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#16
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Re: FIRST Team 2980's 2012 Open Source Robot
Wat motor are you using to drive your shooter?
Does this somehow dump too? Just curious. Thanks R3P0 |
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#17
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Re: FIRST Team 2980's 2012 Open Source Robot
the current plan is to have the bucket at the top pivot backwards and poor balls out the back of the robot. the bucket lid will be 15 inches long and sit 1 inch inside the frame. Making it a 14 inch extension.
For the shooter we are using 2 fisher price motors? Have to check the rules but I think we can use two, driving a cim-ulator gear box coupled to the shooter wheels. we are hoping to post cad files, but the current drawing is still incomplete and has some issues that need to be finalized before we can do that. Also it is currently 30 some odd megs as a compressed file. thanks for the interest. |
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#18
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Re: FIRST Team 2980's 2012 Open Source Robot
Quote:
Code:
[R48]
The only motors and actuators permitted on 2012 FRC Robots include:
up to 4 CIM motors (part #FR801-001, M4-R0062-12, AM802-001A, 217-200, PM25R-44F-1005 or PMR25R-45F-1003),
up to 4, in any combination, of the BaneBots motors provided in the KOP (acceptable part numbers are M7-RS775-12, M7-RS775-18, M5-RS550-12, M5-RS550-12-B, and M3-RS395-12),
up to 2 window motors (acceptable part #s are 262100-3030 and 262100-3040),
--->up to 2 FisherPrice motors (acceptable part #s are 000968-9012, 00968-9013, 00801-0673, and 00968-9015),
up to 2 AndyMark motors (acceptable part # is am-0912),
up to 2 AndyMark gearmotors (acceptable part # is am-0914),
up to 2 Denso throttle control motors (acceptable part # AE2351000)
up to 2 VEX motors (acceptable part # 276-2177)
up to 2 window lift, seat, windshield wiper or door motors obtained through either the FIRST-Automotive Recyclers Association partnership or from a prior years’ KOP.
electrical solenoid actuators, no greater than 1 in. stroke and rated at no greater than 10 watts continuous duty at 12V,
drive motors or fans that are part of a speed controller or COTS computing device
an unlimited number of COTS servos with a maximum power rating of 4W each at 6V.
Have you considered how you are going to align the shooter with the baskets? If you could host it somewhere, I'd love to take a look at it. You are taking a neat approach with your robot. |
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#19
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Re: FIRST Team 2980's 2012 Open Source Robot
The current plan:
For aiming we are hoping to have a "slow poke" mode. Basically the driver presses a button on the driver station and that slows the drive motors way down so that she can agle the bot correctly. We want to couple this with the camera...piece of polycarbonate with some markings on it...line the markings up with the backboard and bobs your unckle. Finally would be speed...Two ideas on this. Simple is we use the markings on the polycarb to guage distance, and then use a shaft encoder to set the speed of our spining wheels based on the distance Harder...We use an ultrasonic sensor to "measure the distance to the wall, have an adjustable hood, and use computer vision to align the shot using the "slowpoke" mode. Probably some combination of the two. We have the basics down in turs of programming... For dumping, we want have the camera swivel 180 degrees, and drive backwards. We would possibly follow the red or blue line down the sides of the key and then squidge over at the burm. We'll try to get the cad files up by sunday night. |
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#20
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Re: FIRST Team 2980's 2012 Open Source Robot
For dumping into the 2-point hoops, are you considering the fender below the baskets? You won't be able to get right up to the front of the rim without a chute that extends beyond your frame perimeter and bumpers. With the 14" appendage limit a chute will still leave a small gap to the front of the rim.
Or, maybe I missed something and you're going to tip your hopper over so that the hopper acts as a chute crossing over the fender. |
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#21
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Re: FIRST Team 2980's 2012 Open Source Robot
Hey TerryS,
The hopper lifts up about 3 inches and then tilts backwards. The lid will extend 14 inches out of the frame perimeter creating a shoot that gets the balls to about 3 inches short of the hoop, about 3 inches above the hoop. We tested this out, and the balls pour across the gap through momentum. I am pretty sure this will by no means be easy. We are hoping that we will be able to dump into one of the middle hoops, and if some spill into the lower hoop then so be it... at least that is the plan. Really, the pouring hopper method will probably only be effective during autonomous. Pour two balls in for a quick bunch of points, then we can still use our shooter. worst comes to worst we turn into a flying brick and switch back to defence until it is time to balance on the bridge. |
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#22
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Re: FIRST Team 2980's 2012 Open Source Robot
Here is a link if you wish to download the complete design of our 2012 robot that we designed in Auto cad Inventer. Sorry this has taken us so long. Hopefully people will find our designs helpful.
Just click on download to cmputer when you get there https://rapidshare.com/files/2933418676/29802012.zip if it does not work, let us know |
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#23
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Re: FIRST Team 2980's 2012 Open Source Robot
Quote:
as for your problems., i have seen some teams using the transmissions, not the motors, off of power drills. double check the rules on this but i think the transmissions off of a drill are legal. double check this though. also, your robot looks a bit top heavy, and excessively tall. maybe consider a shorter superstructure. like this you will probably fall as you cross the bump. also, i dont see another option to lower the ramp. maybe consider moving elements for a lower center of gravity that being said, you are probably further ahead than we are, but by this weekend we should be back on track. the shooter looks great, and i applaud all teams who are successfully using mechanums, as nobody on my team agrees to use them. all in all, design looks great, nice to see teams doing robots in full CAD early on. Good Luck to you. |
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#24
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Re: FIRST Team 2980's 2012 Open Source Robot
@ Pmangels17...Funny you should say something about teams doing everything fully in cad...never modeled our bridge lowering device...because of that we had to make some structural changes to be able to add it.
We too are worried about weight distribution. We are going to mount our battery really low in the ANDY MARK frame, and we may loose the whole 2 inch drop because of weight issues which would lower our robot slightly. Our plan for the bumps is to go over them carefully, but you might be right about it being a tipping hazard. hopefully we won't end up on our backs more than anything else, and super hopefully we won't tip over and block the bridge from our alliance team members. We should be moving around by the end of the week, so we'll have a better idea about what our robot can do. Last minute redesigns are not entirely out of the question, though we should probably avoid that as much as possible. We also moved the pivot point for the hopper down by 12 inches. This makes it so that we are resigned to dumping in the bottom hoop. Having a lift and tilt mechanism was just not feasible given our weight constrains. Our robot will probably end up being a "jack of all trades" as it were...At least that is what we are hoping for. We should have updated pics and video this weekend. Edoga |
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#25
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Re: FIRST Team 2980's 2012 Open Source Robot
For starters...a short video.
This weekend was incredibly frustrating, but to be honest we got a number of big problems solved. Cameron managed to fix all of the problems we were having with our box. The balls go in, and don't come out until we want them to...But...when we want them to they come out smoothly. The top roller of our ball harvester is mounted and happy. The bottom roller is being persnickety, but we will clean up the mounting brackets and the sprocket mount and that should be ok. Our drive train is assembled and needs to be chained, but that should go smoothly. Our frame was pretty much done, but a rushed weld broke making it impossible to marry the frame and the drive train. We tested our shooter for the first time (I know...we are late to the party.) Not getting nearly the distance of other teams, (didn't really expect to) Our current set up doesn't really compress the ball at all. We are planning on adding a pinch point above the wheels so that the ball gets compressed just a bit. We are hoping that that will increase our distance enough to make us somewhat effective. our current set up using a CIM-sim connected to two fisher price motors. We started out with a 60 tooth sprocket on our shooter, and moved down to something closer to 1.5 : 1...I'll have to get an exact count and some detailed pictures tomorrow. Also, I think detailed pictures of our hopper are in order. I guess I was really hoping to be farther along at this point...Oh well... Edoga |
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#26
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Re: FIRST Team 2980's 2012 Open Source Robot
Looks nice. My team is considering something similar. I know they started to mock something up down in the shop, but I had to miss it for pep band.
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#27
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Re: FIRST Team 2980's 2012 Open Source Robot
![]() This is our shooter. One of the fisher price motors is missing because we have to make a run to the hardware store to find new mounting screws. While the chain was mounted about a minute before this picture was taken, we pulled it off because one of the fisher price motors had worked its way loose and the screw was missing...Guess it is time for some thread locker blue. ![]() This is our base. We might have to add a metal plate to the front to keep the frame from toeing in, which would be a nightmare. The upper frame bolts to it and has gussets to stiffen up the chassis. On this one we will have to wait and see what modifications are needed. We still need to add chains...We spent the better part of Sunday and again today cutting spacers to line the wheels up so the chains won't be stressed. Then we ran out of half and master links... We are also redoing our ball harvester rollers...Couldn't seam to keep the chain on. I'll try to take some detailed picks of our hopper during tomorrow's build session. |
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#28
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Re: FIRST Team 2980's 2012 Open Source Robot
I went to weigh the robot and was sad to see that I had lost some weight. :-p As it stands now we are at about 100 pounds. We still need to add a couple things, but I think we will be fine on that front. I am in love with autodesk inventor. I'm sure Solid Works is just fine, but I am now familiar enough with autodesk that I can work pretty quickly. We even have a few team members who are getting good at it also! makes me happy.
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#29
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Re: FIRST Team 2980's 2012 Open Source Robot
wow. That looks really nice. We are just starting work trying to install our ball manipulation stuff, which might be a bit of a challenge due to our lack of CAD. A couple of us have a bit of experience with it, be we are kept busy with more urgent things...
A quick question: I notice you left those little bits of the (front?) of your frame on (the ones pointing inward) when you opened it up. Any specific reason for that? We cut ours off flush with the wheel well area, I was told by another team member that ours should be OK according to the rules... |
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#30
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Re: FIRST Team 2980's 2012 Open Source Robot
@ Aeniug2...You should be fine. We just figured since our bumper backing had to be 8 inches having the frame behind it wouldn't hurt. Based on my interpretation of the rules you should be fine provided the bit of bumper backing doesn't stick past the frame by more than one inch...
We too are at the ball manipulator bit. Our polychord belting arrived at our local parts shop today so I can pick it up tomorrow...Then once we have the motor stuff all figured out we should be rocking and rolling... At least that is the idea. |
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