Thread: 341 Photos of robot parts from 2012 FIRST FRC - MAR - Chestnut Hill - Robots
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Unread 12-03-2012, 19:00
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Jared Russell Jared Russell is offline
Taking a year (mostly) off
FRC #0254 (The Cheesy Poofs), FRC #0341 (Miss Daisy)
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Re: 341 Photos of robot parts from 2012 FIRST FRC - MAR - Chestnut Hill - Robots
1218 doesn't have a huge CD presence, so I'll explain what I know about their device.

They call it the Charminator. The pneumatic cylinder applies a (known) force to the ball. The string attached to the piston rod (barely visible in the picture) is connected to a drum whose rotation is measured by the encoder. The squishier the ball, the more deflection that is measured. The squishiness is then used to vary the speed of the shot by up to +/-10% from nominal.