC). I think that's all correct. One of the students could probably answer this better, but I think they're all busy packing and driving to Sacramento right now. I'm sure they'll add more detail later. As a long distance mentor, I don't get involved in all the details of the robot, although I do know most of it. I've challenged the students this year that by the time they get to Championships (the only tournament I can attend with them) that they all know more about the robot than I do. Most of them are already there :D. |
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Here's a link to Austin's post last year regarding the fans.
http://www.chiefdelphi.com/forums/sh...8&postcount=18 When turnaround time is faster during matches (practice rounds, elims, etc) the fans have their largest effect. |
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How does the belt drive work for you? Was it hard to do? If so, was it worth the difficulty?
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The timing belt drivetrain is nice, but it's best to run force calculations to see how it'll hold up. Belt doesn't stretch like chain does, and its quieter and a bit more efficient. It is also lighter. This, coupled with the fact that we have 2 inch wheel means we should be able to get to where we want to go on the field. The extra traction is useful going up the bridge. |
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Below is a picture of the conveyor. The team spent several days prototyping this. Inevitably, a ball would get stuck somewhere. We configured it with the intake, then make sure we had accurate measurements in the CAD that were the same as the working prototype. Since it was such a key part of our game, we spent a lot of time on this. |
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The transmission assembly is detachable, and it outputs in a 15 tooth gear which meshes with a 50 tooth gear which is on the same axle as the center wheel. |
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Another awesome machine!
As always you guys play so fast, its amazing. I am sure your drivers will be practiced up and ready to go. I really like the horizontal belt system to push the balls over and line them up. Really cool way of solving the jamming problem. I am really happy to see you are registered for the Championships this year. You had such a great robot last year, I think it would have been a big factor in the elims if you could have qualified for Champs. Good luck this weekend. |
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Great looking robot and design process you all seemed to follow. After seeing this robot and others from CA it makes me want to take a trip out to visit the regionals sometime. Thank you for sharing the details of your machine with us! Good luck in competition.
Nate |
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We also use belts for our drive train. This is our second year using them and as for a a skid steer type drive train is concerned I do not think we will ever go back. We use live axles in our system. It seems like you are using a dead axle system with the sprockets machined directly into your wheels (very cool). I would love to see a up close and personal view of how your power transmission works. |
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First of all, Congrats on the win at Sacramento. I'm glad to see you guys coming to the championship this year. I really wish I had seen 971 at St. Louis last year. :(
Second, I'm curious about the pistons you're using to shift. I've never seen anything like that! How reliable are the "Pancake" pistons? Are there any drawbacks to using them, compared to the standard actuator on an AM supershifter? It looks like they save quite a bit of space and weight. Also, where are they for sale? |
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Would love to see this thing in action. - Sunny G. |
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You can probably find videos of the robot in matches at the SAC regional on youtube, or from the SAC regional thread, where someone may have posted links. |
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I can talk to people to see if we can get some videos back up. We hope to make some sort of video compilation to send out.
Stay tuned. |
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We used the 2 position ones last year and this year. They're no more or less reliable than the standard Bimba line of cylinders. They do require different fittings, since they are so small, and must be face mounted. |
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Re: pic: FRC971 Spartan Robotics Presents: Renegade
Here's a photo of our Robot competing at the Sacramento Regional. As you can see, we made a few changes in between taking our reveal shot and competing at the competition.
We hope to make some improvements and be even better at SVR. ![]() |
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Take a look at this short video http://www.youtube.com/watch?v=5aYv5RF2Arg |
Re: pic: FRC971 Spartan Robotics Presents: Renegade
Man, Renegade looks better and better by the video. That's some of the fastest 3 point shooting I've seen. I'm hoping we get to play with 971 in a few of our matches at SVR. I can see this robot going right to the top.
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Great robot! |
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Hmmm, 4:57 and 6:04 were pretty unexpected, but I guess they are unveiling week 5 anyways. Looks like a narrow robot with a pretty slick over the bumper collector and a high shooter (probably turreted) Sweet..
Edit: narrow because the fender sticks out 38ish inches. |
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Regards, Bryan |
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Here's a little video of practice for Champs:
Shooting practice: http://www.youtube.com/watch?v=kTVE8c_mgoI Behind the glass: http://www.youtube.com/watch?v=p32DlVbJpFw |
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Awesome shooting! How do you like the steering wheel for driving control? And is it just the wheel or are the other buttons/pedals/something involved?
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1. A wheel (you can also use the X axis of a joystick) for turning 2. A throttle 3. A quick turn button When you are not holding down the quick turn button, the wheel and throttle let you control the bot like a car (in other words, constant radius turns independent of your throttle power, which is hard to do with arcade or tank setups). When you hold down quick turn, you can turn in place (the wheel becomes like a standard X axis in an arcade drive). But again, just a guess ::safety:: |
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Austin can give a more accurate answer than I, but I believe we are running a version of "Cheesy Drive"
At high speeds, your rate of turn is very sensitive to small disturbances in drive side speeds, so holding a good line with tank sticks gets increasingly difficult as your drive speed goes up. By letting the computer take care of the exact speeds and feeding the system a turning radius and speed, high speed control becomes much easier. It also allows you to scale the steering response based on your throttle level, although I don't know if we do that or not. The quick-turn button allows a more traditional steering scheme for in-place turns. We've been using a steering wheel setup since 2006 and it's served us really well. It's just the wheel and a joystick for throttle control, as Jared surmised. |
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Thanks. Just for reference, do you know which steering wheel controller you use?
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Good Job at the Sacrmento and SV Regionals. You were amazing and we hope to see you in go far in national.
-Best of luck team 2073:] |
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