Team 166's robot
 

We've designed a lightweight chassis and arm (supposed to be 90 pounds, I believe), and we've built a drivable chassis, and did some "testing" this Tuesday and Wednesday. I have a few videos of it driving on Wednesday:

http://www.youtube.com/watch?v=W0XN6iSvCXo
http://www.youtube.com/watch?v=v_vUYyJAkCc
http://www.youtube.com/watch?v=YbluSr2Mf5Q

And, in case you were wondering, the drive code is very light, too. :)
Also, a team member should be getting a better video camera (it's actually a video camera, not a digital camera)

Re: Team 166's robot
 

Simply amazing. I am curious to how it will turn and slide and all the rest of its zippee-de-doo-dahs when you have your arm on it.

Re: Team 166's robot
 

Impressive. Thanks for sharing.

Re: Team 166's robot
 

Based on the estimated weight Pro-E gave us, it will weight 15-20 pounds. That doesn't include fasteners and wiring. The hand and wrist weighs 5-10 pounds not including fasteners. So... I think it will actually run better because weight will be distributed more evenly.

We'll have a video when we're done with this robot.

Re: Team 166's robot
 

Look's like a great robot, and man that thing hauls. big time. No fun for anyone trying to get around you or play D on you either. Simply Amazing.:D

Re: Team 166's robot
 

Whoah, I like the amount of control you have over that thing. Seems much more precise than WPI's mecanum drive in 2005. Just from the point of a New Englander, how much pushing power do you get?

Can't wait to see the rest of it! :)

Re: Team 166's robot
 

Looks good, but is the arm going to turret. Seems like if you are in place to put a ring on and someone shoves you it is all over.

Re: Team 166's robot
 

No turret. We intend to be quick enough to score before anyone can push out of the way. I don't know how well that will work, though.

If we can't score quick enough, then you are right, but if a team is playing some hard defense on us, they'll just push out of the range of the arm even with the turret.

Let me tell you. Neither can I. :D

Re: Team 166's robot
 

oh crap another team beat me to it. a learning robot algorithm. automatically tunes your PIDs for you. i am guessing that that is what it is doing. why else would they have a masking tape grid on the floor

Re: Team 166's robot
 

Actually, no, we didn't. That masking tape is there from before I joined the team last year.
But I did make a motor calibration algorithm a week or so ago, but there's something wrong with another piece of code, so we're not getting encoder counts from the motors, except in a version of the code that has last year's camera code instead of this year's.

Re: Team 166's robot
 

Actually... the masking tape was put on last year sort of late into the build season. You must not have seen the carpet before someone put it on.

Re: Team 166's robot
 

Not to nit-pick, but it appeared in the first link (video number 3) that that robot is actually Faster when it moves in a sideways direction. Is that right?

Interesting, very interesting.

Re: Team 166's robot
 

When it comes to mechanums, the sideways translation speed compared to the forward speed is set by the angle of the rollers. It looks like they are using the Andymark mechanums (please correct me if I’m wrong here), which I think use 45-degree rollers. This would mean that all else being equal (motor bias and so on) the top sideways speed would equal the back ward and forward speed. This also means that the top speed when translating at 45 degrees to exactly forward or sideways would be 70% of the original top speed. This is the same for omnis; just that one must usually rotate the frame of reference 45 degrees.

The chassis looks amazing and looks like it drives very well. One thing I notice though is that it seems to drift when moving around. Is that an artifact of the movement or the controller?

Re: Team 166's robot
 

So what is the ft/sec on that thing? I'm guessing between 9 and 10. It is videos like these that make me want some of those wheels. AndyMark Advertisement!

Re: Team 166's robot
 

Wow, that is one awesome robot. Good job.

Re: Team 166's robot
 

Are those AndyMark wheels? If they are, how did you get the rollers to move so well? We are having major sticking problems with them..... Many won't even turn.:eek:

Re: Team 166's robot
 

http://www.chiefdelphi.com/forums/sh...hlight=mecanum

That's how.

Re: Team 166's robot
 

Quick movements. thanks for sharing that good video.

Re: Team 166's robot
 

WOOW (note the double o's and the capitalization)

really nice job. holy schmoly. geez.:eek: we should get working...
we only have a robot that moves around with two wheel drive. no sides or top or ramp yet...

Re: Team 166's robot
 

what type of OI do you have for it? we are doing an omni thing, and using a halo-esque drive with one joystick for translation and the other for rotation. we considered two other, one with a twsiting joystick which me mgiht go to, and another that involves cutting up 4 joysticks, lining them up perfectly, putting some bars on top connecting them, and letting the top and bottom x and the side ys control the wheel power. the later control system was derived from some teams OI a while ago on a 3 wheel omni robot.

so ya, what type of OI are you guys using?

Re: Team 166's robot
 

We have 3 different types.

One uses dual Flight sticks with the FPS style.
One uses an X-Box 360 control with the FPS style.
and one uses a 3 axis joystick. Left and right strafes, and twisting the joystick rotates. Very nice to handle. We've just been using one that someone brought it. It's kind of difficult to twist, so we might look into getting a different one.

I'd like to use Katamari Damacy style controls. It's almost exactly like tank drive, except when you want to strafe you tilt the two joysticks the same way. Eric Finn has been doing all of the drive code and I don't want to load him up with too much work. So, that probably wont happen.