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-   -   Canburglar Mechanisms (http://www.chiefdelphi.com/forums/showthread.php?t=135852)

Landonh12 28-03-2015 15:55

Re: Canburglar Mechanisms
 
We have one that worked successfully (90% success rate) at the Bayou Regional.


https://www.youtube.com/watch?v=SplhWEm06K0

xXhunter47Xx 29-03-2015 12:33

Re: Canburglar Mechanisms
 
I'm currently designing a middle step can grabber like 610's but strictly mechanical actuation as an afterthought, until I realized that the empty step area is nearly 4 feet in width and then I have to add the width of the cans meaning I'd have to make an appendage with at least a 7.5 foot wingspan in order to grab both cans in the middle. I really hope my calculations are incorrect because that's a fairly large thing to be swinging around in the field.

themccannman 29-03-2015 13:11

Re: Canburglar Mechanisms
 
Quote:

Originally Posted by xXhunter47Xx (Post 1463288)
I really hope my calculations are incorrect because that's a fairly large thing to be swinging around in the field.

Nope, you're right, you need a pretty large mechanism to do it. Also if you watched hawaii 610 brought out the same mechanism but with extensions to reach all 4 cans, that needs to be a little over 20 feet long to do it.

Everett33 29-03-2015 14:24

Re: Canburglar Mechanisms
 
Yesterday in the two Finals matches at the Livonia District there was a canburglar race between 503 and 548. Very fun to watch.

https://www.youtube.com/watch?v=oiOZN4G4OxI

Wortmann 29-03-2015 14:36

Re: Canburglar Mechanisms
 
Quote:

Originally Posted by Everett33 (Post 1463341)
Yesterday in the two Finals matches at the Livonia District there was a canburglar race between 503 and 548. Very fun to watch.

https://www.youtube.com/watch?v=oiOZN4G4OxI

Here is a closer look at our can battle in Livonia Finals Match 2:
https://www.youtube.com/watch?v=fXzk...ature=youtu.be

AGPapa 29-03-2015 15:01

Re: Canburglar Mechanisms
 
1 Attachment(s)
Quote:

Originally Posted by Wortmann (Post 1463348)
Here is a closer look at our can battle in Livonia Finals Match 2:
https://www.youtube.com/watch?v=fXzk...ature=youtu.be

This an excellent view, you can see from here that 548 had grabbed the RC before 503 had even started to move.

How do both you and 503 actuate your canburglers? Does this difference in start time come mostly from the difference between the mechanisms, or does FMS initialization delay factor in?

orangelight 29-03-2015 15:34

Re: Canburglar Mechanisms
 
Quote:

Originally Posted by AGPapa (Post 1463365)
This an excellent view, you can see from here that 548 had grabbed the RC before 503 had even started to move.

How do both you and 503 actuate your canburglers? Does this difference in start time come mostly from the difference between the mechanisms, or does FMS initialization delay factor in?

We run a PID loop when auto starts to lower the grabbers. I don't think FMS plays that much of a delay factor. The delay should be less than 10ms. Are canburglers can hit the can in <450ms. I assume it would have to do much more with the mechanisms.

Cory 29-03-2015 15:46

Re: Canburglar Mechanisms
 
Quote:

Originally Posted by orangelight (Post 1463379)
We run a PID loop when auto starts to lower the grabbers. I don't think FMS plays that much of a delay factor. The delay should be less than 10ms. Are canburglers can hit the can in <45ms. I assume it would have to do much more with the mechanisms.

.045s? No way.

I went through frame by frame and it looks like .3s...seems a lot more realistic.

Congrats though. Your grabber looks like it's among the fastest that's been released.

choprane 29-03-2015 15:49

Re: Canburglar Mechanisms
 
Quote:

Originally Posted by AGPapa (Post 1463365)
This an excellent view, you can see from here that 548 had grabbed the RC before 503 had even started to move.

How do both you and 503 actuate your canburglers? Does this difference in start time come mostly from the difference between the mechanisms, or does FMS initialization delay factor in?

Ours are two separate fourbar linkage sytems actuated by Banebot 775 motors attatched to Versa Planetary gearboxes using a 40:1 ratio. I'm sure Bryce can provide some insight on how 503 actuates their canburglars.

orangelight 29-03-2015 15:52

Re: Canburglar Mechanisms
 
Quote:

Originally Posted by Cory (Post 1463382)
.045s? No way.

I went through frame by frame and it looks like .3s...seems a lot more realistic.

Congrats though. Your grabber looks like it's among the fastest that's been released.

Sorry meant 450ms

Bryce Paputa 29-03-2015 17:44

Re: Canburglar Mechanisms
 
Quote:

Originally Posted by AGPapa (Post 1463365)
This an excellent view, you can see from here that 548 had grabbed the RC before 503 had even started to move.

How do both you and 503 actuate your canburglers? Does this difference in start time come mostly from the difference between the mechanisms, or does FMS initialization delay factor in?

We had four CIMs pulling ours down with a 28:1 reduction. We use Command Based Java and CAN Talons (anybody on Northville willing to comment on their control system?). We think that we are applying power down for 1 second as soon as the match starts, but clearly there is some delay. Match one was constant 80% power and match 2 was 100%. We're still trying to figure out if this is our code's fault, something to do with the field, or caused by a chain skipping teeth.

One of our mentors took some 60 fps video of it and claims that our travel time was 1 frame shorter once we started moving :).

orangelight 29-03-2015 18:13

Re: Canburglar Mechanisms
 
Quote:

Originally Posted by Bryce Paputa (Post 1463421)
We had four CIMs pulling ours down with a 28:1 reduction. We use Command Based Java and CAN Talons (anybody on Northville willing to comment on their control system?). We think that we are applying power down for 1 second as soon as the match starts, but clearly there is some delay. Match one was constant 80% power and match 2 was 100%. We're still trying to figure out if this is our code's fault, something to do with the field, or caused by a chain skipping teeth.

One of our mentors took some 60 fps video of it and claims that our travel time was 1 frame shorter once we started moving :).

We use iterative based Java and run PID on CANTalons. In order to make ours faster we changed the P value

TJP123 29-03-2015 19:06

Re: Canburglar Mechanisms
 
Quote:

Originally Posted by choprane (Post 1463385)
Ours are two separate fourbar linkage sytems actuated by Banebot 775 motors attatched to Versa Planetary gearboxes using a 40:1 ratio. I'm sure Bryce can provide some insight on how 503 actuates their canburglars.

The obvious answer: apparently, not fast enough.

That was fun to be a part of, though.

viper196 29-03-2015 19:08

Re: Canburglar Mechanisms
 
We have one as well. Haven't had any Can battles yet, but it should get interesting at the PNW DCMP.

Paul Boehringer 29-03-2015 19:20

Re: Canburglar Mechanisms
 
Quote:

Originally Posted by choprane (Post 1463385)
Ours are two separate fourbar linkage sytems actuated by Banebot 775 motors attatched to Versa Planetary gearboxes using a 40:1 ratio. I'm sure Bryce can provide some insight on how 503 actuates their canburglars.


Do those arms extend at all? Do you drive forward at all?


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