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Originally Posted by Dunngeon
Please explain how so many robots with mecanum wheels are able to drive over the scoring platform perfectly fine at angles. It has quite a lot to do with the gyro/PID correction.
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Sounds like you covered the explanation pretty well. Corrections are always possible, sometimes within the time you have to design, build, and program them.
Quote:
Originally Posted by Dunngeon
Also, if you're strafing ACROSS the scoring platform with your wheels on it how can you cap? The wheels will be where a stack is, unless you're like the High Tekerz and have you're wheels mounted perpendicular to the front of your robot w/ a cutout.
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I was thinking more of aligning new stacks with old to make plenty of room. As we decided early not to climb on the scoring platforms (admittedly not our best decision ever), I haven't spent a whole lot of time thinking through these use cases.
Quote:
Originally Posted by Dunngeon
I'd also encourage teams to seriously consider just how much value holonomic motion is adding to your robot.
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Absolutely. We were planning for significant automation in alignment to totes that would have made slide drive essential. At one point, we had used all of our DIOs and had to use two off of the MXP, plus we were hoping to use a camera for left/right (strafe) alignment on totes. When we realized we were unable to program these cases robustly in time, most of the sensors came off.
Quote:
Originally Posted by Dunngeon
This section is a word of warning from a team that had a slide drive, and got rid of it because we weren't getting the value we expected out of it.
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Same here. At CMP, we'll be driving a 4 wheel omni, and have exactly 3 CIMs and no other actuators. By the time we made the "no strafe" decision, it was too late to go back to 6-wheel to see if it would work better for us, especially if we found out we'd have to switch back. We may very well have a 6-wheel drive for Red Stick Rumble. However, rather than shy away from holonomic, I'm working up some sensor-heavy programming exercises for the summer and fall sessions.
(On a couple of non-drive notes, we now have a better tote lifter that is much more likely to pass inspection than our original spring-cushioned "rake". Despite this, it still has the double end-lift as well as single side-lift capabilities, and is fully capable of doing either on the step as well as the floor. We have also practiced far more tote-flipping since Bayou than we did before. We're striving to make these "inaccessible" totes available to some major stacker 'bots that are running out of "easy" totes. Carson may prove to be the best division we could hope for! )