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  #76   Spotlight this post!  
Unread 28-03-2015, 15:55
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Re: Canburglar Mechanisms

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


https://www.youtube.com/watch?v=SplhWEm06K0
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Unread 29-03-2015, 12:33
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Re: Canburglar Mechanisms

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.
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Unread 29-03-2015, 13:11
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Re: Canburglar Mechanisms

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Originally Posted by xXhunter47Xx View Post
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.
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Unread 29-03-2015, 14:24
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Re: Canburglar Mechanisms

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
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Unread 29-03-2015, 14:36
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Re: Canburglar Mechanisms

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Originally Posted by Everett33 View Post
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

Last edited by Wortmann : 29-03-2015 at 14:39.
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Unread 29-03-2015, 15:01
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Re: Canburglar Mechanisms

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Originally Posted by Wortmann View Post
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?
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Unread 29-03-2015, 15:34
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Re: Canburglar Mechanisms

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Originally Posted by AGPapa View Post
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.
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Unread 29-03-2015, 15:46
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Re: Canburglar Mechanisms

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Originally Posted by orangelight View Post
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.
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Unread 29-03-2015, 15:49
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Re: Canburglar Mechanisms

Quote:
Originally Posted by AGPapa View Post
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.
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Unread 29-03-2015, 15:52
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Re: Canburglar Mechanisms

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Originally Posted by Cory View Post
.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
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Unread 29-03-2015, 17:44
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Re: Canburglar Mechanisms

Quote:
Originally Posted by AGPapa View Post
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 .

Last edited by Bryce Paputa : 29-03-2015 at 17:56.
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Unread 29-03-2015, 18:13
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Re: Canburglar Mechanisms

Quote:
Originally Posted by Bryce Paputa View Post
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
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Unread 29-03-2015, 19:06
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Re: Canburglar Mechanisms

Quote:
Originally Posted by choprane View Post
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.
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Unread 29-03-2015, 19:08
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Re: Canburglar Mechanisms

We have one as well. Haven't had any Can battles yet, but it should get interesting at the PNW DCMP.
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Unread 29-03-2015, 19:20
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Re: Canburglar Mechanisms

Quote:
Originally Posted by choprane View Post
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?
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