I couldn’t find this from a quick ctrl+f, how heavy is your robot this year?
We started the arm folded down against the TPU hard stops as a repeatable home position. We didn’t re-establish the home position throughout the match as it would stay consistent over the course of the match.
We did the same control scheme on the 2023 robot as well - the elevator extension and wrist positions were measured using the internal encoders of the Falcons driving them after always starting in the same spot.
Inspected at 124.2 lbs at CMP!
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It was an honor to play with you this year. I love the simplicity and effectiveness of the robot.
I heard people saying that your aim is fully manual, is that true?
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This robot is awesome! Added straight to my CAD release collection and robots to study. I also really appreciate the info tags included in the model.
Most 3d printed components on this robot seem very “form follows function”, so I just have to ask - what’s up with this sprocket spacer?
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The aim of our shot into the speaker is definitely not fully manual, we used the april tag to set the elevation for the shot into the speaker as well as centering to aim. However, pretty much everything else we did (intaking, scoring in the amp, climbing) was fully manual. We like to solve software problems with more driver practice.
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interestingly, I’m noticing the opposite. At nedcmp, I noticed they had some really aesthetic “spirally” parts near their shooter wheels but it looks like they aren’t in the CAD
(source: crappy yt screenshot)
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The best answer I heard from a student was “it fits our swiggly bolts better”.
In 2023 we used some 3D printed parts with weird lofted geometry and it generated a lot of questions, so we tried to find fun places to sneak it into the design this year. Purely an aesthetic thing but it’s fun to learn about more complex modeling techniques.
Beat me to pointing this out. Those shooter spacers are also an aesthetic choice, but we suppressed them because they added ~15+ seconds to the part studio regeneration time. If you go into the 6329-24-A3000 Shooter document part studio, switch the configuration to Complex and they’ll eventually load in.
Thank you for choosing us to be on your alliance and for captaining us to a deep playoff run! Your entire team was a pleasure to work with, and your robot was a force on Milstein.
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First I must say it was a pleasure to see the Bucks’ robot at three different events this year. I also have to say thanks for the PC 3d prints you guys did for us.
I have a few questions about your robot:
- What swayed you guys against the over the bumper intake you initially made in favor of the under the bumper design.
- Did you do anything to counteract the severe bending of the 1x1 box tube on your intake between worlds and DCMP?
- How did you implement shooting while moving on your robot? Did you do any sort of localization or did you only aim relative to a single target?
Very welcome, I hope they held up well!
Our OTB intake design worked fine, but wasn’t great at centering notes and wasn’t very wide. We talked with a lot of teams we’d be going to Granite State with and the overwhelming majority were UTB, so we decided to be a trend follower and test out a UTB intake using our existing geometry. It was easier to iterate to a point of working really well so we stuck with it.
We made the following changes:
- Remade our bumpers out of maple vs. the cabinet-grade plywood they were before. Mike (one of our lead mentors) teaches Bucksport’s woodshop classes, so the class got to choose a better wood for the application and cut new bumper backings.
- Filled the 1x1 front tube with maple.
- Added a 1x1.5 aluminum angle extrusion underneath the 1x1 front tube.
No damage happened at champs, but we also cycled significantly less than our other events playing front-court cleanup.
This is definitely a @jboynton6329 question, but I know we did not have localization implemented and were doing basic tx / ty tracking on the AprilTag directly under the speaker opening.
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So we don’t do anything special in terms of how we do our shooting code. We used the ty value from the limelight to set the height of our shooter and the tx to center with the drivetrain. From there we found that as we shot in the wider areas of the field the ty was not accurate so we had to add value based on the difference in the long and short sides of the of the april tag. Finally, we adjusted the perceived target location using our x and y field relative velocities to over aim to account for the movement of the robot. Our offseason project is to do more localization with mega tag, we just never got there this year!
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Here is our tech binder for the robot:
2024 Tech Binder_ Dial.pdf (19.1 MB)
and our binder for our engineering inspiration presentation:
Engineering Inspiration Binder.pdf (10.8 MB)
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What drive wheels are you guys running? Blue nitrile?
I assure you, if Midtown were on Einstein, I would have noticed… and not been watching from my couch.
More on topic to 6329, congratulations on a great season. Your behind the glass videos are awesome and have been a great teaching tool for our own drive team.
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Is the top of the shooter (bottom in the high release point / amp position) open in real life as well? I’m curious as to how this still feeds consistently for the high-release point shot.
Standard black nitrile wheels from SDS on L3 MK4i modules. We tend to swap treads when we get to an event, if we remember.
Yes it is, we thought we’d need to add a retention system or idler roller but it worked exactly as modeled.
How did you get color sketches?
New Onshape feature as of a few weeks ago - right-click on a visible sketch or a sketch in the Feature List and at the bottom of the menu you can choose “Edit sketch appearance”.
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Which robot was the twin? My best guess is OP Robotics.
Believe it was 1591
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really? Dial looked very similar to OP Robotics’ robot as well