Build Blitz Robot Reveal - Team Copioli

[Paul Copioli]

Originally Posted by TheMadCADer

One thing I noticed during the reveal was that the tusk/intake linkage seems to back-drive due to inertia when the robot accelerates quickly. This caused the drivers a bit of trouble when trying to launch the ball with a running start. What would the team plan on doing to fix this problem?

I call it "Zero PID". We could not get it tuned in time for the reveal, but one day of tuning and it would have held position.

Zero PID is simply this: Operator uses the controller to move the arm. When the arm is in the position the operator desires, then the operator releases the controller joystick. Once released, the microcontroller commands the arm to stay in that position using a potentiometer or encoder feedback. I have used this method successfully for every arm game since 2005. This would keep the four bar in position.

Paul

[Dan Richardson]

Great stuff Paul! I would be terrified to face off against this robot.

If this is the quality of the 3 day bots this year, what are the 6 week bots going to look like? What will champs look like? I'm excited!

[CalTran]

I thought in the Build Blitz webcast he said that the polycarb cut pieces were "custom"?

[Foster]

I'm sad that you took the Elevation game piece (the blue foam cube) off of the guide arm. I have about 500 of them, and was looking forward to having a way to get rid of them!

Nice design, and I've also built robots with "zero pid" most notably the 2008 "fork lift" robot.

[artdutra04]

Originally Posted by CalTran

I thought in the Build Blitz webcast he said that the polycarb cut pieces were "custom"?

They are a drill press and band saw part made from 1/4in Lexan.

[Switzer96]

Not sure if I'm missing something but I was going through Team Copioli's CAD files, and it appears as if they are using a 15mm timing pulley (P/N 217-3230) to drive two belts out of the gearbox. The belts are not in the design, so I am trying to figure out how two would fit with what I'm assuming is a 9mm timing belt from vex pro. Are they using a different pulley/belt or would this be able to fit somehow?

I hope that more information on assembly will be released soon for teams looking into using Vex Pro's versa chassis system.

[Maximillian]

Originally Posted by Switzer96

Not sure if I'm missing something but I was going through Team Copioli's CAD files, and it appears as if they are using a 15mm timing pulley (P/N 217-3230) to drive two belts out of the gearbox. The belts are not in the design, so I am trying to figure out how two would fit with what I'm assuming is a 9mm timing belt from vex pro. Are they using a different pulley/belt or would this be able to fit somehow?

I hope that more information on assembly will be released soon for teams looking into using Vex Pro's versa chassis system.

I am wondering this same thing. I looked at the CAD files and got very confused on what was going on with the belts.

[Redo91]

I saw posted somewhere here on CD(maybe in the 2014 VEXPro product release thread) that the pulley is toleranced such that 2 9mm belts will fit on the 15mm pulley.

Unless I imagined seeing it.

[Chris is me]

Originally Posted by Switzer96

Not sure if I'm missing something but I was going through Team Copioli's CAD files, and it appears as if they are using a 15mm timing pulley (P/N 217-3230) to drive two belts out of the gearbox. The belts are not in the design, so I am trying to figure out how two would fit with what I'm assuming is a 9mm timing belt from vex pro. Are they using a different pulley/belt or would this be able to fit somehow?

I hope that more information on assembly will be released soon for teams looking into using Vex Pro's versa chassis system.

The 15mm pulley is a bit wider than that, and the 9mm belts are a bit narrower than that, allowing for two "9mm" belts to fit on a "15mm" Vex pulley.

[Switzer96]

Ok, I found where this was discussed in the Versa Chassis thread. RC responded to a similar question - http://www.chiefdelphi.com/forums/sh...1&postcount=11

-The pulleys can be expanded with spacers.

[Aren_Hill]

Originally Posted by Switzer96

Ok, I found where this was discussed in the Versa Chassis thread. RC responded to a similar question - http://www.chiefdelphi.com/forums/sh...1&postcount=11

-The pulleys can be expanded with spacers.

The 42T and 60T pulleys can we widened with spacers. The 18T, 24T, 30T, 36T pulley come in two widths, the wider one can accommodate two 9mm wide belts. (we toleranced things to make this work).