pic: Team 971 Presents: Mammoth

[kevincrispie]

Originally Posted by Ty Tremblay

Big fan of the spinning lower forks to help center the ball.

Originally Posted by Gregor

The motorized prongs are beautiful.

Many thanks. We're really proud of this design. Its something that we picked up on rather early and found it worked really well. The nice thing is that it allows us to center the ball without having the intake stick far out of the robot. In this year's wide open game, we felt it was necessary to keep things inside the frame as much as possible. We get a large intake width without having a large intake sticking out of the robot. It was difficult to package, but we are proud of the result. We are very excited to see how it does at Sacramento and SVR.

Originally Posted by Answer42

The separate upper and lower jaw is absolutely brilliant. Your programmers must have had fun with all those possibilities.

Yes. It is really nice how we are able to use the full range of the claw, and this comes with the programmability of the robot. Austin can likely fill you in more in this area. We love how we can use both sides of the intake to grab the ball and shoot. We hope this allows for more flexible gameplay and will allow us to explore a wide variety of in-game strategies.

Originally Posted by thefro526

And a question, just to satisfy my own curiosity - the hall-effect sensors on the Claw's pivot, is it safe to assume that each one of them corresponds to some unique position of the claw? Is there any reason for doing this sort of setup over an absolute encoder or similar sensor? Reliability? Cost? Simplicity?

We have 3 hall effect sensors and 1 encoder for each jaw. The hall effects are for zeroing. The one in the middle zeros the claw and the top and bottom hall effects set a software limit for each side of the claw.