Proud to present our 2022 robot: ROSCO!
Couldn’t quite manage to squeeze in a robot reveal into our scheduale this year, but we still wanted to showcase some of our bot’s features.
the turret is actuated by a htd 5MM timing belt, and is held in place using a V groove bearings and a V shaped plate, we know the turret position using an absolute encoder that have the same gear ratio from the falcon 500 motor that drive the turret as the turret itself.
the adjustable hood is actuated by 3D printed gears and controlled by 2 REV smart servo motors.
to know the desired angles for the hood and the turret we use a limelight camera and run an algorithm that estimate the bot place in the field so if the limelight losses the target it will find it faster.
in a normal condition they have lots of power for turning the swerve, we did burn some when something broke or prevents the swerve from turning, a current limitation seem to stop that from happening…
the CAD model is not clipped, it’s just hard to distinguish between the parts… .
there is a plate connecting them together, the plate has holes for screws to connect it to the pulley and in the other face thread for screws from the shooter plate.
I’m not sure it that explanation is clear, so i tried to mark the plate that hold them together
That is kind of obvious when i think about it…
It is 2mm wall, so kind of in the middle between .1 and .05 inch, so far we hade 0 structural issues there…
I’m not an expert but I believe .05 will break after a lot of abuse.
Besides what @Omrih664 wrote, the neo 550 is a nice motor with a lot of advantages but we will probably replace it with a falcon next year.
Firstly it’s quite the hassle to interface with it on the mechanical side, it’s a little awkward from our experience.
Secondly I’m not very knowledgeable in the electronics side of things, but our electrical team and even the software guys kept complaining about it. I’m sure @Omrih664 can elaborate more clearly on its disadvantages regarding the electrical connection and the software in general.
All in all its a good choise, but ultimately not as bulletproof as the falcon.
well the main electrical problems are todo whit the encoder cable, it tends to break easily mostly at the connector but we had one break as one of its wires was bent too much and tears inside the Insulation…
but the big issues are actually problems with the spark max and not the neo 550 it self, at times the spark max loses its ID or its firmware, we had that Happen when interfering with it to change IDs or set limits on its current.
also when using its data port for the absolute encoder we had some problems that pop up at time (mainly due to the encoder true zero and the averaging of the values), so the main benefit we saw in it at first as an easy way to connect the encoder is not there for us…
