Since there seems to be some confusion about the rule, here it is:
Quote:
|
<G08> Mechanisms which interact with the Pull-Up Bar are limited to a maximum tip velocity (relative to the ROBOT) of 10 feet per second.
|
Mechanisms means anything, arm, projectile, etc. And it isn't just the vertical velocity. It is the tip velocity. For example, our arm rotates approximately 180 degrees with a 5 foot radius. It takes just over 3 seconds to do that. So, our average velocity is just over 5 ft/sec. I am hoping that is enough margin that we won't have to "prove" the speed. If you calculate that you are closer to 10ft/sec then you should be prepared to prove the speed, such as in
Quote:
|
<R82> During inspection, teams must be able to demonstrate the operation of any robot mechanism intended to interact with the Pull-up Bar on the center structure on the field, and show that its tip velocity complies with the 10 feet/ second velocity maximum limit requirement. One way that this may be accomplished is by recording the tips motion with a camcorder with a known frame rate (to provide delta time) against a measuring tape background reference (to provide delta distance).
|
Yan, use common sense with the average vs instantaneous measurments. If one part of your movement is much much faster then the rest, you should be prepared to show that in that part it isn't more then 10 ft/sec. However, if by your eye you can see that it has a fairly constant speed, then average speed would be perfectly acceptable.
Of course, I am not the official answer. If you really have concerns about your method of documentation, then ask on the FIRST Q/A.