Game Manual - Team UPDATE - 2013-04-02
The ARENA The FIELD
The FIELD for ULTIMATE ASCENT is a 27 by 54 ft. carpeted area, bounded by ALLIANCE WALLS, FEEDER STATIONS, LOW GOALS, and GUARDRAILS. The FIELD floor is covered with carpet (Shaw Floors, Philadelphia Commercial, Neyland II, 20, 30550 (NOT 30753), “Ground Pepper”). Three (3) GOALS are located at each end of the FIELD above each ALLIANCE WALL. A fourth GOAL and three (3) FEEDER STATIONS are located in the corners next to each ALLIANCE WALL. A PYRAMID is adjacent to each ALLIANCE’S AUTO LINE. At the top of each PYRAMID sits a PYRAMID GOAL. Each LOADING ZONE is a trapezoidal area bounded by two (2) FEEDER STATIONS, an ALLIANCE WALL, a GUARDRAIL, and Red or Blue tape.
** While the two versions of the Talon have similar functionality, there are some differences teams should be aware of. Please see http://www.crosstheroadelectronics.com for more information.
The only power regulating devices for actuators permitted on the ROBOT include:
Jaguar motor controller (P/N: MDL-BDC, MDL-BDC24, and 217-3367),
Victor 884 motor controller (P/N: VICTOR-884-12/12),
Victor 888 motor controller (P/N: 217-2769),
Talon motor controller (P/N: CTRE_Talon, CTRE_Talon_SR, am-2505 and am-2195),
VEX motor controller (P/N: 276-2193) for controlling VEX 2-wire Motor 393 (P/N: 276-2177) only, and
Spike H-Bridge Relay (P/N: 217-0220 and SPIKE-RELAY-H).
Ooh! Ooh! Ask me! Ask me! (edit: this is, honestly, a link to a blog post that explains the whole thing at a reasonably technical level)
Actually I had to re-read that article a few times before I “got it” and would still have a hard time summarizing it any better than some of the previous posts, but if you don’t have anything better to do (like, say, getting ready for the first regional to be held within 1,000km of your home town) it is a good read and pretty well explained.
The behavior during the off period is to decay the fly-back/freewheeling current from the motor. Instead of redirecting the current back into the system like the Talon, the Talon SR simply connects the motor leads together. The observed mechanical behavior for both open and closed loop control among both devices is almost identical.
Both methods result in a very rapid decay of flyback current.