Canburglar Mechanisms

[Landonh12]

We have one that worked successfully (90% success rate) at the Bayou Regional.


https://www.youtube.com/watch?v=SplhWEm06K0

[xXhunter47Xx]

I'm currently designing a middle step can grabber like 610's but strictly mechanical actuation as an afterthought, until I realized that the empty step area is nearly 4 feet in width and then I have to add the width of the cans meaning I'd have to make an appendage with at least a 7.5 foot wingspan in order to grab both cans in the middle. I really hope my calculations are incorrect because that's a fairly large thing to be swinging around in the field.

[themccannman]

Originally Posted by xXhunter47Xx

I really hope my calculations are incorrect because that's a fairly large thing to be swinging around in the field.

Nope, you're right, you need a pretty large mechanism to do it. Also if you watched hawaii 610 brought out the same mechanism but with extensions to reach all 4 cans, that needs to be a little over 20 feet long to do it.

[Everett33]

Yesterday in the two Finals matches at the Livonia District there was a canburglar race between 503 and 548. Very fun to watch.

https://www.youtube.com/watch?v=oiOZN4G4OxI

[Wortmann]

Originally Posted by Everett33

Yesterday in the two Finals matches at the Livonia District there was a canburglar race between 503 and 548. Very fun to watch.

https://www.youtube.com/watch?v=oiOZN4G4OxI

Here is a closer look at our can battle in Livonia Finals Match 2:
https://www.youtube.com/watch?v=fXzk...ature=youtu.be

[AGPapa]

Originally Posted by Wortmann

Here is a closer look at our can battle in Livonia Finals Match 2:
https://www.youtube.com/watch?v=fXzk...ature=youtu.be

This an excellent view, you can see from here that 548 had grabbed the RC before 503 had even started to move.

How do both you and 503 actuate your canburglers? Does this difference in start time come mostly from the difference between the mechanisms, or does FMS initialization delay factor in?

[orangelight]

Originally Posted by AGPapa

This an excellent view, you can see from here that 548 had grabbed the RC before 503 had even started to move.

How do both you and 503 actuate your canburglers? Does this difference in start time come mostly from the difference between the mechanisms, or does FMS initialization delay factor in?

We run a PID loop when auto starts to lower the grabbers. I don't think FMS plays that much of a delay factor. The delay should be less than 10ms. Are canburglers can hit the can in <450ms. I assume it would have to do much more with the mechanisms.

[Cory]

Originally Posted by orangelight

We run a PID loop when auto starts to lower the grabbers. I don't think FMS plays that much of a delay factor. The delay should be less than 10ms. Are canburglers can hit the can in <45ms. I assume it would have to do much more with the mechanisms.

.045s? No way.

I went through frame by frame and it looks like .3s...seems a lot more realistic.

Congrats though. Your grabber looks like it's among the fastest that's been released.

[choprane]

Originally Posted by AGPapa

This an excellent view, you can see from here that 548 had grabbed the RC before 503 had even started to move.

How do both you and 503 actuate your canburglers? Does this difference in start time come mostly from the difference between the mechanisms, or does FMS initialization delay factor in?

Ours are two separate fourbar linkage sytems actuated by Banebot 775 motors attatched to Versa Planetary gearboxes using a 40:1 ratio. I'm sure Bryce can provide some insight on how 503 actuates their canburglars.

[orangelight]

Originally Posted by Cory

.045s? No way.

I went through frame by frame and it looks like .3s...seems a lot more realistic.

Congrats though. Your grabber looks like it's among the fastest that's been released.

Sorry meant 450ms

[Bryce Paputa]

Originally Posted by AGPapa

This an excellent view, you can see from here that 548 had grabbed the RC before 503 had even started to move.

How do both you and 503 actuate your canburglers? Does this difference in start time come mostly from the difference between the mechanisms, or does FMS initialization delay factor in?

We had four CIMs pulling ours down with a 28:1 reduction. We use Command Based Java and CAN Talons (anybody on Northville willing to comment on their control system?). We think that we are applying power down for 1 second as soon as the match starts, but clearly there is some delay. Match one was constant 80% power and match 2 was 100%. We're still trying to figure out if this is our code's fault, something to do with the field, or caused by a chain skipping teeth.

One of our mentors took some 60 fps video of it and claims that our travel time was 1 frame shorter once we started moving .

[orangelight]

Originally Posted by Bryce Paputa

We had four CIMs pulling ours down with a 28:1 reduction. We use Command Based Java and CAN Talons (anybody on Northville willing to comment on their control system?). We think that we are applying power down for 1 second as soon as the match starts, but clearly there is some delay. Match one was constant 80% power and match 2 was 100%. We're still trying to figure out if this is our code's fault, something to do with the field, or caused by a chain skipping teeth.

One of our mentors took some 60 fps video of it and claims that our travel time was 1 frame shorter once we started moving .

We use iterative based Java and run PID on CANTalons. In order to make ours faster we changed the P value

[TJP123]

Originally Posted by choprane

Ours are two separate fourbar linkage sytems actuated by Banebot 775 motors attatched to Versa Planetary gearboxes using a 40:1 ratio. I'm sure Bryce can provide some insight on how 503 actuates their canburglars.

The obvious answer: apparently, not fast enough.

That was fun to be a part of, though.

[viper196]

We have one as well. Haven't had any Can battles yet, but it should get interesting at the PNW DCMP.

[Paul Boehringer]

Originally Posted by choprane

Ours are two separate fourbar linkage sytems actuated by Banebot 775 motors attatched to Versa Planetary gearboxes using a 40:1 ratio. I'm sure Bryce can provide some insight on how 503 actuates their canburglars.

Do those arms extend at all? Do you drive forward at all?