pic: [2451 PWNAGE] 2014 IRI Reveal

[pwnageNick]

Here is some information about the changes we have made to the robot for IRI. Feel free to ask us any questions you have at IRI or here!

Swerve Module Render

Internal CIM Planetary Swerve (Midwest Swerve)

Wheel Speed:
-CIM, 5” wheel, 8:1 reduction
-Time to 20ft (from standstill): 1.8sec
-Calculated: 14.45ft/sec
-Actual: 11.6ft/sec

Steering Speed:
-Banebot 550, total reduction of 200:1
-Calculated: .67rev/sec

Module Weight:
-7.5lbs per module

[IRI] Improved swerve capability

-added gyro sensors and code to allow for field-centric driving, pirouette maneuvers

-Added slip rings to modules to allow for continuous rotation

Intake Arm Render

Intake Roller Arm

Roller Speed:
-BAG Motor, 20:1 reduction
-18.67 lbs of force at roller contact point
-Linear Speed of roller: 5.73ft/sec

Arm Pivot Speed:
-2x BAG Motors, 276:1 total reduction
-160 ft/lbs of force generated
-Calculated: 151.91deg/sec

[IRI] Added Hinge on Intake Arm

-Actuated pivot position added to actuate roller out of the way of ball when shooting

-No longer rotates intake arm down outside of robot to shoot, roller just hinges back out of the way

-Shot gets off in a quarter-second

[IRI] Other Improvements Made

-Improved autonomous modes, cheesy code for hot 1-ball and hot 2-ball autonomous routines

-Increased range on shot to 11ft window

-Can inbound from front and back now, throw in from back hitting against arm, throw into roller from front

-Nick