Quote:
Originally Posted by SoftwareBug2.0
How does this work? With the climber I assume the it's just viewing angle that changes.
Also, for the shooters, it's surprising to me that they'd have only one shooting position on the whole field. Was it just that the drivers that weren't confident that they could line up right from elsewhere? It seems like you could always just drive closer to the 2 pt. goals unless it was confusing a vision-based aiming system.
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It depends on your robot. Our original shooter was designed with a lead screw system and vision tracking so we could shoot from anywhere on the field (hypothetically) with a few primary positions around the pyramid/mid field. Point, shoot, go.
After our original design didn't work out at GSR Week 1 we redesigned our robot. One of the sacrifices we made was change our pivot from the lead screw system to a piston. This limited us to really 3 positions for the 3pt goal (Back middle, back left, and back right). The piston worked better towards our withholding allowance because once taken off it went into the event as a COTS item whereas our original lead screw design was about 5lbs of prefabricated materials. It was also extremely easy to integrate into our design and program.
This was something a lot of teams did by keeping it simple. Unfortunately many of them only tuned in their back of the pyramid shot with little to no practice on the corners. Its not too hard but it does require more care when lining up so you are aimed at the goal and depending on how you line up you sit further away from the pyramid so for many their back of the pyramid speed may not be the same for the corner.
For our climber it really does have implications of where we start climbing. Due to the design we have a window of about 2-4 inches horizontally on the bar we need in order to fit in the top once we climb. If we transition to climbing up the side of the pyramid, we are probably only good for 20 since it is extremely hard to determine the middle of the bar from across the field perpendicular to the robot. This is why we avoid the sides. The front of the pyramid isn't too hard for us really its a matter of wasted time. If we are shooting from the back of the pyramid, we can transition from climbing to shooting in 2 seconds while we could lose 5-10 seconds going to line up at the front of the pyramid. This is also why we don't like the side faces it would take way too long to line up on.
See this video and you can see what I mean with how easy it is to line up. Since this video, our transition time has been cut in half through some fancy programming and our climb is now faster by 5 seconds:
http://www.youtube.com/watch?v=CNNEld7uBJo