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-   -   pic: FRC973 offseason teaser #7 (http://www.chiefdelphi.com/forums/showthread.php?t=97505)

Nick Lawrence 25-09-2011 14:32

Re: pic: FRC973 offseason teaser #7
 
From what I know of this robot, I freaking love it. Adam, can I have one?

-Nick

lemiant 25-09-2011 15:11

Re: pic: FRC973 offseason teaser #7
 
Quote:

Originally Posted by sdcantrell56 (Post 1078424)
As you found managing rope is a pain and is why many teams this year especially avoided it in lift designs.

Except maybe 254 :rolleyes:. (And Wildstang... I think)

AdamHeard 25-09-2011 17:24

Re: pic: FRC973 offseason teaser #7
 
Oh wow, there are a lot of responses! I'll try to get them all, but might miss some.

We chose not to do an elevator for season because of the few "gotchas" the 254-style has. They are minimal to nonexistant to 254 clearly, as they have many iterations under their belt. But, a linear driven spooled cable elevator can be a royal pain in the arse if not done correctly. We knew arms, and knew we could make an arm much faster so we chose too. It was a though choice however, as we knew the very, very best robots would likely be elevators.

As for pics, sorry guys! No hotel at the internet I'll get them up ASAP (need to get them from the photographer).

The robot itself did poorly at this event, the code worked very well (VERY VERY well considering it's a 4wd independent power and steer swerve that's only had about 5 hours of debug time), but we were plagued by electrical failures. We used the electronics off of many old and practice robots which have been thoroughly worn. For the brief time before we loaded it in the trailer when the code worked, it drove AWESOME. We immediately learned that crabs are not 6wds and require a totally different mindset to drive.

The elevator is real slick, and we spent a lot of time on it. We chose to cascade rig it to reduce parts, and the initial gearing of driving the 2nd stage are two very light 16DP rack gears. This brings the elevator to a total weight of 23 lbs with our claw from this season (which is a very, very heavy claw). We haven't coded it yet, but it works really well when hooked to a battery and I feel we'll be very happy with it. It's near-neutrally balanced with standard constant force springs.

We didn't expect to even get this robot running for this event, with our real goal being the Madtown Throwdown in November. We'll certainly use the next 7 weeks to debug and practice and get this beast truly driving smooth.

I'll post more detailed specs of the robot when we get pictures up, and ideally start a new thread, but in summary it's a sub-40 lb independent swerve (including bolts, belly pan, battery box, etc...) which is module based (each corner has a completely self contained drive module not linked to the rest). Designed separately and then implemented at the last minute is our take on a 2-stage elevator, which was heavily influenced by 254, 971, 1114, 2415, 118 and 16 in one way or another (thanks for all the advice given at IRI), but also has some cool new concepts.

Thanks for all the support guys, a few key students and myself spent a long time designing this, and then nearly the entire team busted their butts the last few weeks to get it done. We're really happy with it so far, and plan to show up ready in November.

Akash Rastogi 25-09-2011 17:29

Re: pic: FRC973 offseason teaser #7
 
Quote:

Originally Posted by AdamHeard (Post 1078554)

As for pics, sorry guys! No hotel at the internet

Adam's been spending way too much time on the robot.

AlecMataloni 25-09-2011 17:31

Re: pic: FRC973 offseason teaser #7
 
Quote:

Originally Posted by lemiant (Post 1078535)
Except maybe 254 :rolleyes:. (And Wildstang... I think)

You are correct.

O'Sancheski 25-09-2011 18:01

Re: pic: FRC973 offseason teaser #7
 
I need to see a complete picture of this robot. This might be one of my favorite robots of the season... and it was designed for off-season.

teachsail 25-09-2011 18:32

Re: pic: FRC973 offseason teaser #7
 
Congrats to Team 973 and 973 and 1538 as they are the winners of the 2011 Fall Classic in Burbank Ca. Hope to see everyone in the Spring and again in the Fall for another great Fall Classic.

Audrey Chu 25-09-2011 19:51

Re: pic: FRC973 offseason teaser #7
 
Quote:

Originally Posted by AdamHeard (Post 1078554)
As for pics, sorry guys! No hotel at the internet I'll get them up ASAP (need to get them from the photographer).

You guys are still here? And by the way I think it's "no internet at the hotel" Mr. Rules of the World. :)

Brandon Holley 26-09-2011 09:06

Re: pic: FRC973 offseason teaser #7
 
Quote:

Originally Posted by techtiger1 (Post 1078418)
Tom those elevators in general are not my friends. They work great when they are working but keeping them working is certainly a challenge. As 125 well knows I am sure.

Iteration. Iteration. Iteration.

The devil is always in the details, and for any system, it takes time to develop a really finished design. Often, this is several build seasons as we can see with teams who continuously improve their drive designs each year.

Same goes for lifts like this. What few people realize, is that our 2010 robot actually had a linear lift just like our 2011 robot. We learned a lot from that lift, and in turn have learned alot from our 2011 lift as well. We're getting to a point now where we can really tune the details of our design and have a go-to design in our in pocket.

A lot of our issues this year came from the 775 motors which we simply could never get without a case short. We will be sure to not make the same mistake next year, and with some more added improvements, our lift design will continue to improve.


Adam- get some pictures up! I want to see this thing.

-Brando

Andrew Lawrence 26-09-2011 09:13

Re: pic: FRC973 offseason teaser #7
 
I've never had no hotel at the internet! That must be quite difficult for you. :rolleyes:


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