Forum: Programming
12-31-2016, 11:10 AM
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Replies: 34
Views: 2,279
Re: Drivetrain PID tuning
We like to print to the console and either dump to an excel file or Octave script and do system ID on that.
We've gone almost exclusively to a PI controller for yaw rate for stabilization, since in...
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Forum: Programming
12-28-2016, 03:43 PM
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Replies: 34
Views: 2,279
Re: Drivetrain PID tuning
In 2015 we used Mecanum wheels and one thing we really noticed was that the robot would rotate and drive forward well, but generated a lot more random slipping when moving sideways. We ended up using...
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Forum: Programming
12-27-2016, 12:21 PM
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Replies: 34
Views: 2,279
Re: Drivetrain PID tuning
We have never needed to re-tune for a change in carpet. Our typical heading stabilization is a PI controller for angular rate via gyro to stabilize heading. We tune via the following:
1.We do a...
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Forum: C/C++
12-26-2016, 12:20 PM
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Replies: 5
Views: 280
Re: PID
Hi Noah,
Normally I wouldn't post (relatively) untested code, but if simple is what you want the attached may work for your needs. I just tossed this together the other day (I intend to make this a...
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Forum: Math and Science
12-23-2016, 12:36 PM
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Replies: 31
Views: 837
Re: numerical solution of differential equations
Yea, I'd like to say we just ignore stuff like that, but sometimes it's a real factor. In 2014 we had a hammer with a 3 pound head on a 1 foot arm, gravity definitely made a difference.
Since we...
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Forum: Math and Science
12-23-2016, 11:46 AM
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Replies: 31
Views: 837
Re: numerical solution of differential equations
Hillbilly solution:
one forward Euler integration, one backward Euler integration, less typing and good enough for government work.
Surprising how often that works...
Cheers,
Steve.
P.S. The...
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Forum: Technical Discussion
12-20-2016, 09:00 AM
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Replies: 7
Views: 1,263
Re: Catapult Optimization Tutorial
Hi Devin,
Yes there are a few things missing. The short list is:
1. Effect of gravity
2. Arm starting angle (more like -10 degrees)
3. Actual ball release angle (I don't really what this is)
4....
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Forum: Technical Discussion
12-19-2016, 09:40 PM
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Replies: 7
Views: 1,263
Re: Catapult Optimization Tutorial
Thanks a lot. FYI, I've swapped out the excel file in the first post, my conversion from open office wasn't quite fully functional, sorry about that
The new one (edited in post 1) works properly in...
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Forum: Technical Discussion
12-19-2016, 02:59 PM
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Replies: 7
Views: 1,263
Catapult Optimization Tutorial
Hi Everyone,
Last year a lot of people inquired about the design and optimization of the electric catapult we used in Stronghold. Since the basic architecture shows up a lot (like in our hammer in...
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Forum: General Forum
04-23-2016, 02:20 PM
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Replies: 49
Views: 6,760
Re: Catapult vs Wheeled Shooter
At team 230, we were concerned about the variability of the ball as it impacts either a spinning wheel or linear punching style shooter. In addition, we were inspired by the extremely accurate...
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Forum: General Forum
04-17-2016, 10:31 AM
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Replies: 83
Views: 27,358
Re: 2016 World High Score
Many thanks to teams 1519 and 176, two of the most professional teams we have ever had the pleasure to work with. We had a tremendous time and look forward to seeing everyone at champs.
Also thanks...
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Forum: District Events
03-30-2015, 10:55 PM
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Replies: 6
Views: 1,346
Re: [NE FIRST] 2015 Hartford District Event
Sandra,
Thank you so much for the kind words. We owe the vast majority of our success to the teams that have graciously put their faith in us, and we hope that we can live up to the high standard set...
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Forum: District Events
03-15-2015, 09:36 PM
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Replies: 3
Views: 903
Good times in Dartmouth, and thanks!
Hi All,
Great event in Dartmouth this weekend. A big thank you to teams 1519 and 4908, thanks for believing in our robot and our team, we had a great time and really enjoyed working with you. You...
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Forum: Regional Competitions
04-13-2014, 02:30 PM
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Replies: 150
Views: 31,744
Re: [NE FIRST] 2014 New England Championship!
There's only one thing missing from this incredible championship event thread,
a poem!
(provided by Deb Pontbriant, team 230 mentor)
The Gaelhawks want to thank teams 177 and 4055
For joining us in...
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Forum: General Forum
03-14-2010, 07:38 PM
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Replies: 19
Views: 2,887
Re: 3 scored in Autonomous by a single bot!!!
Thanks really need to go to Teams 20 and 228. All 3 teams worked their jobs and covered the other 2 when issues arose. I can't remember seeing 3 teams more effectively work together.
Without you...
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I like the gearboxes that can move my mechanical systems reliably. - Ginger Power [more] 
