1986 Team Titanium 2013 Reveal
 

http://www.youtube.com/watch?v=uKy-IKDq_6o

Technical Specs
Drivebase:
8-wheel (4 center 6" traction, 4 corner 4" omnis.) Modified AM-001 Shifters. Chain driven.
VEXPro wheels, omnis, bearings, hubs, sprockets, hex shafts. Custom chassis, .090 aluminum.

Motors:
Drivetrain - 4 CIMs
Shooter - 1 CIM + 1 Mini-CIM
Climb Hoist - 4 RS-550s
2 Servos

Pneumatics:
7 actuators - 2 shifters, 2 arm, 2 shooter position, 1 disc feed. 5 valves.

Shooter: Hybrid arc + linear booster, 2-6" Skyway kit wheels. Stacked magazine feed. 4 shot angles.

Aiming camera

Control Language: LabView

Weight: 114 lbs.

Performance Specs
High speed 13.5 fps, low speed 5.25 fps.
Floor feed: Spatula style lift, single disc or 2 discs simultaneously.
Slot feed: Middle slot, 2.5 seconds
Passes under pyramid in shooting configuration
4 disc shots: 2.2 seconds
4-disc set full cycle time: 17 seconds
Autonomous: 7 discs in top goal. Other modes 3 to 5 discs to accomodate partners or acquire center court discs.
Climbing: 10-point: 2 seconds. 20-point: 11 seconds. 30-point: 21 seconds.

We compete Week 1 in Hub City, Week 3 in Greater Kansas City, and Week 5 in Oklahoma City.

Congratulations to all FRC teams for completing your build and best of luck at your events!

Re: 1986 Team Titanium 2013 Reveal
 

Nice! Amazing robot as always.

Re: 1986 Team Titanium 2013 Reveal
 

That's one HOT looking robot. When it was revealed all I could say was wow.

Re: 1986 Team Titanium 2013 Reveal
 

Man. Epic.... 0.o

Re: 1986 Team Titanium 2013 Reveal
 

Love it. 1986 always produce one of my favorite robots year after year.

Re: 1986 Team Titanium 2013 Reveal
 

This amazing, to be able to do nearly everything in such a simple elegant design is just amazing. 21 sec 30 point climb is amazing.

Re: 1986 Team Titanium 2013 Reveal
 

wow! that is a elegant design. The 30 point climber caught me by surprise.

Re: 1986 Team Titanium 2013 Reveal
 

You guys mind to tell the reason for the arm shiver before and after going to the corner to load?

Re: 1986 Team Titanium 2013 Reveal
 

The arm clears momentarily when the shooter shifts position.

Re: 1986 Team Titanium 2013 Reveal
 

Slick robot. With all of your robots you have a tenancy to reduce every component of the game into the simplest assembly of mechanisms, I love it!

Re: 1986 Team Titanium 2013 Reveal
 

Awesome...just awesome. I feel lucky to have seen it in person. I was especially impressed to see that 30 point climb happen so fast. See you at the K.C. regional!

Re: 1986 Team Titanium 2013 Reveal
 

We should be well practiced by the time we get to KC. ;)

Re: 1986 Team Titanium 2013 Reveal
 

Looks good guys! I like the pick up arm for autonomous and sick climber too. Good work!

Re: 1986 Team Titanium 2013 Reveal
 

Great looking machine, for sure. The most revealing detail from the video: they didn't bother to put reflective tape around the 2-pt goal. Evidence of a mindset that accepts only tiptop performance.

Re: 1986 Team Titanium 2013 Reveal
 

Awesome robot guys! We were so amazed to see this in person. We can't wait to see it in action in KC. Thanks again for helping our rookie team!

Re: 1986 Team Titanium 2013 Reveal
 

You guys were great to work with. Always a pleasure to help our rookie friends have a great first season. Wouldn't be surprised to see you playing on Saturday afternoon with the quality of ideas and workmanship you have already shown us.

Re: 1986 Team Titanium 2013 Reveal
 

Solid robot.

Re: 1986 Team Titanium 2013 Reveal
 

killer robot

Re: 1986 Team Titanium 2013 Reveal
 

Agreed! Shades of HOT's '12 uber-arm! :)

Re: 1986 Team Titanium 2013 Reveal
 

Crazy. It was amazing at the Open House, but this reveal video just blew everything out of the water...#datclimb

Re: 1986 Team Titanium 2013 Reveal
 

I just have one thing to say:


Please don't think we took the arm idea from you.

It's eerily creepy, but that arm design is almost the exact same as our team's. It even works the exact same way. We won't have it at our week 1 event, but I'm glad to see that a team is out there with an arm that is similar in nature to ours and uses it effectively. I expected nothing less from 1986! I can't wait to watch you guys on the Hub City stream!

Re: 1986 Team Titanium 2013 Reveal
 

World class. See you at Hub City.

Re: 1986 Team Titanium 2013 Reveal
 

Very elegant and clean solution. I really hope to see you at champs.

Re: 1986 Team Titanium 2013 Reveal
 

...I don't know who's going to take the double win at Greater Kansas City this year, Bomb Squad or you guys...

Re: 1986 Team Titanium 2013 Reveal
 

Pretty neat robot - and totally surprised to not only see that it was a 3 tier climber, but a fast one too.

Great job - see you at Championships

Re: 1986 Team Titanium 2013 Reveal
 

It won't be Bomb Squad. Not competing there. ;)

Re: 1986 Team Titanium 2013 Reveal
 

The first thing I said when I saw this was "Wow!"
Awesome robot! I can't stop watching the video.

Re: 1986 Team Titanium 2013 Reveal
 

NOOOOO! Still get to see you guys at Razorback though!

Re: 1986 Team Titanium 2013 Reveal
 

This simplicity of this robot is remarkable ! I was really impressed with your shooter accuracy last year at Ozark Mountain Brawl.

Titanium always has their own spin on unique designs. They have consistently been one of the best teams in FIRST, congrats on another great design !

Re: 1986 Team Titanium 2013 Reveal
 

see the reason why your team is awesome is because you score 42 points in auto.

Re: 1986 Team Titanium 2013 Reveal
 

And please don't think we took it from you. Once we found the discs were scoopable, it seemed like the thing to do.

Re: 1986 Team Titanium 2013 Reveal
 

Paradox thinking is what it is!:)

Re: 1986 Team Titanium 2013 Reveal
 

Haha, you're right. Before we settled on the arm idea, we were looking at ways of making a drop down intake, but with our robot's dimensions, it seemed like a complex geometry problem, so we just took a bit of inspiration from Team 67. I thought the arm idea was a unique way of picking up frisbees, but until i saw Titanium's video today, i was skeptical of its effectiveness and our team was thinking of scrapping it between our week 1 and week 3 competitions for a drop down intake. Glad to see you guys pulled it off so well!

Re: 1986 Team Titanium 2013 Reveal
 

Looks as good online as it did in person, yet another solid effort by 1986. See you at GKC, OKC, and hopefully Worlds.

Why does this thread not include more bowing???? Honestly the best robot I've seen so far. Elegant and simply amazing.

Truly outstanding in its simplicity. There *should* be more bowing! Not a knock against anyone, but this bot appears to be just as strong as 118 but far simpler - amazingly well done!

As far as comparisons go, it's not clear if it has the range of shootability that we see in the 118 video? In any case, thanks for sharing and great job!

Re: 1986 Team Titanium 2013 Reveal
 

Congratulations on another awesome machine!

I love this robot for obvious reasons...

But, I haven't seen any one mention that this is a very "1986-like" robot. It's like a combination of their 2011 and 2012 robots, built to shoot and climb.

Incredible design! I wish we would have built this robot instead of what we have.

Good luck this season.

Re: 1986 Team Titanium 2013 Reveal
 

We hope that is not the only reason. We have an amazing team of students working year-round to achieve some amazing things besides the robot.

As for scoring, our aspirations are 42 autonomous, 60 teleop, and 30 climb.

Re: 1986 Team Titanium 2013 Reveal
 

Our only regret with the video is that we did not show more shooting from other positions. We have multiple shot angles and can shoot from anywhere around, inside, or in front of the pyramid. We have a lofty shot that can score in the pyramid goal, but unless that success rate is 3/4 or better it is not worth doing. As for the full court shot, we have the range and accuracy, but chose not to pursue that loading scheme. Because it is so easily defended we do not consider it a viable strategy.

Re: 1986 Team Titanium 2013 Reveal
 

ya i kinda realized that after i posted, the fastest 30 pt hang ive seen so far, amazing spatula pickup (i wish we thought of that), really nice shooting, and i love the 8 wheel drive. You guys are awesome on every level. :)

Re: 1986 Team Titanium 2013 Reveal
 

You guys built a very impressive robot once again this year. Congrats to you all! I'll be watching Hub City next weekend were I expect you will be playing in the finals. Best of luck this year.

Re: 1986 Team Titanium 2013 Reveal
 

Looks great again this year. Looking forward to seeing it at GKC and OKC.

Re: 1986 Team Titanium 2013 Reveal
 

wow... just...


wow

Re: 1986 Team Titanium 2013 Reveal
 

I saw in some of your weekly videos you guys were practicing vision tracking discs, presumably for autonomous. Have/are you guys doing so now? And do you have any interesting electrical/programming features that wouldn't come out in this video?

Re: 1986 Team Titanium 2013 Reveal
 

We have vision code ready to go. So far we haven't needed it. The Pyramid discs are so close to our starting position that they are impossible to miss and the humans haven't had any difficulty aiming the robot at the center of the far discs. Distance isn't a factor either considering Q&A #429.

Lots of little features like a servo finger that holds the 2nd disk back in a double load so we don't jam and two tilting tusks that give the robot a new angle to hang from when extending our Sky Hook. Limit switch on the sky hook so the driver knows it has made a solid connection with the next level before pulling off the spring loaded hooks below. The shooter has 4 different angles, and every time it moves the Sky Hook and Ground Feed Mechanism both move momentarily to avoid mechanical interference... The devil is in the details as they say.

We are planning to have our 42 point autonomous code and auto climbing sequence on a poster in our pit.

Re: 1986 Team Titanium 2013 Reveal
 

Sick robot again guys. I can't wait until we see the final form of this robot once Championships rolls around. The way you guys iterate is just awesome.

Congrats and good luck!

Re: 1986 Team Titanium 2013 Reveal
 

Do you have any sort of gate at the back of the spatula to restrain the discs until the arm has reached the proper height for the discs to slide into the feed chute?

Very clean looking machine and very strong performer. I'm sure that a lot of work went into making it look so easy!

Re: 1986 Team Titanium 2013 Reveal
 

It doesn't need a gate since it looks like the arm picks up the disc by sliding under it, instead of using a motor.

Re: 1986 Team Titanium 2013 Reveal
 

We have a similar (but not nearly so elegant) "spatula" arm without a motor also, and we needed to put a servo driven "gate" at the back of it to keep the discs from falling out before the arm reached the proper height. I don't see any such thing on 1986's pickup.

Re: 1986 Team Titanium 2013 Reveal
 

There is actually a little lip that keeps them in. When we pull the arm up, the disc "pops" over the lip into the hopper. Also when we pick up two discs, there is a servo that holds one disc from entering the hopper until the other disc has entered.

Re: 1986 Team Titanium 2013 Reveal
 

This looks the most similar to ours of all the robots weve seen other than the 30 point climber, even the antenna that I bet most people didnt notice.

Great job!

Re: 1986 Team Titanium 2013 Reveal
 

You've got to touch the pyramid with something in the starting configuration. ;)

Re: 1986 Team Titanium 2013 Reveal
 

My favorite part of our 2012 robot was the zip ties we had on our appendage to touch the key while we shot so our wheels didn't have to be on it.

Re: 1986 Team Titanium 2013 Reveal
 

Jawdropping reaction from over here.

This robot is super cool. I can't believe that it's 114 pounds, shoots 3 pointers, and climbs quickly to the third level. Nice job on it!

Re: 1986 Team Titanium 2013 Reveal
 

hmmm, what to say that hasn't been said......

Hope to see you in St Louis.

Would love to see better details of the climbing mechanism. Is it similar to LOGMOTION (Final Force)?

Good Luck

Re: 1986 Team Titanium 2013 Reveal
 

I like how you have integrated your "spatula" pickup arm into your climber. When you climb, the arm goes to a position that isn't shown at any other time. Is there another cylinder that is used for this, or a 3 position cylinder that I can't seem to find?

Re: 1986 Team Titanium 2013 Reveal
 

Could you explain a little more how your picker upper works. You said earlier that it has a "lip", that the Frisbee "pops" over the lip and into the robot. How do you get it to "pop" over the lip? Is it the momentum of the Frisbee already going up when the arm stops? or is it something else?

Currently we don't have a picker upper, but at one point we did, it was too large for our robot (sticking outside of the 54inch cylinder). So I would like to add one back for later in the season, and looking at using something similar to this design for our robot if it works like we want.

If you could add pictures of video to the description of your picker upper that'd be great!

Thanks
-Aaron K

Re: 1986 Team Titanium 2013 Reveal
 

A servo extends two aluminum rods laterally to create a new stop position for the arm. The arm actuation then creates the tilt needed to extend the sky hook to the next rung. The stop is retracted as we go for the 3rd zone so the arm can come all the way down. It's a bit more crowded at the top. :rolleyes:

We do have a 4 position cylinder (2 cylinders of different sizes mated together) to create the 4 different shooting angles. You can see the short one behind the long one in the autonomous close-ups (1:17) in the video.

Re: 1986 Team Titanium 2013 Reveal
 

We couldn't find small enough Rollerblade wheels to run it like 2011. :yikes:

Similar in the sense that it is an elevator on a winch. 2011 we had a cascade rigging with a 2 stage drum. This one has a continuous rigging instead. We had to be a lot more careful about how the cable spools this time since we have two sides that need to stay level.

Re: 1986 Team Titanium 2013 Reveal
 

Here's a clip of some forward court shooting from varied positions. http://www.youtube.com/watch?v=4hSRw04uurk
In general we have placed little stock in long range shooting because it is so easily defended, and shot percentage suffers. We prefer positions which are not defendable.

Re: 1986 Team Titanium 2013 Reveal
 

Let's see here, fast and maneuverable drive-train, quick and accurate shooting, potential for full-court shots, floor pickup, 42 point autonomous, and fast (albeit potentially unstable) 30 point climb.
Yeah, GKC and OKC just got really, really interesting. Interesting in the regard of seeing how our robots interact with and against each other on the field of play.

Good luck this weekend at Hub City, and see you elsewhere.

Re: 1986 Team Titanium 2013 Reveal
 

Nothing but momentum. The arm stops and the Frisbee keeps going. Then gravity takes over and down the chute it goes.

Another good look at our floor loading from 48 to 60 seconds in this freshly released video.

Re: 1986 Team Titanium 2013 Reveal
 

It wouldn't have been so heavy, but we added 11 pounds of steel brick to move the CG to the necessary location.

Re: 1986 Team Titanium 2013 Reveal
 

When I saw the video, I was like "THIS IS SICK" great lookin robot and good luck guys at Hub City Regional, hopefully i can see this year bot in person, hope you guys have an awesome season this year

Re: 1986 Team Titanium 2013 Reveal
 

This is really cool, are you vision tracking or are you using a photon cannon, or are you just shining a flashlight randomly in the background. If you are using vision how and in what capacity.

Thanks

Re: 1986 Team Titanium 2013 Reveal
 

See link below on vision tracking.
http://www.chiefdelphi.com/forums/sh...2&postcount=45

I'm not sure the camera is even on-board during that autonomous filming.

The photon cannon dancing around is 1987 doing some testing off to the side.

Re: 1986 Team Titanium 2013 Reveal
 

This is gorgeous. So many brilliant ideas--and knowing 1986 they'll only keep adding more! Tres cool.

It might not be too uncommon. We have a similar arm that won't functioning this way at our week 1 as we had to shift more weight to climbing. I think the 'scoopablity' of these disks really lends itself to similar devices.

Re: 1986 Team Titanium 2013 Reveal
 

Thanks for the well wishes and good luck to you at Alamo and Lone Star. Would like to see your bot sometime. Too bad your not coming to Lubbock I have a feeling we could use a tenacious partner again. Hopefully we'll see you at Champs. Get those drive chains well adjusted!

Re: 1986 Team Titanium 2013 Reveal
 

I quite agree, I like the arm in the front to pick up the frisebees. Hope to see your robot at worlds!

Re: 1986 Team Titanium 2013 Reveal
 

LOL will do, and thanks for the well wish, good luck and have fun

Re: 1986 Team Titanium 2013 Reveal
 

It is certainly an amazing robot.

Not sure how many have noticed, but hub city makes 4 in a row for 1986.
2011 Colorado
2012 KC
2012 St Louis
2013 Hub City

Cheers, to the streak continuing for them!

Re: 1986 Team Titanium 2013 Reveal
 

I believe it is actually 6 in a row if you count Bomb Squad's offseaaon event and Cowtown Throwdown.

Re: 1986 Team Titanium 2013 Reveal
 

So if you're not using vision targeting, I'd assume that you're using RPM and angle presets for your shots. However, you have a lot of shots to choose from, and I'd think you guys would start running out of buttons to put presets on, unless you have a different way of selecting them.

Re: 1986 Team Titanium 2013 Reveal
 

He was referring to vision tracking of the floor discs in autonomous.

A little early in the season to detail our shooting methods, let's just say it is not as complex as you might think. We have several shots, but many have shared settings. As for buttons, there are ways to get more discrete inputs to the DS I/O module than the actual number of inputs it has. If you are not familiar with that we could show you.

Re: 1986 Team Titanium 2013 Reveal
 

Yeah, definitely not expecting you to go too much into detail about your shooting methods when you have two regionals (both where we're potential alliance partners and/or competitors) and championships to get through.


I knew you could add more DS I/O buttons, but I was talking about Joystick/Gamepad, but that is an interesting approach. I guess one could put the lesser used presets in the DS I/O or even on the dashboard dashboard as an enum to select values, or an array of buttons.

Re: 1986 Team Titanium 2013 Reveal
 

We prefer to use a separate button box for most functions, so that we can design our own intuitive layout and controls. Only the platform driving functions are on the joystick. I was referring to the number of inputs possible with a button box module such as the Cypress.

Re: 1986 Team Titanium 2013 Reveal
 

That makes more sense now.
Ok, that might be a good candidate for a project over the summer.

Re: 1986 Team Titanium 2013 Reveal
 

If you include off-seasons in the streak, one would have to do it from the start in the 2011 off season since the streak started in 2011. I think you only mentioned the 2012 off season. :)

Either way, great team, great robots, and I am wholeheartedly looking forward to seeing them in action at GKC.

Hopefully for them, the streak continues as I have nothing but respect.

Re: 1986 Team Titanium 2013 Reveal
 

Here's some match video from Hub City. This is Semi-Final 1-1.

http://www.youtube.com/watch?v=QfXP3yKdm0c

Re: 1986 Team Titanium 2013 Reveal
 

That. Is freaking sweet.

Re: 1986 Team Titanium 2013 Reveal
 

What's the reason for the bumpers being slanted in relation to the robot?

Great robot and video,

-Nick

Re: 1986 Team Titanium 2013 Reveal
 

I counted 94 points: 42 auto, 42 teleop, & 10 hang. Nice.

Re: 1986 Team Titanium 2013 Reveal
 

Thats what I counted too. I am also curious as to why the bumpers are slanted?

Re: 1986 Team Titanium 2013 Reveal
 

The back is higher to protect the robot while climbing. The motion we use swings it into the horizontal pyramid bars as it passes them.

Re: 1986 Team Titanium 2013 Reveal
 

We can do better. :D

Re: 1986 Team Titanium 2013 Reveal
 

It seems like you would have a chance to get the middle disks in auton and possibly shoot them also.

Re: 1986 Team Titanium 2013 Reveal
 

hey how do you guys push your frisbees out of the hopper? any special piece on the piston or just the rod pushing it in? thanks

Re: 1986 Team Titanium 2013 Reveal
 

There's more discs out there? :rolleyes: Hmmm......

Re: 1986 Team Titanium 2013 Reveal
 

Just the rod end. I was going to make a joke about the time of night you were up thinking about this, until I saw your time zone. Aloha.

Re: 1986 Team Titanium 2013 Reveal
 

Here's a couple of new autonomous modes, ready to compliment some talented potential partners on Newton.

http://youtu.be/xPhYjVwXnWc

Re: 1986 Team Titanium 2013 Reveal
 

What's different about the center auto?

Re: 1986 Team Titanium 2013 Reveal
 

Looking great with those autonomous modes!
Though, I do have to ask why your RSL Light goes solid in both of those.

Re: 1986 Team Titanium 2013 Reveal
 

2nd set is from the front of the pyramid rather than the back, to accommodate a center-line auto partner that shoots their 2nd set from the back-center.

Re: 1986 Team Titanium 2013 Reveal
 

I believe solid-on RSL means autonomous mode enabled.

Re: 1986 Team Titanium 2013 Reveal
 

Watching Oklahoma matches, your RSL was still blinking during autonomous, as was every other robot's in autonomous. (At least in the finals)

Re: 1986 Team Titanium 2013 Reveal
 

Perhaps only practice mode autonomous.

Re: 1986 Team Titanium 2013 Reveal
 

Either that, or it's your camera, because watching your reveal video it does the same thing.

It just seemed odd to me.

Re: 1986 Team Titanium 2013 Reveal
 

No camera. Check here: http://wpilib.screenstepslive.com/s/...tem-components

Re: 1986 Team Titanium 2013 Reveal
 

Lovely center line, it looks like both of your autos should implement nicely with ours... ;) Can't wait to see you guys in a couple days!

Re: 1986 Team Titanium 2013 Reveal
 

Wow, extremely impressive centerline. STL has their fears growing exponentially.