pic: Killer Bees 2011 Robot - Buzz XVI

[JesseK]

Fun video, awesome song! I like how your sponsors are right up front. They will like it too

[ktress357]

I like it!

[GaryVoshol]

Two double-autonomous scores at Kettering today.

[The Lucas]

Originally Posted by GaryVoshol

Two double-autonomous scores at Kettering today.

Did the second one in match 32 count? From the video it looks like they were given a penalty for hanging the second one in teleop. I didnt hear an explanation since I had that webcast muted (audio was choppy). Either way they got it clean the next time.

Big congrats to 33 (and 148) for their uber auton skills! I didn't think we would see a single double uber autons in Week1, let alone 4 by 2 different teams.

[EDIT] I somehow missed match 36. I forgot that Districts run tight schedules. Gary was right, 2 double ubers today [/EDIT]

[BJC]

Unfortunatly, that double did not count and was instead a penalty. What happened was that when our claw tried to open it was at the perfect height so that when it tried to drop the tube it couldn't move down as it somehow caught on the top of the driver station. Either way, the auton was fixed after the match and the next two yielded better results. Looking forward to tomarrow!

[kgzak]

Saw this thing in person today and it was amazing! I'm scared to see you at West Michigan (when we are actually competing)

[AllenGregoryIV]

Wow, we built a holonomic drive train so we wouldn't have to slow down to spin around form the feeder. You guys just went over the back of the lift, that is such a cool design feature and something I never thought of. Does any part of the collector stick past the bumpers when driving with a tube and are you worried about it getting hit?

The double ubertube is really impressive thought I wish more teams were trying to do more than just dead reckoning. They give you so much to sense off of, why not use it?

[apalrd]

Originally Posted by AllenGregoryIV

The double ubertube is really impressive thought I wish more teams were trying to do more than just dead reckoning. They give you so much to sense off of, why not use it?

FYI:
My double-ubertube code uses only what most people would consider "dead-reckoning", using only encoders and a gyro for positioning.

We do not have a camera or any line following sensors at all.
During testing, we have never missed the first tube if the base drive functions are correctly calibrated.

[AlexD744]

Originally Posted by AllenGregoryIV

The double ubertube is really impressive thought I wish more teams were trying to do more than just dead reckoning. They give you so much to sense off of, why not use it?

I personally have found "dead reckoning" to be very reliable and must quicker to program. Last year, for example, we were able to score both mid-zones balls every match with "dead reckoning." This year we have already tested scoring on both the top and middle rows with "dead reckoning." It works consistently as long as the robot is lined up the same way every time (It's nice having a programmer on the drive team). Considering the time constraints on testing autonomous, its much faster to get a working auto using this method, at least in my opinion.

Also, I was playing around with the idea of a double tube autonomous before ship, but decided against it. Now that I've seen it work, I think I'm bringing it back to the table. It'll take some doing, but I think I can get it working, if not for Florida, at least for South Carolina. Thank you 33.

[BJC]

Originally Posted by AllenGregoryIV

Wow, we built a holonomic drive train so we wouldn't have to slow down to spin around form the feeder. You guys just went over the back of the lift, that is such a cool design feature and something I never thought of. Does any part of the collector stick past the bumpers when driving with a tube and are you worried about it getting hit?

Neither our over-the-back move or our carry position stick out of the bumper zone.

It's probably worth noting that we never even went into our lane in any match (never needed the over-the-back feature). It was simply unnecessary with the amount of time it takes to traverse the field and the availability of tubes on the ground.

[Lil' Lavery]

Originally Posted by apalrd

FYI:
My double-ubertube code uses only what most people would consider "dead-reckoning", using only encoders and a gyro for positioning.

We do not have a camera or any line following sensors at all.
During testing, we have never missed the first tube if the base drive functions are correctly calibrated.

What, if any, sensors do you use on the elevator? An encoder?

[Brian Ha]

Lol there bot was just amazing ovver all, they were great. Loved playing against you guys and with you when the chance happened. Espically in the semis. We got jacked for place though, if u guys didnt hear what happened, for all those teams out there make sure you pass inspection otherwise, stay in the pits dont come out! It will make it worse for your alliance when you all get dq. Please and thank you.

[AllenGregoryIV]

Originally Posted by AlexD744

I personally have found "dead reckoning" to be very reliable and must quicker to program. Last year, for example, we were able to score both mid-zones balls every match with "dead reckoning." This year we have already tested scoring on both the top and middle rows with "dead reckoning." It works consistently as long as the robot is lined up the same way every time (It's nice having a programmer on the drive team). Considering the time constraints on testing autonomous, its much faster to get a working auto using this method, at least in my opinion.

I wasn't trying to down play dead reckoning, I completely understand why teams use it and I know that it is extremely effective. I was just saying that there are other ways to do it and I like it when teams try to figure it out. This year we were awarded the Innovation in Control award at Alamo for using two Sonar Range finders to position our autonomous mode against the lane divider and driver station wall (the initial plan called for 4 but we never got that fully working). The sonars make autonomous much easier because all we have to do is make sure the robot is strait, it's position behind the line doesn't matter at all. The plan with 4 wouldn't have needed the robot to be strait because it would have corrected it's orientation against the front wall. We also haven't been able to pull off the double ubertube but that is mostly do to lack of testing time with the robot so maybe dead reckoning is a better solution.

[apalrd]

Originally Posted by Lil' Lavery

What, if any, sensors do you use on the elevator? An encoder?

10-turn pot for the elevator, 270degree pot for the wrist.

During auto, all of the elevator commands are fed to the normal state-machine that is always running. The auto code only handles the drivetrain directly, using two encoders and a gyro for drivetrain positioning.

So, by "for positioning", I meant "for drivetrain positioning".
That's what I get for posting at 11:00 after two long days of competition.

(I actually write the auto routines in beescript, and use the beescript interpreter to call the auto command blocks, which set the state machine or drive, but that's mostly to avoid LV downloads when making auto routine changes)

[tr6scott]

Awesome Robot, and Awesome Alliance, thanks for picking us.

So can you send me a link or info on beescript, or how you do state machine stuff, and avoid the LV download.

I am a first year mentor for programming on team, and had my hands full with my first exposure to LV. Having come up through the FLL program, and placing 4th and 2nd in the state a few years back, we have that line following down.

Thanks for the help, and kudos to you and all of the BEES, 33 rules.