Curie 2007 Robot Pictures and Basic Data

[Donut]

Team 498 - The Cobra Commanders

Regionals - Arizona, 16th seed, Quarterfinalists with 2134 and 1343, 5W-4L
Innovation in Control Award Winner at AZ Regional

Pictures:
http://www.chiefdelphi.com/media/photos/27100

Video:
http://www.soap.circuitrunners.com/2.../az/az_039.wmv
http://www.soap.circuitrunners.com/2...z/az_qf4m1.wmv

Category: 4 ft. 120.0 lbs

Drivetrain:
4 small CIMs using the Banebots 56mm Transmissions
4 Wheel Drive with 2 Andymark Kit Wheels (6 inch) and 2 Andymark Omni Wheels (6 inch)
Gyro assistance to help with driving straight (unused at AZ, but we'll add it on for the Championships just because we can)
Track width ~24"
Ground clearance 2"-2.5"
Has successfully climbed 20 degree ramps and been lifted with a forklift style lifter
Top Speed of 12 ft/s

Arm:
Successfully scores on all 3 levels

Decent scoring ability, put up 2 tubes most of Saturday at AZ. Problems in initial claw design had led to some very bad scoring early on (was a 2 pronged claw, now is currently 3 pronged to grip tubes better).

Loads from the ground.

Utilizes automatic arm positioning to make my job easier. Buttons for ground pickup, as well as 3 goal heights are used.

Ramp:
Ramp on one side with a 21 degree incline. Initially is 36" wide for an easier entry, then "funnels" down to a ~28" wide platform. A platform folds down on the opposite side of the ramp to allow for holding 2 robots, with another extension that flips out the end so both can be completely off the ramp. 2 inch guide rail along all sides of the ramp, and a 3 inch high backstop to keep robots from driving off. There is enough clearance and ramp space to fit both robots with bumpers attached. Only works with long robots (no 38" wide guys), and has a slit in the middle of the platform portion which causes impedence to omni-drive bots.

Platform portion is 13" high and ~80" long.

Capable of lifting 2 robots at 12", proven to lift 1 at 30 easily. Two climbing hasn't been done yet, the only matches where we've ramped have had one partner that lost power on the field or were incapable of climbing our ramps due to drivetrain or groundclearance.

Autonomous:
Arm positioning proven to work, at a minimum we will position our arm to be ready for tube pickup.

Fix-it-window work seems to have solved problems seen with camera usage for driving. Also tested ability to turn and drive using gyro and encoders.

Planned autonomous goals include: scoring on front spider leg, scoring on either side spider leg, scoring on opposing alliance's front spider leg, picking up a far ringer in autonomous mode, and if the gods are willing, scoring said far tube.