pic: DS Swerve on the field

[Racer26]

Akash,

In our initial analysis of the game, we thought that going over the bumps was going to be alot more flip-prone than it turned out to be. The robot was supposed to be designed to only have 2 stable configurations (on its wheels).

We saw at Waterloo how it behaved (namely, didnt flip, even when we tried), and determined it wasn't necessary, so we took it off for GTR, and made our ball manipulation and hanger substantially better. Anybody that saw us hang in Q8 at GTR should agree.

The top and bottom wheels were all driven all the time, and yes, it required a bit of driver intelligence in the sense that the controls would be reversed when inverted.

EDIT: Also, we thought it would be good fodder for an engineering or innovation in control award.

EDIT2: It should also be noted that in the above photo, the arm is not in its normal position.

[Vikesrock]

Originally Posted by 1075guy

The top and bottom wheels were all driven all the time, and yes, it required a bit of driver intelligence in the sense that the controls would be reversed when inverted.

This issue could be dealt with in code by detecting robot orientation using sensors. An accelerometer detecting gravity should be able to do this fairly simply I believe.

[Racer26]

Yes, it could have, but we didnt have the weight for it, and since inverted was only a configuration intended to get us to a bump and flip over again we didnt think it necessary.

[JamesCH95]

Very cool, though it doesn't look like you have a kicker "on top" or a hanger "on bottom" so you'd lose those functions once inverted? I guess it'd be better than being turtled though.

[Racer26]

For those that are interested, it can be seen in its GTR configuration behind Roberta Bondar in this picture: http://picasaweb.google.com/patfair/...66171620254514

It lost the upper wheels, and gained a much improved (and lighter) arm.

[Akash Rastogi]

Originally Posted by 1075guy

We saw at Waterloo how it behaved (namely, didnt flip, even when we tried), and determined it wasn't necessary, so we took it off for GTR, and made our ball manipulation and hanger substantially better. Anybody that saw us hang in Q8 at GTR should agree.

Ah gotcha. Well, at least now you have 2 seperate swerves to play with!

[Racer26]

Originally Posted by Akash Rastogi

Ah gotcha. Well, at least now you have 2 seperate swerves to play with!

Not really Akash,

The units were tied together, it can be seen better here:

http://picasaweb.google.com/patfair/...87665933385058


A better pic of it + Roberta:

http://picasaweb.google.com/patfair/...66107170969314

[Akash Rastogi]

Originally Posted by 1075guy

Not really Akash,

The units were tied together, it can be seen better here:

http://picasaweb.google.com/patfair/...87665933385058


A better pic of it + Roberta:

http://picasaweb.google.com/patfair/...66107170969314

Still very cool though.