Re: pic: Gruff
 

I feel like this should be on display somewhere at TNT in September. I know people would be thrilled to get a close up look at a robot like gruff assuming its still together. Finally, it would be a nice addition to the event attractions.

Re: pic: Gruff
 

About how much did this cost to build?

Re: pic: Gruff
 

Along on that note, how heavy is this bot, and did you still use just a single 12v battery or did you add one or two more in parallel?

Re: pic: Gruff
 

Hi Tori,

It's actually only running a slightly modified version of the 2004 Default Code.
I've added deadzones to the joystick centers to keep the bot from drifting, and added a feedback system that measures current draw and motor temp. This is relayed back to the driver by shaking the joysticks with the intensity of vibration proportional to the current draw, and a heating coil on the joystick matches the joystick temperature to the motor temperature. Programming isn't exactly my specialty, but it took me about a week to make these modifications.


I've got about 4k of my own money invested in Gruff. The University, and the Robotics Group's Sponsor, Southern Manufacturing Technologies have helped with shipping and travel.

It competes in the 220lb, Heavyweight Class. For power at the past two competitions I've been running two 12v 17Ah batteries in series for 24V. They were Enersys Odyssey PC625 Models. Motor setup is kind of strange in that one Victor 885 controls two CIMs in series so each only sees about 12V. The 24V choice was made because it's cheaper, smaller, and easier than running twice as many at 12V.

This setup will last little more than 3:00 minutes of hard driving, which means if the weapon is used much, I had to be very careful. For this reason we'll be testing some Lithium Polymer batteries this summer (Twice the capacity with 1/2 the weight).