33 The Killer Bees: 2019 Robot Buzz XXIV

They fell

The driver tried to move the foot more to see if he could get it on as he couldn’t tell how stuck it was, and it caused everyone to drop back down.

Some changes were already made to prevent this failure case in the future.

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Are the air tanks in the foot simply for space use, or are they being implemented in use of the climber? Such as initial force or a shifting gear?

That was the only remaining available space on the robot to put our storage tank!


I know that same use all too well!
Any chance you’ve got any pictures of how yall connected the rotary to the tube stock? Looks like you simply bolted it straight on?

I watched as your driver practiced grabbing hatches over and over on the practice field and was impressed by the fast approach speed with a very controlled deceleration and stopping just as hatch contact was made. It looked like either the driver was really good at controlling his speed or you were using vision or a distance sensor to control the final approach velocity. Are you using a sensor(s) to control the approach speed? If so what is the control logic used to control the deceleration to give a perfect approach each time?

We utilize a limelight to aim the drive-train at the vision target on the HP station when the driver holds down a trigger.

There is also a time-of-flight sensor mounted below the limelight grabbing our distance from the wall. This sensor is utilized two ways.

The first is to tell the limelight to stop searching for a target when we get within 2.5-3ft of the wall. Due to our limelight being mounted off to the side of the robot, we are no longer able to see the entire target when we are closer then that so there is no reason to continue to search for a target, we’ll just end up grabbing some weird reflection.

The second use of the time-of-flight sensor is that our drive will automatically throttle back our velocity the closer the robot is to the HP station. This allows the driver to keep the throttle on the joystick at full power and the robot will decelerate on its own during approach.

The practice you saw on the practice field was us dialing this software in. We had some issues getting it to respond correctly on the competition field at MSC and unfortunately did not utilize it as much as we liked, or we would have been doing our hatch cycles faster. We expect to have this working correctly at Detroit next week.


Are you able to get reliable readings from the TOF sensor off the polycarb wall?

This is the sensor: http://www.revrobotics.com/rev-31-1505/
It’s based on the ST VL53L0X pulsed laser time-of-flight sensor, which is more robust to target reflectance changes than analog diffuse red or IR based sensors (such as the Sharp IR or most industrial object switches).

We added the sensor after Alpena where we had issues with weird camera reflections while close to the target. We did not have any issues with the distance sensor specifically at MSC. Most of the issues we had at MSC are related to errant reflections on the competition field vs wood field, and NetworkTables or other Ethernet issues with the LimeLight.


This is bonkers. 1519 has a similar 4 bar linkage climber this season and we’ve loved how it’s worked for us so far. As much as we’ve talked about it since our first tournament this year, we don’t really have the weight for a buddy climb, although this is probably how we’d do it. Good luck in Detroit and congrats on your Division win at MSC! Awesome robot this year :wink:

Super neat integration of sensors. Will definitely need to keep this in mind for the future.

Below is a link for the CAD of the drivetrain gearbox used on our 2019 robot, Buzz XXIV.

GrabCAD Link

before anyone asks, we are hoping to eventually release the CAD for our entire robot. We do not have a timeline on when this will be, our offseason keeps us busy!


Do you guys ever release your code? I dont know of many teams as successful as you that use labview. I would love to see how you guys do some of the things that I didnt know you could achieve in labview

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Since this thread is back alive, how did you attach the pneumatic fitting to the vented cap screw? Lookin at the specs on McMaster, I don’t see how you could.

We used this pneumatic fitting, screwed onto this vented set screw.

We have sometimes in the past, it really depends on the manpower we have available in the offseason and projects we are busy with. We don’t always have time to make sure things are organized to publish. We are hoping to work on this and do this in the future, as well as full CAD models.

So the pneumatic fitting works kind of like the head of the bolt.

This is a good way of putting how the vented set screw + pneumatic fitting also worked to mount the motor.

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