g is gravity (probably don’t need to change this, but you have the option)
a is the angle of the shooter
h-b is the starting height of the shooter (basically the height the note is when it leaves your robot)
v-mph is the speed of the note in miles per hour (you can change units by changing the definition of v in the data folder)
Maybe I am doing something wrong, but when I change the angle to between 57-60 I can’t get the simulation to show a scenario where a shot could be made no matter what variables I change.
Am I doing something wrong? I’d like to use this to find an optimized fixed angle for us, but I want to make sure I do it correctly.
Thank you so much for this @MrNNP , just one last question to fully understand it. In the image below, I’ve assumed g=9.8, hb=1.82 feet, a=45º, and v=100mph. Does the graph then represent that I should shoot from 4.615 feet to score a note in the speaker?
G should stay at 32 because it is in feet per second.
Other than that, the visualization uses the bottom edge of the shooter in that version, so shooting from 4.615 feet would have you hit the bottom edge.
Here is another updated one Advanced Shooter Angle/Radius FRC 2024 | Desmos
(does anyone know how to make it use the same URL)
With this one, the visualization has both red and black lines, and they mean the same thing as in the image. Any X value between the intersection points on both lines should be a valid distance to shoot from.
Amazing @MrNNP , thank you so much for this! I think to update the URL you save your current work? Good luck with the rest of the competition!
As long as you have either a limelight that can measure the distance from the speaker or you have multiple set positions you’ll shoot from (subwoofer, podium, amp, etc) you can definitely benefit from an adjustable shooter. Being able to shoot from those protected zones will be important when dealing with defense. If your team has the bandwidth to take this on, I definitely recommend doing it.
We have the ability, just not sure about the time. We have already lost basically 2 weeks due to snow and waiting on materials. Not sure if we will be back in school this week or not.
If you aren’t 100% sure you’re gonna be able to make an adjustable shooter, I wouldn’t do it. Having a static shooter that is able to shoot right up against the subwoofer will be perfectly fine for a lot of teams. Driving in at speed and just bumping up against the subwoofer will straighten out your robot and be fast enough to have good cycle times. A well put together kitbot with ample drive practice will almost always beat a team with iffy and super complicated mechanisms with very little drive practice.
We have a swerve chassis that we are using. I don’t have any concern about being able to line up. My concern is that we have competition the first week of March and are already down 2 weeks.
So you’ve got 6 or 7 more weeks to prepare for your competition. I suggest sitting down with your team and discussing this with them. Gauge how much interest they have in doing all of this. Get their opinion on whether they think it’s doable or not. If you do end up deciding to do it and want some pointers/ideas, there are many Open Alliance teams (like mine, 2357) that are making a pivoting shooter that you can take some inspiration from. If you or any of your team have any doubts, I suggest not doing it. If you want to use it as a learning experience for the students, you could potentially do it during the off season. It’s not worth the extra stress it may put on both the mentors and students.
I’d look at teams like 1690 in 2021 or 330 in 2016. The time it takes to drive up to the goal and shoot has usually been roughly equal to the added complexity and risk of shooting from further away. These teams competed (and won) at the highest level while mostly shooting from up close. The biggest advantage with an adjustable shooter this year seems to be auto, with the notes in the center of the field.
In my opinion, as long as you can make it work, its better just choosing one and going with it.
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