Quote:
Originally Posted by Adam.garcia
A general rule of thumb is to run the intake such that the speed at the tip of the roller intake is 2x your robot's max speed.
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This is true for "ball" intake systems, though more so for previous robots that drove a bit slower.
The reason for this is a rolling ball has zero surface velocity at the point of contact with the ground, and 2X its center rolling velocity at its upper surface. Thus the 2X multiplier so the ball rolls into the robot instead of the robot rolling over the ball (which can cause the robot to climb a ball).
As robots are getting faster and faster top speeds, this metric makes for higher and higher surface velocity of the rollers which in turn makes risk of stall much higher.
I think a more accurate target should be 2X the speed with which you expect the robot to be traveling when you acquire a ball. In 2014, this was possibly a very high ground speed. In 2016, due to sprint distances, the actual speed robots saw was quite a bit lower.
For non-ball objects, target should be at or near robot speed, but the likelihood of dealing with stall is much higher.