Statistics on top 20 teams?

[RobertG]

Programming:

• Language: C++
• Threaded code or just poll in the teleop loop: We had most of our code in a loop with the exception of the PID controllers
• Did they do something in autonomous?: We had nine autonomous modes. Our autonomous code essentially would kick everything in its path until it reached a certain distance. We also could drive over the bump and wait a few seconds for the air tanks to pressurize. At the championship we usually kicked three from the far zone and went over the bump.
• What problems did you encounter, if any, with WPILib?: We encountered a few problems with the vision code.
• Did you download the sources and rebuild WPILib/CanJaguarLib?: We made a few modifications to WPILib.
• CAN or PWM control?: CAN. This allowed us to sense the increase in current from the pincher motor when we had the ball.
• Did you use the Classmate for programming your robot or student/school supplied computers?: Team supplied computers.

Robot Design:

• What sensors were used?: Encoders on the kicker gearbox and drivetrain, VEX Limit Switches to calibrate the kicker gearbox encoder, and current sensors in the CAN Jaguars
• Did you use the vision system?: Yes. We mounted the camera below the bumpers so our drivers and coach could see the balls.
• What drive system?: 6 wheel tank
• Wheels?: 7 inch tractrion
• How many motors?: 4 cims for the drive train, 1 cim for the pincher, 2 Fisher Prices for the kicker
• What material was used for the frame (Aluminum, steel, unobtanium)?: Aluminum
• How did they control the ball?: A pincher with rubber splicing tape
• Energy storage for kicker (elastic, pneumatic, motor driven, etc.)?: Rubber sheeting
• Did you hang?: No

The Driver Station

• Did you reprogram your dashboard code?: We used a custom dashboard for a fast (30fps) video feed. I believe we found it on Chief Delphi.
• Did you use external controls beyond your joysticks?: No
• Any problems in getting the USB to behave?: No, except once during the finals on Newton when it refused to recognize the stop button.
• Did you use any unusual controls like WiiMotes, XBox controllers, etc.?: No, although we did use a heads up display to signal ball possesion and whether our kicker was ready to fire.
• Did you feel that the Classmate was fast enough?: I did not notice any delays during robot operation.

Any techniques that you feel might be beneficial to others in the future?: Secure the CAN bus cables. During one match a stray wire or hose depressed a tap allowing the cable to come out. Also, during the Newton finals we had watchdog errors most likely because a CAN bus cable (still secured by its tab) had come out slightly.

I'm just looking to try to collect a "lessons learned" from this year's competition. I'll collate the results and post them back to CD.

I am not sure what lessons we could learn from just this data. I suggest collecting data from as many teams as possible so you can attempt to control for variables or at least have results to compare the top 20 teams with.

[taichichuan]

Well, I'm looking for trends. What do many of these teams have in common? Essentially, if there are common characteristics for these top teams, then this is something that others might like to know to improve for future competitions.

For instance, I was not aware of the whole mechanum wheel thing. Seeing that only 1-2 teams have ever made it to the finals with mechanum wheels should give a robot design team some cause for pause. It's not that a superior design won't prevail, but perhaps starting out with mechanum may not be a good idea when facing a challenge like Breakaway.

We've been getting some great responses so far. I'm on the road at the moment. So, when I get back home, I'll start collating the data and get some preliminary information back to the group. Thanks and keep the data coming!

Mike

[sgreco]

Here are the drivetrain trends. I see a trend for skid steers. I left blank information that I either didn't know or couldn't find.

2010
67 – 8 WD long
177 – 8 WD long (articulated is sets of two, front and back)
294 - 6WD long

2009
67 - 6WD wide
111 - 4 wheel crab (non-coaxial), wide
971 - 6WD wide

2008
1114 - 6WD long
217 - 6WD long
148 - three-wheeled crab (coaxial), nonagon-shaped robot

2007
177 - 6WD long
987 - 6WD long
190 - 6WD long

2006
217 - 6WD long
522 - Treads, long
296 - 2WD long, Omnis in front

2005
67 - three-wheeled crab (non-coaxial). Flop bot.
330 - 6WD long
503 – 4WD long, omniwheels in rear


2004
71 - 4WD long
494 - 4WD long
435 - 2WD long, with casters in front

2003
111 - Four-wheeled non-coaxial crab (with dropdown skid for turning)
469 – 4WD Long
65 - 4WD Wide

2002
71 - 4WD flop bot with casters in front
173 - 4WD long
66 – 4WD long

2001
71 - ?
294 - ?
125 - ?
365 - ?
279 - ?

2000
255 - ?
232 - ?
25 - ?

1999
176 - 4WD long w/ Omnis in front
1 - tank treads, long
48 – 4WD, long

1998
45 – 4WD long with Omnis in front.

1997
71 - ?

1996
73 - ?

1995
100 - ?

1994
144 - ?

1993
148 - ?

1992
126 - ?

(I just compiled the information from this thread http://www.chiefdelphi.com/forums/sh...ad.php?t=77412)

[akeisic]

2001
71 - ?
294 - 4WD-long. And still functioning today! :-D
125 - ?
365 - ?
279 - ?

[akeisic]

Programming:
What language did they use?
C++

Did they do something in autonomous? If so, what worked?
1: Start far, kick 3 (no bounce)
2: Start far, kick 3 (with bounce)
3: Start far, kick 3 (no bounce), go over bump
4: Start far, kick 3 (with bounce), go over bump
5: Start mid, kick 2
6: Start mid, kick 2, back up, turn toward center
7: Start near, kick 1
8: Start near, plow into net
9: Start near, kick 1, back up, pause 5 sec, move forward, kick anything in path

In all modes we used current sensing to detect the ball and set the maximum distance. This was enormously helpful as we could easily adjust the starting position of the robot and distance from the ball without having to worry. We used mode 1 and 3 the most.

CAN or PWM control?
CAN. We had some trouble with the tan jaguars losing their identity, but fixed those with a patch. It definitely cleans up wiring, but you MUST ensure the wires are secure. If you lose 1, you lose them all! This is why we didn't move in the 2nd match of Newton finals. We're talking about using PWM for drive and CAN for auxiliary for next year.

Did you use the Classmate for programming your robot or student/school supplied computers?
The team recently purchased a dedicated programming laptop.

Robot Design:
What sensors were used?
Jaguar current sensing for the intake roller, encoders on left and right drive train, encoder for kicker winch system, 2 limit switches for kicker zero and kicker max.

Did you use the vision system?
Yes! - but not the way you would think. We mounted our camera below our bumper so we could see behind those pesky bumps. It was especially helpful in the far end of the field. It also helped us see directly below the drivers station.

What drive system?
6WD with a 0.100" lowered center wheel. The center wheel was driven directly and the front/back by a single loop of chain.

Wheels?
7" traction wheels - Thank you Northrop Grumman!

How many motors?
Drive: 4 CIMs
Intake: 1 CIM
Kicker winch: 2 FP
Pneumatics: 2 for 2 speed transmission, 1 for ratchet release

What material was used for the frame (Aluminum, steel, unobtanium)?
Welded aluminum. Mostly 1/16" wall, but 1/8" where we needed it.

How did they control the ball?
Pincher design with friction clutch and center back stop. We pulled balls away from many teams - including 1114 and 1902.

Energy storage for kicker (elastic, pneumatic, motor driven, etc.)?
flat elastic pulled back by winch and released by ratchet.

How did you cut your parts (water jet, LASER, mill, hand tools,etc.)?
Hand, band saw, mill, lathe, water jet, CNC mill

Did you hang?
No.

The Driver Station
Did you reprogram your dashboard code?
Not to my knowledge.

Did you use external controls beyond your joysticks?
We had a heads up LED display, but no external controls

Anything else?
Any techniques that you feel might be beneficial to others in the future?
Ensure you have a battery load tester. While we tested our batteries in the lab (plotting the full drain of the battery), having a battery load tester in the pits is crucial. We disposed of 3 batteries after the championship because they were beyond their life! We couldn't climb over the bump during the finals in LA because of bad batteries.