So I was inspired by the Open Alliance thread and by extension team 95’s build thread. I highly recommend going through both (as well as the 4481 thread, I sadly have not looked at any other threads/blogs in great detail).
Everything stated is from my point of view, I’m a programming member so I might get the details a bit wrong on the build, sorry in advance.
Either way, since this is coming in a bit late I’m going to go through some of the decisions we made and how we got there. So, I’m going to miss some stuff but I’ll try to rush through it.
We spent most of kickoff just reading the manual. We split into groups, presented what we though was important, etc. Not many decisions we discussed/made, which is pretty standard for us.
Sunday (Jan 7th):
Sunday we tried to make as many drivetrain decisions as possible, with a couple key things changed since last year:
We decided to go with the Vexpro 3-cim ballshifters instead of the 2-cim ballshifters. We will run these with 3-neos for a 6-neo drivetrain. We really don’t think we’re going to have any other large current costs since most other mechanisms (probably) won’t run when drivetrain is running (ie. you wouldn’t shoot and drive at the same time). We think the extra pushing power/acceleration is nice, but we won’t know if it was worth giving up what we’re comfortable with until it’s built.
For wheels we decided to go with the WCP 6-inch pneumatic wheels. After some initial testing, we decided that we weren’t completely comfortable with how traction/omnis/blue nitrile wheels went over the 1-inch metal bumps.
We also geared around 2 ft/s faster in high gear than we were last year since we’re going across the field more. We hope that the pneumatic wheels let us stay pretty quick even while going over the bumps.
So for Monday it was really all about getting our priority list locked in.
I personally made a spreadsheet with all the actions I thought were important and some point scaling based off how hard/repeatable I thought actions were. Another student made a quick slideshow with possible strategies. These helped us do a bit of analysis before our official practice times.
On Monday we decided that we should go with a High Shooter + Climb, though I am a bit worried about going for climbing and biting off more than we can chew. That being said, both more experiences members and younger members agreed we should do it so it seems to be a solid strategy decision. Our priority list ended up looking something like:
- Ground intake
- Outer high goal shooting
As of now Trench is kind of in a weird place. We said we’d decide whether we want to keep it soon, I expect the latest date to be January 18th, but we’re looking at doing it this coming Saturday/Monday if I recall correctly.
With our priority list locked in we could now decide goals for mechanisms. I also got the code working with the 2020 Commands and 4 Neos, I’m very happy with the new Command-based stuff and am excited to keep working on it (writing this now I realize I forgot to push the code, that should get to the Github around noon tomorrow).
We had mechanism leads/other managers meet up to quickly draft up main goals for each mechanism while the rest of the team brainstormed mechanism ideas.
We ended up with:
- Touch it, own it
- No jams
- Should be able to intake 5 balls in a line in ~3 seconds.
- Programming should be able to somehow count how many balls have went in (currently planning on measuring current).
- Aimed loosely for inner port.
- 99% accurate at full RPM while shooting from the initiation line (Auto)
- 90% general accuracy
- 4 second full unload (not Auto)
- 45-degree effective range.
1.Store exactly 5 balls, ideally aligned to shoot.
2. Manual ball removal
- 15-second climb from when you enter the rendezvous zone.
- Three balls, 99% accurate outer high goal, 5 seconds
- Three starting positions
- Cross line
We also went through and did a quick 30-second robot sketch of what we thought we generally wanted our robot to look like which came out to this:
That’s about where we are at right now. I’ll try to update the thread daily albeit with much shorter posts, with a longer post later on in the week. First time posting really anything so please give me any feedback you have, and I hope someone finds this useful.