Hi Everyone.
Here is robot, which we have made as a result of long efforts.
You’re all probably looking at the mk4i swerve modules
BECAUSE THERE ARE CIM MOTORS MOUNTED ON THEM. AND WE DID IT IN 5 DAYS.
Ok you may be a bit confused so im gonna introduce the robot slowly
-Elevator System-
We have an elevator system inspired from Thrifty Bot.This system is really efficient because it works fast and we can adjust it to the heights we want.
Our software team has done some work for the elevator and we can automatically adjust
the height of the elevator by pressing the keys for both the networks and the human player.
-Gripper System-
There are 3 pistons in our gripper. one provides reciprocating motion while the
other two position the wheels to receive the cone.
We assigned two button to the gripper. one to get the cube and one to get the cone.
We also added a distance sensor to the system. In this way, when we receive a cone or cube, the system detects it and turns the picking keys into the release keys.
We think it’s very efficient.
CUBE POSİTİTİON
CONE POSİTİTİON
-Chassis System-
We come to the weirdest part of the job. We installed cim motors on the mk4i swerve module and it took only 5 days to adapt it to the system.
(Mechanical + Software + Electronics)
If you’re wondering why we’re taking this risk, we don’t have the answer. But one thing we know is that it is really hard to achieve. We were using a tank drive chassis due to the lack of an engine we had and we realized that it was difficult to win in this way.Our mk4i module has already arrived, but we had no idea what to do with it. The only engine we can use is cim and as you know cim is not suitable for this system at all. In addition, it was almost impossible for us to switch to a swerve chassis, since we adjusted the robot’s systems according to the tank drive chassis. But we overcame all kinds of obstacles and built a mk4i swerve chassis with 4 cim motors and 4 neo motors in 5 days and adapted the systems to this chassis.
(even if the motors are reverse and module swerve cross mounted)
Finally, I’ll post a video where the robot puts both a cube and a cone. Well done to everyone involved in the robot. Don’t forget to ask your suggestions and questions.
See You Later…
