[jspatz1]

1986: Curie #3 seed and finalist

Programming:
What language did they use?
Labview
Threaded code or just poll in the teleop loop?
huh?
Did they do something in autonomous? If so, what worked?
We could score all balls in any single zone from any position. Same basic program for each zone, just changed aim angle (robot orientation), kick strength, and number of kicks for each position. Our swerve drive allowed us to advance to each ball and maintain proper aim angle. Good success rate. We scored 3 several times.
What problems did you encounter, if any, with WPILib?
None
CAN or PWM control?
PWM
Did you use the Classmate for programming your robot or student/school supplied computers?
Other computers
Robot Design:
What sensors were used?
Potentiometer on kicker pivot to measure drawback
Magnetic encoder (KOP) on swerve steering to give absolute wheel orientation
Horizontal gyro to measure robot orientation
Verticle gyro to measure tilt on bumps and provide input to bump auto-pilot
Magnetic switch on kicker cylinder to sense extend position
Microswitches on ball magnet roller to signal ball possession
Did you use the vision system?
Tried to for autonomous. Gave up on it...too slow. We had momentary vision aiming that the driver could use on demand.
If so, what modifications did you have to make to the code?
I don't know that.
What drive system?
4 wheel crab/swerve, CIM motors within the modules. Wide format.
Wheels?
6" AM Plactions.
How many motors?
4 CIMS - drive, 1 CIM - steering, 1 FP w/ modified gearbox - ball magnet roller
What material was used for the frame (Aluminum, steel, unobtanium)?
3" aluminum C-channel, .875 dia x .055 wall aluminum tubing
How did they control the ball?
Foam pool noodle ball magnet roller, spin the ball against the carpet. Worked well.
Energy storage for kicker (elastic, pneumatic, motor driven, etc.)?
Pneumatic retract with elastic kick. We could release the kicker at any point of drawback which provided infinitely variable kick strength. This proved to be very advantagous.
How did you cut your parts (water jet, LASER, mill, hand tools,etc.)?
Water jet, mill, bandsaw
Did you hang?
No. We chose to keep scoring goals.

The Driver Station
Did you reprogram your dashboard code?
Yes
Did you use external controls beyond your joysticks?
Yes, we duplicated several pushbottun functions that were also on the joystick so either driver could do them. Kicker strength throttle pot. was external from the joystick.
Any problems in getting the USB to behave?
Yes, often. I/O board and sometimes joystick would loose connection.
Did you use any unusual controls like WiiMotes, XBox controllers, etc.?
No. Joystick, pushbuttons, potentiometer. We did have an audible buzzer that signaled ball possession.
Did you feel that the Classmate was fast enough?
No.
Anything else?
Any techniques that you feel might be beneficial to others in the future?
Facing our goals at all times with a crab drive was a big advantage for us.