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Originally Posted by Andy A.
Each roller set (two) were powered by a FP motor.
The motors ran one roller with a pinion and spur gear. I can't recall the ratio. The rest in each set where connected by timing belts with 1:1 gearing so they all ran at an even speed. In theory each roller set ran at the same speed, but I can't remember if we kept each motor spinning in the same direction to avoid directional bias.
The actual RPM range was adjustable by the driver, which proved to be a real art, as the power needed to displace the balls in the hopper went up rapidly as it filled. If you went to high early on the balls would just fly out of the hopper. To slow and they jammed up (this happens in the video).
I stand by the FP motors as an ideal (for FIRST purposes) for roller systems.
-Andy A.
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The 2002 Grasshopper robot from team 95 is the best ball collector ever in FIRST, imho. Simply the sound of that machine gobbling up 20 balls in about 4-5 seconds was astounding.
For those of you musically inclined, say the word "pop" 20 times in 5 seconds, by using 4 - 16th notes per second. Once you say it out loud and imagine a FIRST robot that could do this... it is pretty incredible.
Andy B.