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Re: Minibot Standardization (FRC 2011: Logomotion)
1) HB will provide a secure fixed 'ceiling' of at least 12"x12" for the deployer which is fixed relative to the HB during the entire match. It does not move at deployment time (it is removable for MB loading - prematch)
2) The lower support provided by the HB consists of 2 or 3 (configurable) vertical 1/4" od pins on which the MB is placed. These pins have optional 'stops' which are 1" donuts with 1/4 hole that can be placed securely on the pins, allowing the MB owner to decide these dimensions (up to a limit of 4" high) The orientation of the pins horizontally (both x and y axis) is adjustable to allow for varying MB designs. The top height of all pins used are the same, but that height can be adjusted in unison (or alternately, the height of the ceiling can be adjusted) The donuts heights can be adjusted independently. MB must have 2 or 3 holes to interface with these pins. If you are having trouble visualizing this, the pegs/donuts basically look like tiny arena towers without targets at the top.
3) HB is responsible for accurate alignment to pole with respect to left/right. (assuming the MB is properly aligned to the HB via the pin positions)
4) MB is responsible for proper alignment for inboard/outboard movement so that HB horizontal deployment is far enough to trigger MB via pole, but no so far as to mash the MB against the pole.
5) At deployment time, the pin(s) are thrust horizontally at the pole (leaving the ceiling behind) The HB is permitted to move the entire pin/ceiling assembly in any direction prior to the horizontal DEPLOYMENT to the pole
6) One additional 1/4" pin can be optionally fastened to extend down from the ceiling in an arbitrary location.
7) The MB gets or two mechanical signals to help it know when to go. The first comes from the ceiling pin (if used). Since the ceiling is fixed, the pin can be used to trip a switch as the MB moves past it. The second signal is contact with the pole.
8) MBs are best designed to tolerate high speed horizontal deployment.
9) HB will commence ‘backing off’ away from tower no less than 3 seconds after full deployment extension and will be completely out of the deployment zone no later than 6 seconds after full deployment.
Last edited by jvriezen : 14-01-2011 at 12:10.
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