We run 2 sets and they’re both terminated to one single housing (so therefore they are both wired in). One of the 2 CAN leads on the motor is connected to either set, which bridges the 2 sets of wires.
We use a CANivore for the drive motors, CANcoders and Pigeon using a daisy chain configuration.
Sorry, it should be fixed now! We recently reorganized our google drives and it ended up in a place that wasn’t publicly accessible.
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Can you explain your decision to change from L3+ gearing to L2+ gearing for championships? Did you feel you were going to do more “passing” at Champs?
Thank you.
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Yes, going in to Champs we expected the meta would shift to passing and cleanup rather than full field cycles.
This robot is very power hungry, so going from L3+ to L2+ gave us a little more torque and responsiveness to help fight through defense against passing while keeping the same current limits, and to make it a little snappier when playing cleanup.
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First (large ish) failure happened on our bot recently. What happened was that the 3D printed axels that insert into the front most intake roller on the top roller assembly snapped at the junction between belt and the rest of the part (picture below of what part/where i’m talking about). I attribute it to a lot of skipping in the intake putting a TON of force onto the front most roller of the top part of the intake. The skipping stopped once we put E-tape on the farthest back intake roller, but i think the 3d print was still weakened. I’m also curious if it ever broke for y’all or if it’s better with onyx. Already replaced and fixed, just curious if y’all ever experienced it.
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This seems probably accurate. We broke the intake roller in a similar location at last once, although never while it was operating. The one I recall was the first one we made, that saw a lot of extra load during our initial testing as we were figuring stuff out (and adding tape everywhere). It broke when it was removed from the robot and either got dropped or whacked on something incidentally. We may have broken one other, after we burned out the lower intake motor from the lower roller rubbing on the ground due to excessive tread wear. In any case, we did see some failures of these prints with the Onyx but were always preceded by some other event first.
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