Ri3D 1.0 Robot Reveal 2016

[Dan Richardson]

Originally Posted by apm4242

FYI - The GDC just ruled on the 15" extension reorientation while scaling issue -


Extensions outside the FRAME PERIMETER are measured in the same plane as the FRAME PERIMETER. As the FRAME PERIMETER is re-oriented (e.g. when a ROBOT drives up the BATTER), the plane of measurement is similarly re-oriented.

https://frc-qa.firstinspires.org/Que...ng-hook-to-cli

We saw the clarification this morning.

If I'm interpreting this correctly then our configuration is legal as our arm never extends further than 15" outside the robots frame perimeter. This works because the entire robot revolves around the arm pivot and thus we never violate that configuration.

We designed the arm with the specific length in mind so we could manipulate the defenses during game play as well as hang. I'm happy our design remains within the rules for now, however it is odd to be so restrictive on a more difficult task.

Originally Posted by jdaming

I believe that with some small modifications this scaling method could still be legal. Making the tower that the arm rotates from taller (so the point it contacts on the wall is up closer to the bar and the arm doesn't need to be as long) or using a long oriented chassis (so that the arm could be longer and the longer frame perimeter would keep more of it inside the robot) would both seem to fix this issue.

I think the assumption is that our arm is very long but it is indeed only 15" longer than the frame perimeter. If it were not then we would not be able to use it to manipulate the defenses.

/Edit***** I should say close enough to prove a point. If our bot is an 1" or so out of spec. we don't typically rectify. We only ever seek to be mostly FIRST legal :-)