Well, we ARE done, in that we’ve put out our reveal video (watch it here)) but we are not done in that we are still planning to put out more how to videos, CAD data drop, CODE drops, improve the performance,… Stay tuned…
If you watch our reveal video: caution I have to speak fast to get in all the cool features of this robot.
Highlights of our robot:
A robot that (I believe) could pass inspection at a FIRST Competition (only known violations I am aware of is that we didn’t build a red bumper and I forgot to order one of those indicator lights that are required on every robot)
Catapult. Motor powered, HIGH Release (a.k.a it can shoot over robots trying to push you away from the goals) with programmable range. We can vary release speed & release angle. Two distances are programmed now. More are just a matter of time and tuning.
Vision system (working! really, working in 3 days!) to do a killer autonomous (using RoboRealm + camera to sense hot goal and provide range to goal).
Acoustic Range To Target (again, also done in 3 days. We had not even touched the sensor until kickoff, Scout’s honor).
LARGE 3 Digit ON ROBOT display which (currently) lets us show time left in match and distance to goal wall, but it can be used for many more purposes (e.g, motor current or battery voltage). Being on the robot gives the drivers useful info while keeping their eyes where they belong (again, none of this was done before kickoff)
In short, I think BOOM DONE. has earned your vote as the best Ri3D Team & Robot.
If you agree, please, vote BOOM DONE. … NOW
It can be done 10,000 ways but we settled on an Arduino looking at pins on the Digital Side Car. We put the range finder software in the Arduino (could be otherwise but we were out of analog pins on the CRIO). So the CRIO wiggles pins to tell the Arduino to sync the count down and/or display the range data.
More info on this to come - part numbers, code, wiring diagrams, board layouts (if you want to make a PCB – you don’t have to).
I have heard mixed reports with respect to bandwidth affecting processing on the driver station. Sorting through it all, I believe that this is no longer a major issue.
BUT, even if it IS an issue, the HOT or NOT call is an application where we will have time to make a decision. We have odometry from the wheel plus range finding via sonar to get our distance right (and detect a blocker in front of us – which we can avoid using our gryo-stabilized omni-motion provided by our mecanum wheels – have I told you how much i LOVE the feature set we put together on this robot
109 lbs WITH the battery & bumper so we are 40-50 lbs under the limit.
Oh a clarification. Someone asked on Twitter if the bumpers were removable. Yes, the are (or would be if we had guarded the pop rivet gun from Nate – we’ll have to drill out the one rivet he got off before I smacked him upside the head – we were almost all rookies on the team after all
Wow. I’m really, really impressed. For three days, and a crew of non FIRST engineers, you guys did an epic job. All aspects of the robot are incredibly innovative, and I think, the most impressive of the RI3D teams. Even though your team came into this with little FRC experience, your design is refined and seems really durable.
I’m a massive fan of the bumper/frame design, as well as the pickup. I think we’ll see a large number of these out on the field this year, because they really are a great solution.
I’m also blown away with the software that you guys have going with the camera and the arduino rangefinder display thing, which is super neat.
Green Cord. It is the metric size solid core urethane round belt on this page from McMaster I use a ton of the 6mm (8112K33), but the 4mm stuff is also great. Run it around the pulleys to get a free length, cut the belt 3-6% short, use a lighter to melt the end (act like you are making a golden brown marshmallow), press together the ends, hold til cool, trim the joint with a side cutter. It is a REALLY useful way to spin something at a distance.
Pulleys are laser cut acrylic 1/8th thick. We cut a ton of these with a “FIRST standard” bolt hole pattern 1/2" increments. We then can stack up plates to make pulleys. These are not just good for actual robots but especial for prototyping.
Loop Gauge of wire is 1/4" steel. We had it laying around the shop.
Toro Horns. You are not going to believe it: Schedule 80 PVC (thicker wall than Schedule 40). I heated up some 1/2" hex shaft and melted it in place so that a Versaplanetary shaft fits tight inside.
which roughly stated is (6) #10 holes on a 1.875" bolt circle with a 1.125" center hole.
Bravo, my new favorite RI3D team, i’d not be surprised to see this robot in the championship finals.
I really loved that bumper idea and you really innovated with the control stuff and sensors. Are you going to post the cad models and code you used? Where?