What types of wheels are you using on this? It looks like 4 inch AM compliant wheels, which I’m surprised would work so well on a shooter.
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Yes, they are 4 inch AM compliant wheels. I was also surprised by the choice made by our hardware team. What I understand from them is that these wheels have more grip and surface area on the Notes than harder wheels, and that should be better for shooting they mentioned.
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Off-Season/Stock Code Release
We are very thrilled to share the code we have been working on during the off-season.
We know it’s a little late to release it now, but we wanted to make sure we could incorporate our latest changes and upgrade it to the 2024 WPILib version, so it’s easier to use.
In here you will find all the cool features that we have been working on for the past year. The code acts as a base for a robot, containing the complete code for the drivetrain and the possibility to add other subsystems.
Some highlights
- Second order inverse kinematics to prevent inaccuracies when driving while rotating
- Autonomous pathfollowing using PathPlanner and custom Holonomic Drive Controller
- Adaptive limitation of direction change of the drivetrain based on the current speed
- Drivetrain corrects deviations in heading when driving
Repository / Download
The full repository can be found on our Github!
P.S. there is also an Easter egg hidden somewhere, so it’s definitely worth checking out all the folders 
.
Written by:
@Jochem - Lead Software
@Nigelientje - Lead Outreach / Software Mentor
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I might have found it… I’ll just say it was funny.
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What durometer wheels are you guys using?
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Yesterday, we tested the shooter with these orange wheels from AndyMark.
Their durometer is 40A. Improvements will be made tonight (and we will switch them for harder wheels)
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CAD File Shooter Prototype
We have received some messages asking if we can share the CAD model of the shooter prototype. We have drawn this in CAD and make the details along the way during building, but here is a link to our grabcad page where it is uploaded.
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The free speed of a NEO is 5700 RPM and the rated max RPM of an 40A orange AM wheel is… well it’s not published… but the 35A green is rated at ~4000* and the 45A maroon is 6000RPM.
That’s the long winded way to suggest not placing laptop-guy in a plane with the spinning wheels.
*PDF says 9000 but interpret that as a copy paste typo based on the graph
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Woahhhh 4481 is really raising the bar for OA threads.
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What are the dimensions for the chain slot in the second Trident hook test? Thanks!
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Why only have 2 wheels on each side?
I wonder if having more would have some impact
Was it a rickroll?
No, it’s better.
Tip: Sign into github, and launch the web editor with . key.
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I would be careful with these, I believe AndyMark was warning teams in 2020 that specifically the red/maroon 45A wheels would basically explode if spun at a high enough rpm
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The width should be just a bit larger than the chain itself (See image). This way it locks perfectly and doesn’t allow for a lot of wiggle.
Our chain is a bit different from the real chain used on the actual field, and therefore the width of the chain slot is a bit smaller than you would want on your robot.
The length of the slot in the hook is about 2.5 inches.
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Thanks for the tip I will notify the team, we are planning on testing multiple wheels I think we are changing to the 4in stealth wheels right now so you will see prototypes of that in one of the new posts I think.
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I think we used 2 wheels on both sides for the following reasons:
- With 2 wheels on both sides, the note has more surface contact with the wheels. This is ideal for transferring more power from the motor to the notes.
- We didn’t use more wheels on each side, because of packaging reasons and the fact that we will also use a kicker wheel that feeds the notes into the shooter with some initial speed.
We’re currently experimenting with all kinds of different shooter configurations, so the actual shooter that works for us might be very much different.
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Even funnier 
It’s a tough easter egg to find. Some of our students still haven’t found it 
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2 + 2 = 4?
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Someone mark this as a solution.
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