Team 5817 is proud to present our robot for the 2017 FIRST Steamworks competition, Oviraptor!
Oviraptor will be competing at the Central Valley and Orange County Regionals in Week 2 and Week 5.
-Three wheel swerve powered by 3D printed globoid gears
-4-MiniCIM double barreled shooter with three stages to accelerate fuel smoothly and consistently
-19 inch wide intake on the right side
-Passive gear funnel
-Freeform field-oriented swerve code
-Closed loop driving
-Custom autonomous motion profiling
-Onboard vision processing using OpenCV
-Sturdy 18 gauge stainless steel sheetmetal frame
-Aesthetic orange backing
-Several hundred hexagon cutouts
-Low frame, bumpers, and center of gravity prevent tipping and high-centering
Yeah it does do gears, undefended we’ve clocked a pace for up to 7 a match excluding auto. We didn’t show it in the video because we ran out of time on bag day, and our pilot was sick. I’ll see about getting some pictures of the globoids. they’re hands down my favorite part of this year’s bot.
Here is a render of the globoids from an earlier revision in the season, but the globoids haven’t really changed much. They curve around the rotation gear and mesh with 9 teeth, this distributes the load and prevents damage to the 3d printed gear. We only had one issue all season where we ran it too fast and it began to melt the abs, we slowed down the rotation a bit and so far haven’t had any issues. The globoid itself is something we will probably be posting after the season. We are hoping to use it for arm joints in the future.
These modules may be heavy, 10 pounds a piece, but they are very smart. We have encoder feedback on both the rotation and wheel spin. There is a magnetic prox sensor to auto zero each individual wheel. And they can accept a 4" or 6" wheel with no changes to the module.
We went with a 3 wheel swerve because of extra weight savings and because of the open field and no obstacles to drive over. It was a good fit. Our bumpers are only 1/2" above the carpet so it keeps us pretty steady. Most of the bot is 18 GA SS.