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#1
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Re: pic: New swerve CAD from 2471
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Even so, I would be worried about collisions at that speed on the modules. A hard hit on a corner could render you immobile, as well as costing a few hundred dollars. Even if nothing breaks mechanically, encoders are pretty fragile. With frame perimeter rules, are you really gaining extra room this way? |
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#2
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Re: pic: New swerve CAD from 2471
It's also going to impact acceleration. I suspect being geared that high the robot will seldom actually get to top speed during a match before having to change direction. Usually robots geared that fast will have six CIM drive trains just for that reason.
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#3
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Re: pic: New swerve CAD from 2471
I think you'll find that a robot geared for 14 fps on 4 cims will have plenty of power to accelerate quickly. Our comp bot did fine this year, and it was geared for about 18 fps. Our bunny bot was geared even faster that that, and it won. so obviously, it will depend on the game, but in my opinion, 14 fps isn't "too fast".
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#4
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Re: pic: New swerve CAD from 2471
Your robots were certainly zippy! I'd love to know how long it took the robot to get to its terminal velocity (and what that velocity is.) Maybe that would be a good fall project for your software folks graphing speed vs time as measured by an encoder on your 2014 robot.
Going that fast will also impact power consumption during acceleration. I wonder what the peak current is. |
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#5
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Re: pic: New swerve CAD from 2471
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#6
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Re: pic: New swerve CAD from 2471
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I'm not really sure what you mean by "With frame perimeter rules, are you really gaining extra room this way?" |
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#7
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Re: pic: New swerve CAD from 2471
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#8
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Re: pic: New swerve CAD from 2471
I forgot to post the estimated weight. According to inventor, these modules will be over a pound lighter that last year's model: Weighing in at 6 lbs each.
Including all that is pictured except the bumper, the drive base should weigh about 30.5 lbs. |
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#9
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Re: pic: New swerve CAD from 2471
Absolute encoder. TT electronics 6127 series. .25 to 4.75 volt output. more like 11$ a piece. Used on our swerve for 3 years now. Like them.
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#10
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Re: pic: New swerve CAD from 2471
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Yeah, we've used those encoders sense champs this year. |
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#11
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Re: pic: New swerve CAD from 2471
Thanks, what's the rotate over point look like? Just a transition from high voltage to low? Can I simply map 0-360 to .25-4.75 and call it a day?
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#12
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Re: pic: New swerve CAD from 2471
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You can also get the flattened shaft version, so that set screws won't slip. |
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#13
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Re: pic: New swerve CAD from 2471
Thank you, just saved me a a fair bit of money in encoders.
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#14
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Re: pic: New swerve CAD from 2471
Can you post the link to the encoders please?
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#15
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Re: pic: New swerve CAD from 2471
my guess is they are talking about this part:
http://octopart.com/6127v1a360l.5fs-...ogies-19910150 There are a number of different options it can be ordered in, see data sheet Note these are rated at 500 RPM in the datasheet. So they likely more than sufficient for monitoring the position of a part - like the wheel's heading in this case. Without proper gearing they are likely not a good choice for use on things like a shooter wheel. If you're looking to monitor wheel rate of travel over ground, these aren't appropriate unless you've got wheels bigger than 6" or have geared the encoder down (assuming you're targeting a top speed or around 14fps). |
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