# Cycle times

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.

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for your teamâ€™s robot? or our teamâ€™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.

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

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 guyâ€™s teams get?

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

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 â€śmanipulateâ€ť or aim to a target. One physics approach is after youâ€™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, itâ€™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 youâ€™ve got the drive time add on some constant time to lineup which might be higher if youâ€™re on higher levels of the rocketâ€¦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.

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.

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