Team 8 Presents: Víðarr (Vidar) - Our 2019 Deep Space Robot

FIRST Robot Showcase
1

Team 8 is proud to present our 2019 robot: Víðarr (Vidar)

Features:

  • Custom drive gearboxes for 8 wheel west coast drive powered by 6x NEOs. Top speed of 19.5 ft/sec
  • 2 stage continuous elevator with Dyneema rigging. Can score hatches and cargo on all three levels of cargo and rocket ship.
  • Touch-it-own-it cargo intake with 2″ mecanums powered by one 775pro.
  • Rack and pinion mounted under carriage to extend hatch intake mechanism and push cargo into flywheels.
  • Limelight vision target tracking to adjust robot turning when aligning to loading station and cargo/rocket ship bays.

We are competing at Del Mar, Great Northern, and Silicon Valley. Looking forward to playing there!

5 Likes
2

Is that free/calculated speed, or actual speed? Cause man that’s fast.

3

That’s the calculated top speed.

4

Have you needed to implement software limits on the drivetrain to keep that gearing from browning out the robot? If yes - how has that worked on the Spark Max platform?

5

Yea. We current limit all of the motors to 35A to help with brown outs. It seems to be working for the most part, but I have some doubts that the SparkMax built in current limiting is working as documented.

6

Do the calculations include a friction factor?

7

My impression is that the spark max current limiting is motor side instead of input side like the Talon SRX, and it is also scaled proportionately to (1-speed/free_speed) by default.

Anyone able to confirm or correct this?

8

Thanks! This explains a lot - we were reading ~50 on current draw from the Spark MAX, and ~10A from the PDP for our elevator.

9

image
image3024×4032 2.25 MB

Team 8 crate leaving the great northern and headed for our shop to be shipped back to somewhere warmer:)

3 Likes
10

This topic was automatically closed 365 days after the last reply. New replies are no longer allowed.