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Unread 22-01-2015, 16:55
lukedude43 lukedude43 is offline
Doer of stuff and things
AKA: Luke Reinert
FRC #4030 (NullPointerException)
Team Role: Mechanical
 
Join Date: Oct 2012
Rookie Year: 2012
Location: Seattle
Posts: 50
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Re: pic: 6 week swerve

I'm back on a computer and actually have some time so hopefully I can write a response that will make me seem less willfully ignorant

First of, the change in gearing is an admittedly quick and dirty fix, but what I believe to be the best fix just to get some pods printed up and working together. We are 3d printing the first iteration of the pods in the next few nights so that we can have something together and working so our programmer has the maximum amount of time to work on getting the pods working together nicely and field oriented control working nicely. The gearing change is by no means a final fix which is something I something I don't think I ever mentioned (serious mistake on my part), it is just a quick fix to get the test bed together and running.

What i'm leaning towards as a final fix is a cim face mounted to the lower plate with a cim gear going to a gear on some .5 hex shaft. That shaft will have the pulley that was previously on the cim with the same gear reduction. If I do this right that means the wheel pod reduction could actually end up being something like 50:30 (as opposed to the previous 30:50) which should leave more than enough ramp clearance for the wheel gear.

The testing we're going to do tonight is only to see if last years robot (roughly 15 fps) with motor speed limited will give us fine enough control for our collector (In my mind our robot design is split into collector and indexer, collector is the only part that needs fine control). If it is it leaves the current quick and dirty gear change fix as a semi viable option if for some reason everything goes to crap. All of the downsides (motor speed being limited as opposed to proper gearing, barely scraping by on ramp clearance, etc.) will all be taken into account in the final decision matrix that decides if our swerve is actually worth it or if we should throw in the tank drive.
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