Cycle times

[VIKotic_Dave]

I am trying to get an idea on cycle times. How long? Will a Hatch cycle time and a Cargo time be different? I do understand that cycle times vary on where the game piece is placed. Just want an estimate.

[MrForbes]

for your team’s robot? or our team’s robot? or a really good robot? or a typical robot?

I expect anywhere from 6 seconds to two minutes, depending on how good the team is.

[YgrOksdnsHyt]

This thread talks about the cycle times required to self-fill a rocket:

The Golden 12 Second Loop

If a robot is able to place a game piece every 12 seconds they will be able to complete one rocket by themselves. If each alliance player does this the alliance will fill every slot of both rockets and the cargo ship bay. Time is counted from the start of the sandstorm to the end of the match for this. To climb the different levels of the pedestal the team will have to work faster than the 12 second loop, if cut down to a 10 second loop the team will have 20 seconds to climb to the desired leve…

[EricKline]

Our team used multiple old robots, consisting of shifting tank drive, mecanum, slow tank drives, lots of different drive trains. These are the outcomes we came up with:

The Best: likely a cycle time of around 10 seconds.

Mid Teams: Around 15 seconds, taking into account misalignment and slightly slower drive train.

Low level: More than 17 seconds, but impossible to estimate just how long.

What did your guy’s teams get?

[bdaroz]

Our team used multiple old robots, consisting of shifting tank drive, mecanum, slow tank drives, lots of different drive trains. These are the outcomes we came up with:

Does this also take into account possible congestion at the player station?

[EmileH]

One way to simulate this in a perfect scenario would be to find the time taken to get to your position on the field and then add on some constant time to “manipulate” or aim to a target. One physics approach is after you’ve outlined a drivetrain specification in the JVN Calculator, you could apply dynamics principles to calculate the amount of wheel torque a given drivetrain setup could produce and then find what your acceleration would be.

After that, it’s a fairly simple application of kinematics - there are two portions to your motion, in simple terms. One accelerated and one at constant velocity. You can simply use d = v/t for the constant velocity portion (you know v and d although d must take into account the first part of the motion). For the initial (accelerated) portion you can apply the kinematics equation [Final velocity (from JVN)] = [Initial Velocity (0)] + [Acceleration calculated above] * [Time] and solve for time. Add that time to the other time.

After you’ve got the drive time add on some constant time to lineup which might be higher if you’re on higher levels of the rocket…etc. An easier simulation might just be to take your maximum theoretical velocity from JVN and assume your average is half of that, and apply that to the whole motion then use the standard rate equation d = v/t.

The best simulation would be to re-use an old drivebase and have another team or another driving base play defense on you over several runs.

[EricKline]

Great question. For the highest tier teams we presume that they are able to coordinate their alliance members to be out of the way (for at least the majority of the time and matches) . For mid and lower we did take into account defense, dropping of game pieces, misalignment, and crowding at feeding stations.