pic: Robot Spacing for Scaling the Tower

[Joe G.]

Originally Posted by MrForbes

Is anyone making their robot with a 120 inch frame perimeter? we are usually several inches smaller.....

We are (minus a fraction of an inch to make it clear we're compliant during inspection), and it's hard enough as is. Any shorter, we can't comfortably make our desired drive geometry work. Any narrower, and the boulder doesn't comfortably pass through our bumpers. And we've barely scratched the surface on the fun times that will be forcing all the electronics to fit in this thing.

I would say that a better takeaway from this image is, make sure you're gripping the bar well, and can hold on at non-ideal angles. Suspended robots in this position will push on each other causing their bases to rock or rotate in odd and unpredictable ways, rather than just simply not fitting, and your latch system should be able to handle this, instead of designing to operate in isolation.

Also, note that the two 28" robots may not be able to get to where they are even if they're just resting on the Batter, because of the dividers between the sides of the Batter.

[bEdhEd]

Originally Posted by Joe G.

I would say that a better takeaway from this image is, make sure you're gripping the bar well, and can hold on at non-ideal angles. Suspended robots in this position will push on each other causing their bases to rock or rotate in odd ways, rather than just simply not fitting, and your latch system should be able to handle this, instead of designing to operate in isolation.

One thing I would propose strategically if I were drive team coach again is this:

For three climbers:

Case 1: All robots stop at different heights.

The highest climber goes first, and the next highest follows, and the lowest goes last. Timing this so all three scale will be crucial.

Case 2: Two robots stop at the same height and one stops at a different height.

Ensure that the robots that stop at the same height are on the opposing sides of the castle tower, with the differing robot in the middle

Case 3: All robots stop at the same height.

Meet with alliance members pre-match and figure out which permutation of robot placement minimizes scaling interruption. Perhaps, depending on climb speed, this minimization can be better achieved by letting the fastest go first. Your alliance would have to share measurements, or possibly get all three robots on the practice field. If not, find an area in the pits to set up the robots to figure out the best permutation.

For two climbers:

Case 1: Both robots can scale on the opposing sides (stopping height irrelevant).

Let both robots scale the sides, timing is not relevant as they will not contact

Case 2: One robot MUST scale the middle while one can scale the side, and both robots stop at the same height.

Let the robot who scales faster scale first, followed by the second. If possible, plan pre-match which configuration will minimize robot interruption.

Case 3: One robot MUST scale the middle while one can scale the side, and both robots stop at differing heights.

Let the robot that scales higher scale first, followed by the second
_______________________________

If you want to scale with multiple robots in a match, plan to be able to scale from any side, as this will be important in deciding who goes where.

Also, be aware that if robots are contacting and scale at different rates, it is possible for a robot to be pushed higher by an adjacent robot and risk unlatching from the bar on the castle tower. This is a factor that must be considered when attempting a strategy that involves robots scaling adjacent sides. It's the alliance's decision to weigh the benefit vs the risk.

[Josh Goodman]

Remember, there are also dividers on the batter so, chances are, that will put a similar restriction on robot size assuming you need to drive onto the batter to lift.

But robots don't need to be rectangular.

[Chris is me]

Ultimately by posting this image I was hoping to show teams that 28" wide robots would be a problem for a few reasons. They approach the tower off-center if they come in on a side because the wall is so close by, and they overhang quite a lot. Problem is if you're 22 inches wide, you have a 6 inch opening for the 10 inch ball. You have to balance these differing constraints.

Ultimately for a variety of reasons not limited to what's depicted in this image I've moved away from thinking about hanging at all.

In the future please don't take images off of my Facebook page and repost them publicly without asking me first. I would have been fine with it in this case, but that's not a thing you should just assume is okay.

[MrForbes]

Originally Posted by Chris is me

Ultimately for a variety of reasons not limited to what's depicted in this image I've moved away from thinking about hanging at all.

It's tougher than it first appears...although I"m sure we'll see a few teams make it look really easy

[Taylor]

If you're using a kitbot chassis and you make your robot 22" wide, your CIM motors won't like that very much since they'll be trying to occupy the same physical space.

[Navid Shafa]

Originally Posted by Chris is me

Ultimately by posting this image I was hoping to show teams that 28" wide robots would be a problem for a few reasons. They approach the tower off-center if they come in on a side because the wall is so close by, and they overhang quite a lot. Problem is if you're 22 inches wide, you have a 6 inch opening for the 10 inch ball. You have to balance these differing constraints.

Ultimately for a variety of reasons not limited to what's depicted in this image I've moved away from thinking about hanging at all.

In the future please don't take images off of my Facebook page and repost them publicly without asking me first. I would have been fine with it in this case, but that's not a thing you should just assume is okay.

There are many key design parameters teams may need to account for this year. Glad to see someone posted your work Chris!*


*Hopefully people ask you ahead of time in the future...

[Lil' Lavery]

We're more concerned with the dividers in the batter. I don't even think robots of the shown width can fit adjacent (or close to adjacent) with the tower in the configuration shown.

[Zebra_Fact_Man]

Originally Posted by Lil' Lavery

We're more concerned with the dividers in the batter. I don't even think robots of the shown width can fit adjacent (or close to adjacent) with the tower in the configuration shown.

Keep in mind the dividers on the batter are only 6" tall. As long as your 5" tall bumpers are above that height (i.e. 6-12"), all you have to worry about is your robot chassis fitting (and not your chassis + bumpers fitting). That gives you like 6" of width to play with.