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How much Power?
How much power* are you putting into the primary subsystems of your robot? In other words, what motors and how many motors are powering each system on your robot?
4607 has the following: Drivetrain: 4 cims, 2 775pros Intake: 1 775pro Climber: 3 775pros Shooter: 3 775pros Gearage (Gear Mechanism): 0 motors *What our programmers listen to (and by extension what the rest of our team is forced to listen to) |
Re: How much Power?
Right now it looks like:
Drive: 6 CIMs Intake/Shooter/Indexer: All BAG motors Climber: Mini-CIM Are you sure about using 775s on the drive? Those do not handle near-stall conditions well. |
Re: How much Power?
At this point 461 is looking at using
Drivetrain: 4-CIMs Intake: 1-775pro Conveyor/Hopper/Feeders: 3-9015s Shooters: 2-775pros Climber: 1 Minicim |
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Drive: 6x CIMs + 2 Minis
Shooter: 2x 775 Pros Climber: 4x CIMs + 2x 775 Pros Intake: 1x 775 Pro/Bag Indexer: 1x 775 Pro/Bag Tehehehe yes those numbers are correct and legal ;) Kudos to anyone that can figure out how crazy we are |
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I mean, PTOs are great and all, but are they really necessary here (especially with *additional* 775s)? |
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Like I said if anyone can figure out the full picture I'd be very surprised, we have to one up our 44 wheels from last year after all. PTO is a start but not quite there ;)
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Then again, my team is not exactly shooting for Einstein, so perhaps one's sensibilities change at the higher levels of competition. |
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6 cims
6 775 pros 4 or 5 pneumatic cylinders |
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I expect to see some fast robots and some fast climbs, but I doubt many fast climbs will be sub 1.5 second. |
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We are a fan of rapid production quality prototyping, so I also assure you we have built a full prototype and it is almost fully functional ;) Teasers will come this weekend probably. The motor math is not as it seems |
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4 CIMs drive
1 CIM climb (with option for second) Gear hanger (v1) is passive (get going quick for drive practice) Active gear intake and hanging still in flux, but likely 2 or 4 BAGs and a half dozen or so servos. Fuel: none planned at this time. Probably no more than a bag and a couple of servos at most. |
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Right now, here's the Iron Kings list:
6 CIMs (chance we change to 4 and 2 mini CIMs) 1 775pro (with provisions for a second, if we need it) 1 Snow Blower Motor 2 9015s |
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4 CIM Drivetrain
2 775 Intake 4 775 Shooter (or 1 bench grinder. haven't decided yet) 2 775 Climber |
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1102
Drive - 4 x CIM motors Intake - 1 or 2 Bag motors Agitator - 1 x Bag motor Shooter - 2 x 775 Pro motors or 3 x mini CIM motors Climber - 2 x CIM motors. |
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4 Cims - Drive
1 775pros - Intake/indexer 2 775pros - Shooter 1 Bag - Climber Either 1 Mini-Cim or another 775pro - Intake |
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Last I heard:
6 CIM drivetrain Four cylinders (2 gear delivery, 2 shifting) 1 or 2 CIM-type motors for climbing |
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How much Power?
Drivetrain: 4 CIMs
Intake: 1 775pro Scale: 1 MiniCIM Everything else: not using motors ;) |
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P.S. - this seems like a good place to plug my new whitepaper, which allows you to calculate the optimal gear ratios and top speed for a given motor and load (found here) |
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Its hard to say until we have actually built the final mechanism but Jvn calculator should do for now. |
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I simply don't see the need to throw 800-1000W of power at your climber. |
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2386
Drivetrain: 4 CIMs Intake: 2 775Pros Indexer: 1 775Pro Shooter: 1-2 (undecided) 775Pros Climber: 1 miniCIM |
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I think we're going to see many robots using the same motors to power multiple subsystems both through the use of PTO's and through pure creativity. I think that'll lead to a lot of teams being able to climb very quickly, hence why I said we'll see a lot of .5 second climbs. While .5 seconds might have been an exaggeration, I still think we'll see a lot of really fast climbs. |
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so far....
4 CIM drivetrain 1 CIM climb 1 compressor |
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Drivetrain: 4 CIMs
Fuel intake: 1 Bag or MiniCIM Fuel indexer and injector: 1 MiniCIM or CIM (we are a low goal bot) Still designing our gear manipulator, could use 1 Bag or may be passive. |
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Drivetrain: 4 CIMs
Gear: 1 Window Motor Ball Shooter: 1 MiniCIM and possibly a servo Ball Intake: 2 BAG Motors Rope Climber: 1 CIM |
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Drivetrain: 4 CIMs
Intake/Conveyor: 1-2 Mini CIMS Second Conveyor: 1 Bag Shooter: 2 775 pros Climber: 1 CIM Hopefully all this jazz doesn't drain our battery too fast... |
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DriveTrain: 6cims
Intake: 1 775pro Elevator: 2 775pros Shooter: 1 775pro Climber: 2 775pros 1 revrobotics servo module and 4 pneumatic cylinders |
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The Bionic Blackhawks are using:
Drivetrain - 6 CIM's Shooter - 1 775 pro (though I'm pushing for 2) Intake - 2 BAG Climber - 1 mini CIM Gear - 1 bag and 1 snowblower/servo for actuating our grip on the gear Unfortunately, I'm not sure I can really reveal too much information yet, but we're looking like we might be too tight on space to afford extra motors. Our team is highly in favor of powerful drivetrains. Last year, we had only 4 CIMS, due to the design of our raised middle wheels to assist with the breach (4 wheels on carpet, 6 on some defenses). However, we also chose a 2 reduction clamping gearbox, and 8" wheels that made us both fast and strong. This year, we planned to do the same, but with 6 4" wheels instead. We calculated the speed to be about 4 ft/s, so that was quickly shot down. We would use the WCD design, but space is limited and the belts are obnoxious. I think what we did was a valid trade off, but I think we struck a balance of power and speed. No, we will not be using anything like Mecanum or Swerve. I don't plan on spoiling what we did with 6 CIMs though. Our shooter currently has 1 775 pro, which is quite under powered. I'm in favor of adding another directly opposing, and removing our 3:1 reduction. This would give us a 2:1 stalling torque, yet still a 1:1 speed. As it stands, we barely reach the goal at maxed power (4 inch flywheel). My only concern is voltage. Last year, with 2 775's on our shooter, we had to be lined up before revving, else our voltage would drop and we couldn't move left and right. I think not having literally a square of pneumatic wheels would help. As for the gear mechanism, well, let's just say I hope you guys get to see it sometime. It's really... unique? We hope that our strategy was correct and people don't plan on driving over gears. Our climber is a winch, about 1.5-2" diameter, that will climb up webbing. It's a quick little thing, so we'll see how we do. Our intake, in its prototype form, is required to throw the fuel up about 18". I hope this isn't the final design, especially with BAGs being inferior to 775's. |
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But maybe that's just because I like them :D |
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We'll be using-
drive train- 4 cims shooter- 2 775 pros collector- 1 775 pro indexer- 1 bag winch- 1 bag various pneumatics |
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6 CIM Drive
2 MiniCIM Climber 1x 775 pro shooter 1x 775 pro intake 1x ??? agitator 1x compressor |
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These aren't yet finalized for the most part. This is for 228.
4 CIM - Drivetrain 1 CIM (option for 2) - Climber 3 775pro - Shooter 1 BAG - Dumper 1 Minicim - Indexer 1 Minicim - Intake 1 BAG - Gear Roller Some of the BAGs and MiniCIMs might get switched around, or replaced with more 775pros. Lots of VPs involved here. I think our pneumatic usage will probably warrant an onboard compressor. |
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I've used a lot of BAG/775pro/etc motors in the past, and they're very good. But as a team 20 minutes from AndyMark HQ and sponsored by them, being able to get parts that afternoon and without shipping costs does give the products on the AndyMark shelf a lot of weight. Where it makes sense to go elsewhere, we go elsewhere. :) |
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Drive 4 Cims
Shooter 2 mini Cims Climb 2 mini Cims Intake 1 mini Cim :cool: |
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If you're using 775's to power your intake:
1. Are you using Versa Planetary, if so what reduction? 2. Dual or single input? |
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Teams should keep in mind that the roborio only has 10 pwm ports (if that is how they're planning to control their ESCs). And Relays only support 20 amps and lower (775s/CIMs/miniCIMs are greater than 20 amps).
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6 cims(drivetrain)
1 mini cim(climber) 2 bags (intake and indexer for shooter) 1 775 pro (flywheel) 3 pneumatic cylinders |
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Current allocation:
6CIMs 1 775 Pro 1 MiniCIM 5 Cylinders |
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5 CIMs (4 Drivetrain and 1 Climber)
3 9015’s (Fuel Intake, Hopper agitator, Shooter Feeder) 2 775pro’s (Shooter) Still haven't decided on gear mechanism, most likly it will be pneumatic. |
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