It’s a few days earlier than we wanted to show this off, but who cares.
Gyration, meet CD. CD, meet Gyration. For the few of you who wanted to see a control movement gyroscope on a 2009 bot, you’re in luck. We managed to cut a few pounds here and there to allow us to put a 10lb gyro on our robot that is spun using a FP motor with an AM planetary and some of the Gates belts. Tilting is accomplished by a window motor.
Drivetrain is 2 CIMs mounted on Dewalts (no servos). We’re leaving them in 12:1 (~8fps), although the bot does drive in 4:1 and 3:1 - you can do the math.
Conveyor is also powered by a CIM and a dewalt. The chain driven rollers hold and drive 2 serpentine belts to get the balls up to the top of the hopper. The hopper is constructed out of the same material that is used for windows in convertible cars.
Shooter. Once again, a CIM and a dewalt drive PVC rollers (note the chain rigging, so one spins backwards). Speed is controlled by the operator, which will enable easy adjustment for shooting short or long distances, into trailers or corners. It’s also reversible, so it can spin backwards and pick up empty cells from the outpost(s).
nice job guys, we were going to attempt to put a gyro on ours as well but we scrapped the device because it was out of our weight constraints. good luck in your season and we’ll see you guys at Long Beach.
Do you have an electronic gyro measuring your turning as well? It would seem to be extremely difficult to accurately turn via a spinning gyro without some closed-loop control software.
Wow you guys pulled it off. We looked at this method and built a proto-type but didn’t think it would help as much and didn’t have the room and weight, but you guys did it, congratulations.
I’m assuming you have the gyro spinning the same direction the whole time. Correct me if I’m wrong, but shouldn’t the gyro tip side to side instead of front to back? The physics of this gyro looks sideways. If the gyro is spinning to the right and you tip it forward, the force would be forward, which doesn’t help with turning.
The physics do not change and as the default position of the gyro is vertical the tourque does not affect driving unless tilted…which is the point…obviously…
Wrapped em in plastic since the paint was still a little tacky.
There’s a worm gear in the window motor for the backdrive, but the software wasn’t controlling tilt correctly when that video was shot. It’ll be fine … don’t worry
Yes, the wheel is covered in lexan, although there isn’t much that you can get hurt on (or break for that matter). As far as Davis is concerned, we were next on the wait list, but didn’t make it - so we got into LA instead.
