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Unread 14-01-2016, 09:32
jdaming jdaming is offline
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Scaling and G18 Interaction

Q504
Q. G18 penalizes an extension more than 15" beyond the robot's frame perimeter. Is plane the measurement occurs in relative to the robot or the field? For instance, a robot uses a grappling hook to climb and tilts 90 degrees as it winches itself up. Do you do the same "virtually transposing the robot to a flat floor" as with R22 to determine if the hook extends greater than 15"?

A. Extensions outside the FRAME PERIMETER are measured in the same plane as the FRAME PERIMETER. As the FRAME PERIMETER is re-oriented (e.g. when a ROBOT drives up the BATTER), the plane of measurement is similarly re-oriented.

So if I am understanding this correctly when a "tape measure scaler" gets reoriented it will be in violation of G18. Does this shut down that style of climbing?

Does anyone have other ideas for getting a low bot to scale? It seems like any method would require being able to keep its orientation parallel or nearly so with the ground.
 


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