Quote:
Originally Posted by GeeTwo
Thanks for the renderings! I like that the swing is clutched to the cluster axle, which causes the wheel on the side that you're accelerating away from to touch the carpet, which should improve traction. I do have a few questions about some of the details: - Did you have trouble overshooting your strafes? There does not seem to be any way to properly brake in the strafe direction.
- The gearing looks rather fast for strafing in Recycle Rush; counting of gear diameters, I get about 8:1 or 9:1. Did you actually use strafing as a means of travel, or just to line up for pickups and scoring? Unless you needed the top speed, you could have made the output cluster gear smaller, pulled the wheels pulled in to match, and probably done as well with one CIM.
- How do you control the coupling between the seesaw and the cluster shaft, to get the proper wheel loading? Is there a friction clutch between the output cluster gear and the seesaw, or is it just in the bearings, or what?
- Is there a spring, or does the seesaw return to the horizontal when not driven just based on gravity? Given the amount of friction needed in that bearing, the short offset of the CoG from that shaft, and the large moment of inertia of the seesaw, gravity doesn't appear to be enough.
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1st Answer: No, the robot was heavy enough that as soon as we dropped power to our system, the robot stopped, if we were going too fast that it might have slid, we just slammed the opposite direction for a split second which brought a dead stop.
2: We used it mainly as a lining up tool, but occasionally to actually move far distances across the field, and yes, it was very fast. The system was better used as a quick way to move into perfect lineup with the human station. And about the one CIM thing... I didn't say it my last post, but in order to gain more weight for other things, we did take a CIM off, it does work, however, pretty much the exact same with one CIM or two. The only difference is in speed, and that's not much.
3. There is no friction clutch in the system, it's just the bearings. I attached different pictures to illustrate.
4. The bearings allow the system to be balanced only on gravity, as the bearing are just a pivotal point. Most of the weight is under the pivot, so gravity is the force used to balance the seesaw.
Thanks for the questions - keeping me on my game during the off season
I'm happy to answer any more questions you have too.