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Unread 03-03-2016, 12:04
Jay Burnett Jay Burnett is offline
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FRC #5332 (Toaster Tech)
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Join Date: Apr 2013
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Re: Team 4143 Sir Twerve'alot 2016

Quote:
Originally Posted by RyanShoff View Post
We tested sliprings. The CAN bus functioned without issue through 4 sliprings. We removed them because the 12 (6 on each side) stiff 12 gauge wires were a mess. They may go back on the bot, but it is working pretty well with plain old wires.

A multiturn hard stop is also in the design. But they were removed after we had one steel nut gall to an aluminum shaft. It took two very long wrenches to remove them. They may go back on later.

The SRX mag encoders in absolute mode are really nice for this application. They keep track of rotations even through a Roborio reboot. As long as the wires are unwound when power is first applied, we should know how many times the wires are twisted.

Right now it is just wires and software.
Thanks for the answer! Any chance we get CAD at some point?