Team 1538 / The Holy Cows - 2015 Robot: Daisy Quickstep

Team 1538 / The Holy Cows proudly presents our 2015 robot, Daisy Quickstep.

We would like to thank our sponsors, Qualcomm / BlueChip Machine & Fabrication / Nordson Asymtek / Vivid-Hosting / Vinatech Engineering / Anocote Metal Finishing / San Diego County Sheriff’s Department / Advanced Circuits / Quality Powder Coating / Northrop Grumman / Alberts-Worley Family / Lutze Family & HIGH TECH HIGH & HIGH TECH HIGH INTERNATIONAL & HIGH TECH HIGH MEDIA ARTS

Drivetrain Speed: 18.5 ft/sec
6WD using AndyMark 4" Performance Wheels
2 stage elevator, ground to max height in less than 2 seconds
2 x RS775 powered pincher
2 x RS775 powered intake

See you at the Arizona East Regional, San Diego Regional and World Championships!

NICE. Can you actually reach that speed while stacking though? (I really hope the answer is yes)

edit: Can’t wait to see it!!!:smiley:


I have been waiting to see your robot for awhile. Looks really nice!

See you guys at the Arizona East Regional!

P.S. Any video of this machine or will I have to wait until Thursday?

There is a very… interesting… cord hiding in the background.


Dat wiring :yikes:

I love how you use the MXP for all of your I/O so you don’t need any of the other headers. Very clean electrical layout and great robot!

Are those… Giant 4-bar-linkage grabbers?
Is this a container or stacking specialist?

Really cool robot can’t wait to see it in action!

Wow that wiring job is CANtastic. Beautiful robot as always.

Is that a tether I see in the first pic…

See you guys in a couple days

My did your team find it necessary this of all years to go with a 3 cim gear box? They have been used in the past to go fast with a lot of power. So far this year one of the fastest bots we have seen is 1114 and I don’t think they got any where near 18 feet per second. I guess I am just looking for some reasoning behind the decision. Thank you, the bot looks like it will do very well in Arizona this weekend. Good luck!

Beautiful robot as always! Can’t wait to see it in action.

One question: How do you intend to satisfy R2 and have numbers visible from all sides of you robot?

I smell #TeamTether

Very clean as always!

What about your ‘pincher’ requires so much power? Does it do more than pinch? What does it pinch?

Do you have any limit switches anywhere on your robot?

Do you guys powdercoat your stock, and then drill into it? It appears that your drive train frame is welded, but the hole pattern for your vertical mount seems very precise for a post-powdercoat drilling. We did this for 2 high-tolerance big rails this year since we hit a time crunch, but I wonder what techniques/changes we could do in order to plan for it next year (after game release, but still in week 1) and then precision drill into it afterwards. Seems like using the blue mill paint and/or scratching the aluminum with calipers would be a big no-no.

  1. Cans, totes, robots, people, etc. Two motors are dedicated to the ‘pinching’ function, the other two power the rollers on the pincher.
  2. Nope. We’ve done a fair amount of control theory work and implementation this year. It’s been a great experience for our students to be exposed to even more practices that are fairly common in the controls industry.

All of our rezeroing, minimum and maximum positions are determined by using a combination of position gathered using a quadrature encoder and monitoring output current and output voltage.

For example, we’d limit the upper end of our elevator travel based on an estimated position and then we’d calculate how much power is going into the elevator to prevent a motor stall condition.

After profiling the current draw, we determined that it requires a little bit of logic to figure out if we’re indeed stalling the gearbox, or lifting a bunch of totes.

We’d also rezero our elevator when it returns to its minimum position. Essentially, we’d allow for the elevator to run past the minimum position. Once we’ve detected that we’re not moving anymore, the position is past the minimum position (our elevator has a spring loaded return cable), and current has trended upward, we can safely say that we’re at the minimum position. We’d then allow the elevator to back drive itself via the spring to its natural state where we’d then reset the encoder.

Finally, we’re using a quad encoder on our pincher gearbox along with two different PIDs. One PID handles position control so that our drivers can quickly acquire game pieces. Once the game piece is kinda-sorta in our possession, we’d switch to a current based PID.

This ensures that we’d be placing almost an equal amount of force on what ever we decide to grab. This configuration works on game pieces in any orientation. Cans fallen over, Cans upside down, totes from the wide side, totes from the long side, totes that are upside down, you name it.

  1. We do not powdercoat our stock and do post machining. It just happened to be on that part, we kind of forgot a few holes. Careful measurements and some patience later along with a handheld drill, we’d have some pretty precise holes.

Are the rollers on the “pincer” polyurethane tubing like McMaster carries?

Maybe :slight_smile:

We took them off for the photo shoot. They look a bit funny to us.

I just have to say, this is the coolest looking robot I have seen for this competition. The Holy Cows never fail to impress me with their amazing powder coating. Well done.

Excellent Bot saw it up close and personal. So glad to see THE CLAW working on final bot! Their wire management is crazy good.