16-07-2014 22:32

magnets

Re: pic: [2451 PWNAGE] 2014 IRI Reveal

Awesome. I love the swerve.
What's your experience been with them?
What sort of slip rings are you using?

16-07-2014 22:45

pwnageNick

Re: pic: [2451 PWNAGE] 2014 IRI Reveal

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

16-07-2014 22:54

Alpha Beta

Re: pic: [2451 PWNAGE] 2014 IRI Reveal

Quote:

Originally Posted by pwnageNick [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

16-07-2014 23:38

Woolly

Re: pic: [2451 PWNAGE] 2014 IRI Reveal

This makes me really excited about match 17, and to see side-by-side the improvement of both of our robots since week 1 at Central Illinois.

Oh, and hopefully to see Aaron Bailey get 4 FF points in one match.

17-07-2014 04:22

Francis-134

Re: pic: [2451 PWNAGE] 2014 IRI Reveal

What slip rings do you use? It's been a few years, but in 2008 we had difficulties finding COTS slip rings for high power for a reasonable price.

17-07-2014 07:40

Aren Siekmeier

Re: pic: [2451 PWNAGE] 2014 IRI Reveal

Arm mod is super cool, should help a lot.

Can't wait to see how you guys do. Looking forward to match 36

17-07-2014 11:28

evanperryg

Re: pic: [2451 PWNAGE] 2014 IRI Reveal

Amazing improvements to my favorite bot this season. Really want to see a 2451, 1625, 2481 alliance. 3 of the best shooters in the midwest, 2 swerves, 3 2ball autos, 2 division winners and a division finalist. #beastsofthemidweast?