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-   -   Baxter Bomb Squad 2014 ~ Nighthawk (http://www.chiefdelphi.com/forums/showthread.php?t=127052)

holygrail 24-02-2014 17:48
Re: Baxter Bomb Squad 2014 ~ Nighthawk
 
Does your pickup mechanism have to pick up and pass on the ground, or can you accept a pass directly from another robot by pulling the arm up and running the rollers in?

It appears there are a couple of bars on your shooter that stick up, but they seem to flex when the ball enters the robot in the video. Would those bars or the intake dimensions prevent you from taking a bumper to bumper pass?

JTN 24-02-2014 18:09
Re: Baxter Bomb Squad 2014 ~ Nighthawk
 
Quote:
Originally Posted by holygrail (Post 1349135)
Does your pickup mechanism have to pick up and pass on the ground, or can you accept a pass directly from another robot by pulling the arm up and running the rollers in?

It appears there are a couple of bars on your shooter that stick up, but they seem to flex when the ball enters the robot in the video. Would those bars or the intake dimensions prevent you from taking a bumper to bumper pass?
We are able to actuate those bars (or "fingers" as we call them) with cylinders deep within the center of the robot to both shoot a truss shot and pass/receive out of the front of the robot with the pickup mechanism up. In the event of a catastrophic failure of the catapult (if it somehow happens), we are able to perfectly score one pointers in both the front and side of the low goal with ease.

-John Taylor Novak

Jefferson 24-02-2014 18:23
Re: Baxter Bomb Squad 2014 ~ Nighthawk
 
Quote:
Originally Posted by holygrail (Post 1349135)
Does your pickup mechanism have to pick up and pass on the ground, or can you accept a pass directly from another robot by pulling the arm up and running the rollers in?
If the ball is above the bumper, we shouldn't have an issue accepting it directly from another robot.

Quote:
Originally Posted by holygrail (Post 1349135)
It appears there are a couple of bars on your shooter that stick up, but they seem to flex when the ball enters the robot in the video. Would those bars or the intake dimensions prevent you from taking a bumper to bumper pass?
Like JTN said, those "fingers" rotate down as the ball is pulled in, so they won't get in the way. The intake is narrower than the ball, so it would need some pushing from the passing robot and pulling in with our beater bar to make it work. The details probably lie in how well the robots mate up.

Jefferson 24-02-2014 18:46
Re: Baxter Bomb Squad 2014 ~ Nighthawk
 
Quote:
Originally Posted by Bryce2471 (Post 1349030)
Could you provide some details about your swerve drive design? Such as wheel size, steering gearing, drive gearing, slip rings, or coaxial.
Our team did independent swerve drive for the first time this year.
Thanks in advance.
Not sure what language y'all use. If it's C++, feel free to steal from here:
https://github.com/FRCTeam16/Macys2014
We have several robots on that GitHub site, but this one is probably the cleanest for swerve drive code.

holygrail 24-02-2014 22:39
Re: Baxter Bomb Squad 2014 ~ Nighthawk
 
Quote:
Originally Posted by Jefferson (Post 1349153)
If the ball is above the bumper, we shouldn't have an issue accepting it directly from another robot.



Like JTN said, those "fingers" rotate down as the ball is pulled in, so they won't get in the way. The intake is narrower than the ball, so it would need some pushing from the passing robot and pulling in with our beater bar to make it work. The details probably lie in how well the robots mate up.
Thanks. Good to know. I think there may be a pretty big benefit to not letting that ball hit the ground with the level of defense that may be present, particularly during elims. Hopefully, we'll get a chance to test it out next weekend. See you in Searcy!

Answer42 03-03-2014 05:44
Re: Baxter Bomb Squad 2014 ~ Nighthawk
 
Quote:
Originally Posted by JTN (Post 1349110)
Our swerve drive uses slip rings mounted at the top and we use 6" AndyMark performance wheels. I have some CAD models of our 2013 drive train if you'd like to see. Our output gear ratio is about 9.5:1 on the drive and for steering we use AM 9015s geared down using Versaplanetaries from VexPro (I'll have to figure out the gearing of that when I go to the shop later today). Here are some pictures of the model for a more visual approach. If you have any other questions, please don't hesitate to ask. Just send me a PM asking for the gear ratios for the steering and I'll try to get them to you as quickly as possible.



-John Taylor Novak
Could you talk more about the slip ring design? I was surprised to learn you guys were using that over a coaxial setup. What benefits does it give you? And how does it work?

Jibri Wright 03-03-2014 06:54
Re: Baxter Bomb Squad 2014 ~ Nighthawk
 
Quote:
Originally Posted by Answer42 (Post 1352441)
Could you talk more about the slip ring design? I was surprised to learn you guys were using that over a coaxial setup. What benefits does it give you? And how does it work?
The slipring allows power to be given to the CIM while still allowing the wires to spin. So basically the module does spin like a coaxial module without all the space.

Jefferson 03-03-2014 09:06
Re: Baxter Bomb Squad 2014 ~ Nighthawk
 
Quote:
Originally Posted by Jibri Wright (Post 1352445)
The slipring allows power to be given to the CIM while still allowing the wires to spin. So basically the module does spin like a coaxial module without all the space.
And without the power losses associated with bevel gears.

JTN 09-03-2014 20:48
Re: Baxter Bomb Squad 2014 ~ Nighthawk
 
I didn't really want to start a new thread for one match video, but here is our 2014 robot in action this weekend! We still have some improvements to make before Queen City. (The balls were much more inflated than we expected at the competition, causing a bit of trouble in auto, but all should be worked out very soon)

http://youtu.be/F3zLJZjHv_s

hrench 09-03-2014 20:55
Re: Baxter Bomb Squad 2014 ~ Nighthawk
 
So that was fun to watch, but I can't figure out why the defenders never so much as bumped you while you shot? I would've thought they'd be clobbering you???

cxcad 09-03-2014 23:55
Re: Baxter Bomb Squad 2014 ~ Nighthawk
 
Quote:
Originally Posted by JTN (Post 1349110)
Our swerve drive uses slip rings mounted at the top and we use 6" AndyMark performance wheels. I have some CAD models of our 2013 drive train if you'd like to see. Our output gear ratio is about 9.5:1 on the drive and for steering we use AM 9015s geared down using Versaplanetaries from VexPro (I'll have to figure out the gearing of that when I go to the shop later today). Here are some pictures of the model for a more visual approach. If you have any other questions, please don't hesitate to ask. Just send me a PM asking for the gear ratios for the steering and I'll try to get them to you as quickly as possible.



-John Taylor Novak
I have been mesmerized by 16's swerve drive since 2012 when I first saw it. Can I take a look at the CAD, too?

tafipapi 23-03-2014 22:38
Re: Baxter Bomb Squad 2014 ~ Nighthawk
 
Is that the same model you guys used in Nighthawk? And where can I find it, is it in Andy Mark? Im a big fan of your work, greetings from team Roult 4403 :)

Andrew Lawrence 23-03-2014 22:42
Re: Baxter Bomb Squad 2014 ~ Nighthawk
 
Quote:
Originally Posted by tafipapi (Post 1363462)
Is that the same model you guys used in Nighthawk? And where can I find it, is it in Andy Mark? Im a big fan of your work, greetings from team Roult 4403 :)
Team 16 makes their own swerve modules, though some of the parts are COTS items available for purchase through FRC parts retailers.

JTN 24-03-2014 00:01
Re: Baxter Bomb Squad 2014 ~ Nighthawk
 
The model shown is our 2014 model. The CAD models for the 2014 season will be available following the World Championship upon request. Unfortunately, our swerve modules cannot be purchased from any vendor such as AndyMark as they were designed and manufactured by our team. They are the result of 8 years of development and much frustration. The part shown is only half of the equation however, as the modules must be programmed.

-John Taylor Novak

avanboekel 24-03-2014 00:57
Quote:
Originally Posted by JTN (Post 1363545)
The model shown is our 2014 model. The CAD models for the 2014 season will be available following the World Championship upon request. Unfortunately, our swerve modules cannot be purchased from any vendor such as AndyMark as they were designed and manufactured by our team. They are the result of 8 years of development and much frustration. The part shown is only half of the equation however, as the modules must be programmed.

-John Taylor Novak
Do you mind providing a picture/ explanation of the thrust bearing system?


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