2949 PWNAGE: 2012 Robot

[pwnageNick]

On behalf of FIRST Team 2949 PWNAGE, I would like to present our 2012 Robot.
http://www.youtube.com/watch?v=h55bFVPQbj8



Robot Specifications:

Drive Train-
-Switches between 4 wheel 8" Pneumatic Tires/6WD with 6" Colsons in middle
-2 Speed Custom Gearbox (4fps/12.5fps), actuated with pneumatics
-4 CIM motors
-Encoder on each side
-Ultrasonic Sensor mounted on frame to read the distance from the alliance wall
- Wheel is up for going over the bump and when shooting (better stability)
-Wheel is down for general movement (better maneuverability) and when on bridge (if hanging over-will still have 4 wheels on bridge)

Intake-
-3 Stage Intake System
-1st Stage: 21" wide conveyor belts powered by fisher price motor with custom worm gearbox
-2nd Stage: Plastic bar with surgical tubing powered by window motor (takes it up curved part of scoop)
-3rd Stage: One sided vertical conveyor belt powered by window motor
-At the entrance and in the middle of every stage, there is a pair of photo-eye sensors: will suck balls in only when present and stage them correctly in the robot automatically: no driver input needed.

Turret-
-Custom Plastic base plate with pins pressed in vertically all around the outer diameter. Gates belt wrapped around.
-Powered by window motor
-Laser mounted on pole above shooter- can sense the reflective tape while the turret does a sweep starting from the left
-Pententiometer used to move turret certain amount of degrees past where the laser sees the reflective tape, depending on where we are on the field.

Shooter-
-Belt Shooter (uses Conidrive belts and pulleys)
-2 775 Banebot motors on each side, custom gearbox (like a CIMple)
-Encoders on each side, can change speed for distance, backspin, etc. based on RPM using a PID controller
-Camera mounted on front to be able to see balls under/blocked by bridge, helps with manual override shooting, etc.

Bridge Manipulator-
-Slanted front (flips down, then drives at bridge)
-Flip down powered by pneumatic rotary actuator
-Locked once flipped down by a pneumatic cylinder

Auto-Shooting System-
-Drives to either left, center, or right of key. Just has to be somewhat close.
-2nd Driver presses either L, C, or R button and the trigger to fire
-Based off of an ultrasonic reading, drive train will automatically correct its positioning
-Turret then turns all the way to the right, then sweeps left until laser sees the reflective tape
-Pententiometer turns correct amount of degrees
-During this, Belts rev up to correct RPM values
-Robot Shoots however many balls it has

Can Shoot from-
-Left side key
-Center key
-Right side key
-Basket side of field
-Bridge

Thanks to our sponsors for all of their support:
Genesis Automation (Sponsor, Mentor, facility), ACE Metal (Sponsor, Donated sheet-metal for both robots), NASA (sponsor), 4-H (Sponsor, Partner), JC Penneys (Sponsor), MSOE (Sponsor), Lista (Donated Workbench), Mari Manufacturing (Sponsor)

Questions and comments always very welcome!

*Note: Picture missing Bridge manipulator, updated 3rd stage intake, camera

-Nick

[Grim Tuesday]

This is one of the best robots I've seen this season, and the only one besides 1218 that can make bridge shots. Utterly fantastic.

[Akash Rastogi]

Nick, you guys have really outdone yourselves this time. Just wow.


Machines like this are what make me hate bumpers.

[pwnageNick]

Today 12:41 AM
Akash Rastogi Nick, you guys have really outdone yourselves this time.


Machines like this are what make me hate bumpers.

Thanks Akash! Always trying to improve upon ourselves.

Why does it make you hate bumpers?

-Nick

[Akash Rastogi]

Originally Posted by pwnageNick

Thanks Akash! Always trying to improve upon ourselves.

Why does it make you hate bumpers?

-Nick

Cause they cover up all the sexiness.

[RyanCahoon]

I agree, the robot looks amazing. It's obvious a lot of time went into all aspects.

Out of curiosity, did you test adding UHMW, Teflon or such to your bridge manipulator? Does it it make a difference in your ability to get the bridge down, e.g. 2:41 in the video?

[Richard Wallace]

The robot looks sweeter up close, in the pit. Good luck at Midwest, PWNAGE! The top end of that field is loaded.

[pwnageNick]

Out of curiosity, did you test adding UHMW, Teflon or such to your bridge manipulator? Does it it make a difference in your ability to get the bridge down, e.g. 2:41 in the video?

The first iteration had it on the slants. We found that when we hit the bridge, it would put a little dent in the plastic, which would end up making it harder to slide. The aluminum doesn't seem to dent as easily.

Also, it seems as though our real robot is pushing down the bridge easier then our practice one was (video was practice bot). It must be our weight distribution, usually more weight in the front makes the "foot" more successful. We're a pound and a half under, so we'll be adding little things here and there probably all on the front to try to add as much weight as possible to the front.

-Nick

[GearsOfFury]

Nick,

Great work, this is a very impressive feat of engineering and no small part of that is how you crammed so much into such a small space. Looking forward to seeing it in action.

Just one request, your video on You Tube is set with the protected content flag so it doesn't display on mobile-can you flip this?

[lynca]

fantastic video and robot, midwest is going to be an intense regional this year !

[MichaelBick]

Very impressive accuracy and range. I also really like the drivetrain.

[pwnageNick]

Just one request, your video on You Tube is set with the protected content flag so it doesn't display on mobile-can you flip this?

It seems to be because of the music. And it doesn't want to allow me to dismiss the copyright acknowledgement... :/

-Nick

[Richard Wallace]

Originally Posted by Richard

...good luck at Midwest, PWNAGE! The top end of that field is loaded.

And PWNAGE is lurking near the top of the Midwest field, at 6th after day one, thanks to five co-ops. (My own Average Joes are also lurking at 6th, over in Niles.)

May fortune favor the lurkers.