Sorry I read your post wrong and info dumped you with elevator things, hopefully it was useful.
For the climber we used clamping bearing blocks from Thriftybot with a hex running through them. We like using these for pivots because they can allow for more material around the bearing and we don’t have to be precise with our drilling in the aluminum.
How did you attach your winch to the hex shaft on your climber? Your CAD just has it floating in space
How much does the robot weigh? 64:1 doesn’t seem like enough to lift a full weight robot?
We were picking up our 100 lb bot with 60:1…it was slow…but we did it…and the ratio acted like a natural brake when the game ended.
We found the perfect diameter hex collars that we ran a bolt all the way through them, it worked, I definitely think a printed hub would be better. We used printed hubs in 2023 for the same type of spool and they worked well.
To add on, our bot was only 70ish pounds without bumpers and batteries. So it was for sure on the low side. But I think we plugged it into Jvn and found it would be ok. I can double check if yall want.
This may not be a completely accurate representation, but this is what we looked at (angle of ~45 deg for the winch, notice the very high stall load):
We went well beyond the ratio that was “necessary” for this, since we didn’t care a ton about speed and wanted to ensure it would work (it appears the sweet spot for speed is a 9:1, with this 1in spool diameter, though this wouldn’t hold the robot up in brake mode).
Hello, for your climber do you have any close up photos of how the rope/string is attached? Thanks!
Hi, I was curious as to how the algae intake pivots down to pick up the algae? I cannot tell how it is represented in the CAD, but I am new to CAD so I may be missing something.
Hello, do you have any more detailed cad, pictures, or details about the carriage and arm assembly? On the CAD, it seems like the motor is just floating. Also, how is the climber strung?
Additionally, is there any difference between the CAD and the robot you guys made? (Elevator placement, wheel durometer, arm length)
I also had a question about the algae intake. Do you have a motor to retract the arm or is it just gravity driven? If there is a motor and you push against a wall and it manually pushes it in, what does that do to the motor or spooling of tethers.
Do you have the 3d print for cushion blocks available by chance?
I can grab some on Tuesday, but it just attaches to the rotating arm around where the lower peg is and down to the spool.
I will grab some more pictures on Tuesday. The motor is mounted with the holes on the side of the max planetary and half inch spacer to keep it in place. We mounted it from the top and the bottom so it wouldn’t rotate in and lose belt tension.
The cad is relatively close, the elevator is the same position, the chute is the same except for the few things added I noted in the CAD post above. Wheel durometer is the same, we used thrifty squish wheels everywhere except the grabber which are Andymark Green wheels. Arm length and pivot points and everything are exact.
It just drops out the back of the robot with gravity and is held up with 2 strings we didn’t put in cad. I feel like powering the up/down rotation of that intake could be a good upgrade. However we wanted something teams could see and just throw in their bots.
We have updated the GitHub repository to the 2025 version of WPILib! This means that you can directly reference our repository if you are looking to implement any of the controls, simulations, or autos we achieved during the three days.
Expect more guides and tutorials for accomplishing what we did in the coming days!
The version running on WPILib 2024.3.2 is pinned on the 2024 branch, for reference purposes.
