Grabbing 4 Bins from the step in Auto

[Kevin Leonard]

I'm very curious to see how this all plays out, especially with flimsy mechanisms and non-traction drive systems.

[JamesCH95]

Originally Posted by Kevin Leonard

I'm very curious to see how this all plays out, especially with flimsy mechanisms and non-traction drive systems.

Our arm will be comprised primarily of 1x1x1/16 6061 square tubing and .100 aluminum sheet metal. I am optimistic that it won't be too flimsy...

[JVN]

Originally Posted by JamesCH95

Have you considered the possibility that a robust, strong, arm could grab a can? One that can deploy in <1s, even with the landfill totes.

Originally Posted by JamesCH95

Our arm will be comprised primarily of 1x1x1/16 6061 square tubing and .100 aluminum sheet metal. I am optimistic that it won't be too flimsy...

Who gets to determine if said mechanism is safe?
If said mechanism is safe, what if it was <.5s?
What about <0.25s?
What about<0.1s?

There could be a lot of energy involved in moving a "robust, strong, arm" that quickly.

Of course, if you ever come up against a faster arm, the solution is: more energy. What an interesting dilemma we all face.

[marshall]

Originally Posted by JVN

Who gets to determine if said mechanism is safe?
If said mechanism is safe, what if it was <.5s?
What about <0.25s?
What about<0.1s?

There could be a lot of energy involved in moving a "robust, strong, arm" that quickly.

Of course, if you ever come up against a faster arm, the solution is: more energy. What an interesting dilemma we all face.

Thankfully there is an awesome spreadsheet for determining which motors and gearboxes to use to make the arm move that fast!

[JamesCH95]

Originally Posted by JVN

Who gets to determine if said mechanism is safe?
If said mechanism is safe, what if it was <.5s?
What about <0.25s?
What about<0.1s?

There could be a lot of energy involved in moving a "robust, strong, arm" that quickly.

Of course, if you ever come up against a faster arm, the solution is: more energy. What an interesting dilemma we all face.

I suppose that the LRI will get to determine if the mechanism is safe or not. Quickly-moving, robust, arms have been a staple of many FRC games, so I would note that precedent for similar arms exists.

There will certainly be a lot of energy involved in moving such an arm, just as there will be in any mechanism that can quickly manipulate this game's relatively massive scoring pieces.

And, of course, any driving robot will contain a whole lot of energy. But generally people seem to ignore that sort of danger because their used to it!

[JamesCH95]

Originally Posted by marshall

Thankfully there is an awesome spreadsheet for determining which motors and gearboxes to use to make the arm move that fast!

What?! Really?! If only I had known...

[Tammyo]

This is a strategy that our team considered and we will have multiple autonomous programs. This won't be our primary strategy, but it may come in handy when playing with high functioning teams who are able to score independently during autonomous.

[ruralrobotics]

Does anyone know if you can be touching the recycling bins before autonomous? I'm thinking of an arm that would be hooked onto the handle but not lifting or pulling before the game starts. You could place the robot in the middle open zone and have it reaching over the bins and latched on to the handle or top of the bin. I have looked throughout the rules and can't find anything that wouldn't allow this.

[Siri]

Originally Posted by ruralrobotics

Does anyone know if you can be touching the recycling bins before autonomous? I'm thinking of an arm that would be hooked onto the handle but not lifting or pulling before the game starts. You could place the robot in the middle open zone and have it reaching over the bins and latched on to the handle or top of the bin. I have looked throughout the rules and can't find anything that wouldn't allow this.

You cannot start the match extending into the (infinitely tall volume that is) the Landfill.

In other words, you can reach above Cans before auto starts, but not the ones on the Step. (The ones are your side are fine, but they're uncontested.)

You're looking for G7(c) in the manual.

[Pretzel]

Originally Posted by ruralrobotics

Does anyone know if you can be touching the recycling bins before autonomous? I'm thinking of an arm that would be hooked onto the handle but not lifting or pulling before the game starts. You could place the robot in the middle open zone and have it reaching over the bins and latched on to the handle or top of the bin. I have looked throughout the rules and can't find anything that wouldn't allow this.

Both the landfill and autonomous zones have been defined as volumes this year (as opposed to an area on the floor), meaning they extend upwards into the space above them. You are not allowed to start the autonomous period inside either the landfill or the auto zone. Since the arm would be hooked onto the handle of the recycling containers on the step, it would pass through the landfill zone and be in violation of G7.

G7 states,
"When placed on the FIELD for a MATCH, each ROBOT must be:
A. in compliance with all ROBOT rules, i.e. it has passed Inspection. For exceptions regarding Practice MATCHES, see
Section 5.2 – Practice MATCHES.
B. fully supported by the floor, SCORING PLATFORM, and/or SCORING PLATFORM ramps on their ALLIANCE’S side of the
FIELD, and
C. completely outside of their AUTO ZONE and LANDFILL ZONE"

Part C of rule G7 is what would prohibit such a strategy (as well as part B depending on if the bin supported the arm before the match started).

[JamesYao]

Game Manual 2.1.5: Each LANDFILL ZONE is an infinitely tall volume that extends 4 ft. 3 in. from the edge of the STEP towards their ALLIANCE WALL.

Game Manual 3.2.2 G7: When placed on the FIELD for a MATCH, each ROBOT must be:C. completely outside of their AUTO ZONE and LANDFILL ZONE

So you can't touch the RCs before Auto starts. The entire robot has to be behind the Landfill Zone.

[ruralrobotics]

Thanks for the help. I knew it said zones but I couldn't find where it was vertical also. Back to the drawing board!