Team 6329 The Bucks’ Wrath is proud to showcase our robot for the Crescendo season, Dial!
Dial features a full-width under-bumper intake and a high-pivoted shooting system that can flip up to score in the amp, shoot over defenders, and climb in various spots on the chain.
We’ll be competing at the Granite State and Pine Tree District Events and hope to appear at New England District Champs and in Houston!
Proud to rep Team WCP!
Another year, another “I wish I thought of that” robot from 6329.
Looking great!
I love this robot
Another elegant solution from 6329. You’ve got me kicking myself for not thinking of this geometry. Very well played!
It was brought up on FRC Top 25 that the robot has been done since week 2 of build season and that it was originally an over the bumper intake. I dug back through my pictures and found this video taken on January 24th:
Maybe not week 2, but pretty close? We removed that intake and an under the bumper intake was installed and operational on January 27th.
Also, Dial has a twin! The Onshape reference sketches were shared between two teams. I’m excited for them to reveal a different take on the same robot concept 
@Drew_B Will you be releasing your cad or a technical binder?
We definitely will in the next few weeks. Our Onshape model was made in an Enterprise so we’ll determine the best way to make it public and add our tech binder to it. We’ll also be happy to answer any questions about the robot!
Hello! Congratulations on another great season.
I see your robot has a lot of 3D-Printed parts, even for things like supporting the shooter wheels, and gears. What material and infill did you use? Did you encounter any problems with these pieces?
Thanks!
Thank you!
All of the purple components (which are the majority of the 3DP parts) are printed out of Polymaker’s PolyMax PLA on a Bambu X1C. It’s far less brittle than other PLA’s we’ve tried - it takes impacts very well and tends to deform instead of fracturing. Any of the black components are printed using Polymaker’s PC. Everything starts as PLA and if it breaks enough, it becomes PC.
For print settings, we run the Generic PLA profile in Bambu Slicer and set the following settings:
What’s most important is ensuring that your solid walls/layers are printed in ways that help them handle the forces they will see. Also using WCP’s 1/2” Hex Inserts for 3D Prints helps a lot.
Between our two robots and making spares, we churned through at least 15 rolls of the PLA. We encountered very few issues as parts tended to show wear before actually failing in a match. We love 3D printing as it’s an easy way for more students to design and make parts for the final robot.
I miss having them on Einstein and having the AI butcher their name and call the The Box Trash again.
We missed being there too!
I assume you guys set up a master sketch that looked something like this:
I was wondering if you could find out the major dimensions. Def not planning on making a bucks clone…
Team 6329 is happy to release our Onshape documents used to develop Dial!
The top-level document containing our complete assembly, reference sketches, document directory, and tech binder can be found here:
6329 2024 Robot, Dial - Public Release
The sublevel documents are also public and can be accessed via the document directory. If any teams end up using this as an inspiration for an offseason build, we’d love to see it!
Yep, this is pretty much exactly how it started. We did all of our measurements to the origin and not the bottom of the drive tubes:
As the sketch progressed we used other features of the arm system to drive the geometry, hence why the Arm Length is a nice 12.447".
I would recommend also going lower than our lowest “home” angle of 25 degrees. We didn’t think we’d shoot from anywhere beyond the farthest legs of the stage, but the 25 degree angle ended up being our limiting factor in shot distance.
This document loads so much faster than our Highest level assembly. Are there any recommendations you can share about how to manage load times?
Oh boy oh boy oh boy.
got a few questions for you:
Do you have some sort of encoder on your arm? I do not see one in cad
It looks like your whole super structure is just 2 sets of sandwiched 3/16 poly? How has that worked for you?
How have the 3DP herringbone gears worked out for y’all? Any fun failure points?
I really enjoy the clever uses of 3D printing to easily and effectively build this robot.
Nope, internal encoders on the Krakens only. The system had very little slop and worked very well all season. Fewer failure points!
Correct, with some 3/8" hex standoffs in between. This was tested on the prototype robot with the plan to switch one or both plates to aluminum as needed to increase strength. Once it was all assembled, it was sturdy enough that we decided to ship it. We never broke or bent a plate all season and it looks cool with LEDs inside.
We use a lot of 3/16" polycarbonate because Bucksport HS has massive piles of it left over from creating their own COVID desk shields. May as well put it to use!
They’ve worked great! We put a pair on each side to reduce load and for redundancy reasons. We replaced one or two geared endcaps over the season, but not due to any failures of the gear teeth. One had started to split along the layer line from the gear to the chamfer, and the other was mangled during the massive collision lovetap with 3467 at DCMP.
Same goes for 1153’s awesome robot this year!
How did this work? Did you start the arm in a known position and constantly re-zero throughout the match? Or was it accurate enough to not need any additional help?
I do, but it’s probably worth breaking out into its own thread. Probably also worth a webinar/writeup/something of the sort… I’ll add it to my list of stuff to do.
My first thought would be to check your primitive count in the assembly using the performance panel. The 6329 document is sitting around 4 million which is pretty snappy, but other robots break 10 mil and slow down. Changing the render appearance or hiding parts with lots of complex geometry will help a lot.
Also, feel free to share the 131 doc with me and I can take a look!
