WEEK 1 - THURSDAY
Today wasn’t as busy at the shop. Many worked remote from home as help desk, designing new subsystem iterations or playing the xRC Simulator.
Shooter Version 2 - Kicker wheel + Dual motor setup
As you can see below, the concept of the shooter construction is relatively similar. The ball path changed a little and they added some extra options.
Hopefully we’ll have this up and running tomorrow and we can change a couple things.
There will be a separate driven 2" kicker wheel
A 4" flywheel drum based with either 1 or 2 NEOs 1:1 ratio
We can add an extra 4" wheel if we like in front of our shooter
Controls department is working on a PID tuner to control the shooters better
If we like, we can add extra mass on the shooter axles to see the difference between # motors vs amount of added mass
Intake Prototype 6 - Week 1
We worked tested a similar concept as before but with a gap in the bumper. We are currently liking the fact of having a gap in there since it might simplify other things such as:
- Indexing/singulation inside, towards the shooter
- We’ll probably only need 1 roller, so deployment of the overall intake concept is easier
- The overall intake can be pretty lightweight and flexible
- The gap wouldn’t be huge, probably, since the intake will be mostly deployed out during the match anyways.
Improvements for this intake:
- We’ll be wiring up the KIT BOT, so we can drive the chassis around and into the CARGO for better representation of testing
- The middle rollers are 3D printed out of TPU but are still quite stiff. We’re making more flexy-ones.
- The overall mounting of it can be more sturdy and give equal spacing in between the mecanums
- Having no gap between the mecanums will increase intake speed from what it seems. We need to confirm this by driving in the CARGO.
- Maybe incorporate some velcro straps in between the mecanums to see what it does vs. unsettled CARGO.
Storage Prototype 1 - Week 1
They’ve been working on a mock up subsystem to test compression and spacing on the CARGO with timing belts.
The overall compression on the hubs vs cargo is around 35mm.
Putting the hubs tighter next to each other increased consistency.
In the video below, we ended up on 70mm between the two hubs.
We’re leaning towards 7.6:1 with 4" wheels. [Gearbox: 12t → 50t, Chains: 12t → 22t]
Free speed 14.6 ft/sec (4,45m/s), adjusted speed 13.2 (4.02m/s)
Drivetrain base: 550mm wide, 600mm long
In inches that is: 21.65" wide, 23.62" long
Wheels 50mm wide nitrile tread, custom made aluminum milled wheels.
Below our the wheels shown of our test rig, these are little smaller in OD than 4".
Our 3DM department has been working hard on some impressive stuff. Everybody thinks that with the limited amount of game pieces and the feedback time of the field a starvation of game pieces could happen. But what are those odds and can we predict a starvation of game pieces. Should we be worried and how would it determine our own cycles?
They been modeling the game with potential outcomes, cycle times and average CARGO availability throughout the game on the field amongst other things.
After the show we’ll upload our findings and conclusions on CD as well.
If you have any questions, you know where to find us!