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#16
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Re: How Fast Can you Safely Climb?
The fun part is that the touchpad dome does not illuminate when the robot contacts it, it waits a second....
I love control challenges like this |
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#17
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Re: How Fast Can you Safely Climb?
If they react too early, you don't hit the plate... If they react too late, you've potentially loaded up the entire system w/o breaking anything and it'll be a real pain to remove from the field (or you devastated the touch plate).
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#18
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Re: How Fast Can you Safely Climb?
Obviously the operator can let go of the trigger when the robot reaches the top. My point was that if a robot is climbing very fast, it's going to take skill on the operator's part to stop the robot in a reasonable amount of time. I was looking for reasonable methods of stopping the robot that would be automatic. Limit switches and current sensing are two good options. Are there any other options that can be utilized on a robot?
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#19
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Re: How Fast Can you Safely Climb?
Quote:
The first time your robot does this, your team will have violated G15-H. Penalties: FOUL; if extended or repeated, then YELLOW CARD; if Head Ref deems that further damage is likely, DISABLED. There had better not be a second time, because if so your team will have violated T03, and will fail most egregiously.* ------------ *See "Bill and Ted's Excellent Adventure." |
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#20
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Re: How Fast Can you Safely Climb?
The answer is yes, but you want to do this as a backup, not as a primary stop feature. I say this as a team that used this method last year, and was having anxiety attacks all season about burning out that motor.
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#21
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Re: How Fast Can you Safely Climb?
Quote:
Alternately, put a vex bumper switch on whatever mechanism is doing the plate contact for you. Edit: Apparently the touchpad only illuminates when you've reached the 1 second threshold. Thanks, GDC... Last edited by Chris is me : 18-01-2017 at 16:22. |
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#22
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Re: How Fast Can you Safely Climb?
Ultrasonics and other distance sensors could work. My team is toying with the idea of running the whole operation on a loop that's activated by the on-board gyro sensing a change in the robot's angle.
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#23
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Re: How Fast Can you Safely Climb?
Could also use the accelerometer in tandem with that to stop when you reach a certain height.
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#24
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Re: How Fast Can you Safely Climb?
This may sound really dumb, but FIRST could put it in the field programming to stop robot communication if the pressure sensor is held for 1 second in the final 5 seconds. I realize this takes the drama out of holding for one second to end the match, but it could stop a lot of problems with motor burnouts. Most mechanisms wont break if stalled for ~one second. Just an idea, but will likely never be implemented.
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#25
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Re: How Fast Can you Safely Climb?
Quote:
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#26
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Re: How Fast Can you Safely Climb?
You could argue that it would also crash to the ground at the end of the match anyway if all they had was a motor holding it up.
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#27
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Re: How Fast Can you Safely Climb?
6-CIM climber you say?
As a serious contribution, perhaps the human players have some use here since they might be able to see what the driver might not? |
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#28
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Re: How Fast Can you Safely Climb?
Starting from the bottom, the rope goes through a steel U-channel, which it's held in by 2 pins. Then it makes a 90 degree turn, runs across the top of a square steel tube, and through 2 steel tabs welded on the sides of the tube. There's a pin through the top of these tabs to hold the rope in, the knot rests on the far side of the two steel tabs.
Failure options for winches will too much torque that don't stop at the top.
After playing with the touchpad, I think it's unlikely to get damaged. First, there's the channel sticking down that your winch will run into. Please design your climber to jam against this channel before the touchpad. Second, the plate is 1/4" lexan, the bolts it hangs from are relatively well pivoted, and I'm nearly certain you can shove it against the steel plate it hangs from with no ill effect. The most likely failure mode would be shearing the screws that hold it to the channel on the davit, I think. |
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#29
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Re: How Fast Can you Safely Climb?
Assuming someone does not have it geared 10,000:1 so it crawls up an inch per hour, motor current may pop the snap breakers/fuses. There is only so much power available, and since it needs to be geared in a realistic manner that limits how much force can be expected. Still hundreds of pounds and even thousands, but I expect the damage to be done to the robots because of ill designed systems.
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#30
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Re: How Fast Can you Safely Climb?
Quote:
I don't see why that would be prohibited... |
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