Originally Posted by Brandon Holley (Post 1254247)

We rolled the dice and tried using MXL (really small) timing belts. The reason was because we could buy a pulley that comes stock with a hole small enough to fit directly onto a 550 shaft. I believe we are running a 12 tooth as the pinion on both of our shooter wheels, and then slightly different size pulleys to give us ~4000RPM and ~7000RPM output on 4 7/8" BB wheels.

We love the setup because of how simple it is. Small pulley on 550, slightly bigger pulley on shooter wheel shaft, timing belt between them, done. It also allowed for us to change wheel speeds down the road if we wanted to tweak something. Just a pulley/belt, or pulley/pulley swap to adjust speed up or down on either wheel.

-Brando

Originally Posted by dcarr (Post 1254364)

I'm wondering about the rocking after 5 seconds...if it's occupying space in level two, wouldn't that knock it down to a 20 point climb?

Originally Posted by dcarr (Post 1254364)

I'm wondering about the rocking after 5 seconds...if it's occupying space in zone two, wouldn't that knock it down to a 20 point climb?

Originally Posted by EugeneF (Post 1254370)

Even if it is, the "5 seconds" gives the benefit of the doubt to the team. Even if it was slightly in zone 2 at 5.0 seconds, it probably wasn't at 4.9 or 5.1 seconds.

Amazing work, Poofs. You guys never cease to inspire.

Originally Posted by Samwaldo (Post 1254378)

Do it in less time than Team 1114 DURING competition. Then you will truly beat them for fastest climb.

Other than that, im very impressed. Is this automated or human done? if automated do you trust that?

Originally Posted by Samwaldo (Post 1254378)

Do it in less time than Team 1114 DURING competition. Then you will truly beat them for fastest climb.

Other than that, im very impressed. Is this automated or human done? if automated do you trust that?

Originally Posted by Jared341 (Post 1254375)

Awe inspiring work as always.

I am most interested in learning about how the climb is software aided. Specifically I am wondering about how you ensure you line up correctly with the 30" bar to ensure you don't "run out of real estate" by 90", and what sensors/control techniques are used to activate the arm retraction at the correct instant. I am guessing a gyro in the pitch axis, along with vision aiding for horizontal alignment.

Also, does the software ensure the arm doesn't extend during the portion of the swing that would angle the arm outside of the pyramid?

Originally Posted by MooreteP (Post 1254484)

Is it just me, or is this one of the most annoying posts ever?

Originally Posted by AdamHeard (Post 1254485)

Please clarify.

Originally Posted by AdamHeard (Post 1254485)

Please clarify.

Originally Posted by xSAWxBLADEx (Post 1254121)

***IF THE OP IS READING THIS***
Please delete that video. It was not in the spirit of FIRST.

Originally Posted by Cory (Post 1254509)

It's just two 233 arms with belts instead of chain.

Originally Posted by DevenStonow (Post 1254510)

For those of us less informed, what exactly is a "233 arm" specifically referncing?

Originally Posted by Cory (Post 1254509)

It's just two 233 arms with belts instead of chain.

Originally Posted by Cory (Post 1254509)

It's just two 233 arms with belts instead of chain.

Originally Posted by s_forbes (Post 1254525)

Are they mechanically connected, or are they independent of each other?

Originally Posted by cziggy343 (Post 1254832)

Since we are making sure this is autonomous, does it continue to climb after the buzzer?

Originally Posted by Mk.32 (Post 1254836)

No, because when the buzzer goes the robot is disabled and the motors cannot move any more. You can climb after the buzzer with pneumatic because if you get the solenoid switched the rams will move.

Originally Posted by Navid Shafa (Post 1254863)

If I recall correctly, they are using constant force springs and perhaps that may aid the climbing after the buzzer with the already present "vertical momentum". I would assume that this would only work though if they already have the hooks over stage three. At this point, all the constant force springs would need to do is essentially pull the lifting stage back into it's original housing.

Originally Posted by Cory (Post 1254865)

This does NOT climb after the buzzer. It is purely motor driven. There is no stored energy whatsoever (besides the 10 pt hanger).

Originally Posted by TheMadCADer (Post 1254867)

Where have you heard this? I haven't been able to gather anything other than the fact that it's driven by their PTO. I know 1114 does use CF springs, though they use them to extend their arm, and then motors pull it back in.

I wouldn't be surprised if they've counterbalanced some or all of the robot weight, though. It looks like they move upward faster than they drive, and going upward takes considerably more force than moving sideways. This could just be their drive being geared down more, of course. If you look at the amount of power you can get out of 6 CIMs, it's not out of the question for ~150 pounds to move that fast.

EDIT: 254 posted as I wrote this. No stored energy. 6 CIMs are strong.

Originally Posted by nicholsjj (Post 1254529)

The only worry I have about this climb is that it looks like you guys touch 3 levels around the 5.8 sec mark. It's probably something that can be fixed pretty quick if it's a problem at all.

Originally Posted by Navid Shafa (Post 1254868)

I see, so the constant force springs are no longer in use. Thanks for the clarification.

Originally Posted by TheMadCADer (Post 1254882)

I'm not seeing what you're seeing, I guess. I was able to get the video stopped at a bunch of spots around 5.8 seconds, which should be close enough to see what you're talking about.

At this point they are pulling up to the third level, and only touching the third zone (hooks around the horizontal bar). They might brush the second level on the way by with their frame/bumpers, but they aren't even close to touching the first level. With their swinging motion dialed in like it is, I doubt they even touch the second level on the way by.

Originally Posted by nicholsjj (Post 1255033)

Sorry this was a mistype it actually happens around the 4.8 second mark when it looks like they bounce off the first bar. again it could just be a ghost that im seeing and im sure that team 254 has put in the time and effort to make sure it doesn't happen. https://www.youtube.com/watch?v=I-Ir...embedded#t=16s This is where i think it happens but the climb is so fast that its hard to capture the exact time of it.

Originally Posted by tickspe15 (Post 1257637)

Was their climb as fast today in competition as it was on their practice feild with the other robot? Does anybody have a video?

Originally Posted by Gregor (Post 1257639)

From what I could tell from the webcast, they were doing the slow* climb, the one featured in the leaked video.

*slow is a relative word.