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Re: # of Totes WORTH Stacking?
The stack hight dilemma has four factors: the space the stacks take up, stability of the stack, if you have a container, and finally stack time vs unload time.
First off the most basic stack high vs stack out problem becomes, if I only stack out how soon will I run out of space to score totes. After a number of low stacks you will start running out of scoring space. Logic dictates to build up not out for this factor.
Next is the stack stability. The higher the stack the less stable. This seems to be the crux of this debate. I personally think that in this game mistakes will be made and robots will bump the stacks, if the stacks are tall then it endangers your stack more. So short stacks is prefered here.
Second to last we have, does the stack have a container on it. This is simple if yes then stack high, you have three containers for sure, so to make the most of the containers you should stack them high. They are your most limited resource in this game.
Finally we have the stack time vs unload time conundrum. If your robot can stack faster than it can unload then you would be better to stack high rather than short.this is because if you can get it in 6 totes and unload then it'll be faster than getting in 3 totes and unloading then repeating that process.
Time1= 6×totes+1×unload
Time2= 2 (3xtotez+1×unload)
Here the scores are bother the same but the extra unload instance takes time from scoring. In this case I think high stacks are better.
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“In theory, theory and practice are the same. In practice, they are not.” ― Anonymous
Anthony Cardinali
4th year of FRC
Class of 2017
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