Here is some information about the changes we have made to the robot for IRI. Feel free to ask us any questions you have at IRI or here!
Swerve Module Render
Internal CIM Planetary Swerve (Midwest Swerve)
Wheel Speed:
-CIM, 5” wheel, 8:1 reduction
-Time to 20ft (from standstill): 1.8sec
-Calculated: 14.45ft/sec
-Actual: 11.6ft/sec
Steering Speed:
-Banebot 550, total reduction of 200:1
-Calculated: .67rev/sec
Module Weight:
-7.5lbs per module
[IRI] Improved swerve capability
-added gyro sensors and code to allow for field-centric driving, pirouette maneuvers
-Added slip rings to modules to allow for continuous rotation
Intake Arm Render
Intake Roller Arm
Roller Speed:
-BAG Motor, 20:1 reduction
-18.67 lbs of force at roller contact point
-Linear Speed of roller: 5.73ft/sec
Arm Pivot Speed:
-2x BAG Motors, 276:1 total reduction
-160 ft/lbs of force generated
-Calculated: 151.91deg/sec
[IRI] Added Hinge on Intake Arm
-Actuated pivot position added to actuate roller out of the way of ball when shooting
-No longer rotates intake arm down outside of robot to shoot, roller just hinges back out of the way
-Shot gets off in a quarter-second
[IRI] Other Improvements Made
-Improved autonomous modes, cheesy code for hot 1-ball and hot 2-ball autonomous routines
-Increased range on shot to 11ft window
-Can inbound from front and back now, throw in from back hitting against arm, throw into roller from front
-Nick