[Ri3D] Team Indiana Presents: Veronica
 

Team Indiana is proud to present Veronica.

Veronica can independently complete all defenses, gathers boulders, and shoots into the high goal!

The four-CIM, 8" Pneumatic drive on the AM14u3 KOP Chassis, blows all of the drivable defenses away while the motor-driven arms on the front and rear open the others!

Two sets of 2" wheeled collectors bring boulders into the robot, feeding them into a wheeled shooter aimed for the high goal.

Googly eyes for +1 vision tracking.

Here's what we did in 3 days. Let's see what you can do with 6 weeks!

-Team Indiana

Spoiler Alert: It has bumpers

Re: [Ri3D] Team Indiana Presents: Veronica
 

Robo-noms. That's an awesome robot, and all of these Ri3D robots are really making me rethink the amount of low bar vs high top robots...

Re: [Ri3D] Team Indiana Presents: Veronica
 

Nice! Incredible robot you guys made in 3 days. Looking at all of the Ri3D teams, I'm incredibly excited to see what teams come up with in 6 weeks.

Re: [Ri3D] Team Indiana Presents: Veronica
 

Great looking robot, I would expect nothing less from Team Indiana.

Why did you guys decide not to scale?

Re: [Ri3D] Team Indiana Presents: Veronica
 

What do you mean by "Googly eyes for +1 vision tracking."
Great Job, Thanks

Re: [Ri3D] Team Indiana Presents: Veronica
 

Hanging/Scaling was our lowest priority after analyzing the scoring breakdown. There's plenty of space and weight to add a climbing mechanism if we had had more time.

Re: [Ri3D] Team Indiana Presents: Veronica
 

Amazing robot.

It can do almost everything...
I want one.

Can you make it jump-hang?

Re: [Ri3D] Team Indiana Presents: Veronica
 

2 Questions that come to mind.
1. What prevents the ball from shooting out of the flywheel once its in the robot? Cant really tell what kind of release mechanisms it has.
2. With a tall 4 1/2 foot robot in front of the robot without touching it (in case its in the safe zone), can it shoot over it or will it be blocked?

Re: [Ri3D] Team Indiana Presents: Veronica
 

Those aren't your everyday googly eyes, those are advanced googly eyes. The robot is actually partially alive :D
I think it's just human intuition.

Re: [Ri3D] Team Indiana Presents: Veronica
 

What are the specs for the shooter?

Re: [Ri3D] Team Indiana Presents: Veronica
 

There is a holding position where the ball rests before reaching the wheels of the shooter.

Re: [Ri3D] Team Indiana Presents: Veronica
 

Okay now this is my favorite Ri3D robot of the year. Great job packaging everything and doing it all but the hang in 3 days. Awesome!

Re: [Ri3D] Team Indiana Presents: Veronica
 

For a brief moment in 0:20 to 0:21, you can see the roller holding the ball against a blue plate.

Re: [Ri3D] Team Indiana Presents: Veronica
 

Not that Betsy's answer wasn't sufficient, but I'd like to add a "little" bit more detail.

We do not have a release mechanism currently. It's more based driver instinct to not drive the ball into the shooter wheel at the moment. We experimented with a current sensor to try and find a difference in intake current, but had no luck (and little patience). A beam-break sensor would be ideal, but that's for later addition.

Our shooting sweet spot is right in front of the tower, with wheels touching the BATTER (base of the tower). Ideally, we'd beat the defense to the spot and take away the chance of the defense blocking our shot. The video of us shooting from farther away was taken during prototyping. An issue we saw with shooting from a distance was the difference in compression between a fresh boulder and a used boulder, which affected shot performance.

Re: [Ri3D] Team Indiana Presents: Veronica
 

Great job!! Really nice package, and I like that it's also a homage to our dear departed Dozer.

It looks like the arm gets hung up on the drawbridge trying to side down. Would something simple (like a tennis ball) on the end work?

Re: [Ri3D] Team Indiana Presents: Veronica
 

Once again, probably the best Ri3D team. You guys have set the standard for a strong Stronghold robot. Do you have CAD for the bot you can post? I'm curious to see how you got that shooter crammed in there.

Re: [Ri3D] Team Indiana Presents: Veronica
 

This question makes me want to run the math for the situation where the Shovel the fries™, is in the middle position to find the speed the robot would have to carry to make it to the bar...

Thanks. We'll be posting a 3D pdf as well as some other resources, but not a full CAD.

Re: [Ri3D] Team Indiana Presents: Veronica
 

Can you give some examples of how the wear affected shot performance? How much wear are we talking about?
That makes me nervous. 5254 and 20 haven't tested with worn balls yet because both teams have only one ball right now.

Re: [Ri3D] Team Indiana Presents: Veronica
 

If I was to guess, it was somewhere around 50 shots. We dialed in the prototype shooter until it worked with one ball, then we tried another ball, which flew completely over the goal.

The foam directly under the skin "crumples" slightly after many shots. You can feel the difference when you squish them by hand.

Re: [Ri3D] Team Indiana Presents: Veronica
 

What was the length of each pieces of the double jointed arm?

Re: [Ri3D] Team Indiana Presents: Veronica
 

So the curse of 2012 strikes again. Hopefully FIRST doesn't decide to source from a new manufacturer midway through the season this year as well.

Re: [Ri3D] Team Indiana Presents: Veronica
 

I don't remember the exact number, but it's pretty easy to calculate--subtract the height of your mounting location from the height of the drawbridge, then divide by 2 and add a few inches to account for the joint and a bit of extra space for the drawbridge grab.

Re: [Ri3D] Team Indiana Presents: Veronica
 

Great job Indiana, I love how versatile your bot is, and the fact that it has bumpers makes it even better. Just curious, do you happen to know what gear ratio you're using for the treaded bot's transmissions? The speed and power balance looks perfect from your videos. Thanks a bunch!

Re: [Ri3D] Team Indiana Presents: Veronica
 

This robot looks great! I was wondering if your close shot is taken hard stopped on the tower or a few inches away? I couldn't tell from the video.

Re: [Ri3D] Team Indiana Presents: Veronica
 

Thanks!
We were shooting with our back wheels resting on the hard stops at the bottom of the castle ramps. This proved to be a very effective and reliable place to shoot from. We had also talked about deploying an outrigger to the front of the robot to give us an even more consistent, undependable shooting location.

Re: [Ri3D] Team Indiana Presents: Veronica
 

Great job on the robot! I was just wondering, why did you end up deciding to use a pneumatic wheel drive train instead of the Rhino tracks?

Re: [Ri3D] Team Indiana Presents: Veronica
 

We were asked this all through our 3 day build so we covered it in the Q & A:
https://m.youtube.com/watch?v=PrgI7NRyqbY at about 8:20:20

They did a great job of explaining our reasoning there :)

Betsy

Re: [Ri3D] Team Indiana Presents: Veronica
 

Did you discuss the impact of used balls vs fresh balls elsewhere on a video that we could go back and reference?

How much compression were you getting on your balls? (distance from shooter wheel surface to curved backplate)

Thank you for your insights! :-)

Re: [Ri3D] Team Indiana Presents: Veronica
 

Were the stealth wheels able to manage a long-distance shot in such a short acceleration arc? Approximately how much compression was the ball under while in the shot arc?

Trying to get a 4" diameter wheel to get any distance, even with equal wheel edge speeds as larger wheels, has been ... challenging...

Re: [Ri3D] Team Indiana Presents: Veronica
 

Any update on the 3D pdf?

Re: [Ri3D] Team Indiana Presents: Veronica
 

The 3D PDF is ready!

You will need to download it and open it IN ADOBE to view it properly.

Check it out HERE

-Team Indiana

Re: [Ri3D] Team Indiana Presents: Veronica
 

Not sure if it was on video or not--it would be somewhere in the second day.

I know the compression was >1", but I can't be positive on the exact amount (wasn't my subsystem). We did get the arc down to 29 degrees. The shooter also had strips of AM's abrasive green belting on the arc.

After we switched to the short acceleration arc, there wasn't much distance shooting--the arc was always pointed in a direction more conducive to close shooting. Could you do it from a distance? Maybe, if you can get around ball variance issues. We tried shooting from the Outerworks distance, and though we couldn't hit the target due to the angle being too steep, we still got plenty of air.

I can't be sure on the compression. It was at least 1" and had strips of abrasive material on the hood.

Re: [Ri3D] Team Indiana Presents: Veronica
 

Hi PurpleINK,

THe PDF that was posted opens as a blank document with the SOLID WORKS statement at the bottom of the document. Do i need a special viewer for this PDF?


Thanks

Re: [Ri3D] Team Indiana Presents: Veronica
 

Are you opening it in your web browser, or with Adobe? You have to download it and open it with Adobe reader to be able to enable the 3D content.

Re: [Ri3D] Team Indiana Presents: Veronica
 

If you just click the link, the image will display as a blank paper that says Solid Works at the bottom. That is because it 'opens' in google drive which cannot support the 3D format.

At the top of that page, you'll need to click the 'Download' button. It looks like an arrow pointing down towards a line.

Once it has downloaded, simply open it.

I hope this helps!