Ultraviolet 2020

Design Slides

Purpose of the slide deck

• Keep track of our progress designing and building a robot for FRC 2020 Infinite Recharge
• Robot Brainstorming, Update meetings, and event debriefs will be done from this deck.
• Allen will use what you post on your slides in the blog, so update them regularly. More is better than less, lots of photos, gifs, etc.

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• ToDo List --- Ultraviolet Design Sheet --- Fail form
• Spectrum Design Guide
• Shortcut to this Week’s Design Review Slide

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Kickoff

Kickoff

• Robust and Simple > Cool and Complex
• Consistency > Speed > Quantity:
• Don’t worry too much about optimization
• Know which game tasks not to do

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Important game information go on following slides.

Kickoff Brainstorming slides

• If you have any ideas for any mechanisms or subsystems on the robot, make an illustration of some kind/describe the mechanism, make a new slide under the corresponding title, and add it to a slide
• It could be a hand drawing, on the whiteboard, in Cad, put it on a slide so we can all get cool ideas. Yay, we like cool ideas.

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Photos of sketches, CAD sketches, pictures/video of past robots are all ok.

Tall vs short

• On Kickoff day, we almost immediately decided to go tall
• Conversation took like 30 minutes tops
• We weren’t going to make the same mistake we did in 2016
• Going short probably isn’t worth it
• Ball exit at a higher spot, higher limelight mounting, Shot harder to block
• More space for stuff in general
• Climber can be 1 stage elevator
• No need for awkward telescoping, scissor lifts, 4+ stage elevators, or tilting elevators/climbers
• Was never really up for debate
• Could find no real advantage to go short

Strategy Ideas

Strategies (Day 1 ideas)

• Go for 10 center balls on rendezvous point lines first to prevent opponent’s access.
• Check for overolled balls from opponent’s cargo bay before searching elsewhere for ground pickup
• When being defending and receiving balls from the loading bay, barely have a bumper over the safe area in order to make opponent fouls more likely. Maybe stay close and prepare to back up quickly to surprise a defender. (know G10 and G11 real well)
• Do not go for opponent’s balls in trench run during the match, it isn’t worth the penalty.
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General Strategy

Score points with balls fast

Don’t risk too many penalties

Climbing is important!! Like very important

Predict that climbing will win most week 1 matches

Cycle fast

Either get from feeder and do back of trench run shot, or wedge shot cycle fast to get RP

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Or cycle fast low goal dump to get RP- probably not viable because color wheel RP probably not going to be triggered all that often

Shooting location (From left to right)

• Far Trench
• Half Court; Trench Post; Logo Shot; wedge shot
• Front Trench
• Close Post
• Free Point (Auton Shot)
• Layup

Shooting location angles

Field Pictures

• Onshape Field
• https://cad.onshape.com/documents/88533eb2642eb0a499293f27/w/6ee9297f58b24b75369014ff/e/f98100acb2d5b6dd65a75461
• Field Top Down:
• https://www.chiefdelphi.com/uploads/default/original/3X/4/4/44492d390e1f186bef450b307b132e820fd88263.png

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Protected Zones

Just realized you can bump people if they are in their protected trench with any extensions, since the rule is only if your bumpers are breaking the plane of the trench. Maybe

Big Questions

Intake same side as shooter? Opposite Side Shooter?

Turret? (Why not both)

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Full Court Shooter - Can be defended

General Design Ideas/Notes

CG!

We need to keep our CG low if we want to be able to drive fast over the bumps.��The higher it is the more we will bounce as we go over. Motors should be low and belted up if possible

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https://photos.spectrum3847.org/2020-FRC/2020-Build-Season/i-VQ2CwLV/A

Driver Stations

Driver Station 1 is the worse and its assigned to the alliance 1st pick during playoffs of non champs events

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Driver station 2 is better and that is the captain.

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Driver station 3 is likely the best for shooting but is hard to see depth on the hanging bar.

Driving over balls may be big problem

These balls really like to go under robots. Bumpers need to be as low as possible.

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Angled Bumpers are an option (341 - 2012)

Drive Train

Starlight

4x 6” Pneumatic wheels

2x 6” omni wheels

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Starlight Notes - https://docs.google.com/document/d/1h4yTrnovF1t83SN7EQlGShAozCzBzLxYI-wuPDXsgOY/edit#

Drive Practice

https://photos.spectrum3847.org/2020-FRC/2020-Build-Season/i-v9ftd6p/A

Traction to traction sprockets

Back sprockets can be smaller to let the chain not hit the bumps. Make them 22t we have a lot of those.

Belly pan T-nuts

Put vertical plates up from the belly pan with T nuts to make the belly pan more stable and stop it from flexing because of the cut outs for the forks.

Intake

Retractable with bumper gap

• Retractable Full-width intake
• Picks up balls super easily
• Perhaps too easily?
• Nah probably not worth the bumper gap
• Bumper Gap with Rollers
• More protection against defense? (eidt: who wrote this)
• Gap can get hooked by defender
• 1073 hooked many teams on curie last year
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Mecanum - one side intake + sort

First normal roller intakes balls, second mecanum roller slides balls to one side

• Belt or wheels on the robot move balls towards the tower like 971 2012

Mecanum intake center

• The mecanum is stage one that can hold, say 3-4 balls,
• Mecanum vectors work by pushing it against the bumper or maybe even a hard stop on the intake, probably the 2nd one.
• Goes into a roller that rides it over the bumper. No bumper gap
• has one regular roller in front of it
• Similar to snow problem, but the middle non vectored roller can be made larger to allow for better ball funneling
• Big depends on what the priority is between hitbox size, volume, and “speed”.
• This is really what tells us what intake we build
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CD7 with ramp for bumper

Gets the ball off the ground faster. Can we get the ball off the ground with the mecanum intake quickly too so we don’t drive over it?

Also probably jams in center

Also is heavy

Snowproblem intake

Floating Roller Mecanum Intake

Similar to the snow problem above except the mecanum shaft has a gap in the middle and there is a floating roller like cybertooth (3940) - 2019, so it can push a ball up the bumper.

Intake on BOTH FRONT and BACK

Pros: Eliminates Turning around (Time Lost)

If 1 intake breaks during a match you still have the other

Cons: Ball Jam ( can design to eliminate ball jam)

Possibility for more than 5 balls

Weight

complexity

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Split in half intake

Each left/right side of the intake is powered by its own motor so you can change speeds, unjam.

Intake as powered intake from feeder station?

Can we use the top of our intake to ramp balls into our robot?

Add side shield to let us funnel the balls in.

971 2012

Literally exactly 971 2012

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https://youtu.be/aLmXVKNuH4E

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971 2012

Ball Sorting / feeding

Ideas

• Carousel
• Pros: sorts balls easily
• Cons: takes a lot of space especially on tall robot
• Vertical
• Pros: easy sorting/loading, elevation
• Cons: height, speed(?)
• Belts
• Pros: looks cool/fancy (probably fairly effective too)
• Serpentine Twist
• Super compact, reduces jamming in the middle but maybe not when it enters

Moving Belt Ball Path

• The top pulley moves away from the other side of the conveyer decreasing compression and not allowing the balls to continue up the path. The next ball in still pushes one ball up. But they never reach the shooter until you retract the belt and all the balls move up together. Let’s you store balls before you are ready to fire

Corkscrew elevator

Middle Powered roller puts balls through cork-screw path, outside is rollers spaced out

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Pros: Is able to hold balls, elevate them

Cons: Extremely complex,

Pyramid, triangle tower

Load three balls in, reduce to two, reduce to one, than feed into shooter.

S-Path, wheel shoot to each other

Wheels shoot balls to each of the next weeks, belts between them if they balls don’t catch the next wheel.

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Lets you have the shooter on top of the intake.

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Apex 5803

Poly Cord rope conveyor

• Cool idea for moving balls

7 Ball path (shaped like a 7)

Combination of 341 and 254 in rebound rumble

Intake can pick up two at a time, bottom belts feed balls into a belt and wheel that rolls it over a corner and it a double belt that pick it up to the shooter.

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This let us shoot and intake on opposite sides.

Maybe have a turret.

Sorts balls nicely

Quickly feed into our shooter

Spring Loaded belt pulley

If you spring load one side of a belt, if that side needs to slip it will be able to push back a little slip easier.

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Test if we spring the top two pulleys together on opposing belts if the balls at the top can slip easier.

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Surgical tubing or a spring on top two shafts

Force them together, some stop to not let them

Get to close together.

Feeder wheel with passive rollers

Two belts lead to a portion where the ball is only in contact with the top belt, a few passive rollers and the Feeder roller.

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When intaking you turn the feeder roller down so the top ball just spins, when ready to fire you reverse the feeder roller and blast the balls into the shooter.

2.5 position intake

One position is for getting into frame at the begining of the match

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After you first drop the intake a latch comes down stopping the rod from retracting all the way back so your intake can be your feeder ramp

Tube Cover

Can a portion of the stationary roller be covered when in the roller is up to allow the ball to slide with the belt not touching the bottom roller?

Double Elastic Pivot

Allow the intake to over extend or over retract.

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The pneumatic pivot is mounted on a plate that can pivot, attached to the gas spring, the gas spring is mounted on a plate that can pivot forward but is held back by surgical tubing or a spring. That way if you push the intake down while extended the surgical tubing extends, or if you push it more closed when retracted the gas spring closes.

Teflon wall for ball sorting

Can we just move a plate at the top to stop the top ball, or do we have to stop all the balls.

Shooter

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Trajectory calculators

https://docs.google.com/spreadsheets/d/1TSm5I5orFxDIKUXFffIXBdpIzoGrJF5mu9q9sMrG86g/edit?usp=drive_web&ouid=113629772827430898721

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https://www.desmos.com/calculator/jjuluadswh

• Turreted shooter
• Pros: can aim at goal without having to adjust robot’s position, consistent
• Cons: can only go for the high goal/ inner goal
• Non-turreted shooter (w/ adjustable hood)
• Or with neither
• Hooded shooter is one that the back can move to change the launch angle

R2-D2 inspired Turnable shooter (so a turret)

A shooter that can spin like R2-D2

Two wheels in the shooter that keep spinning while bottom wheels feed into top shooter

Balls shoot out through funnel which moves up and down too

This part doesn’t have to be R2 shape

Double Horizontal Wheel Shooter

Shooter ideas

• Or Double Wheel horizontal
• Where we could have variable speeds on both motors so the ball arcs sideways with wicked spin
• Probably not but seems like a cool idea

Wide Shooter

Shooter wheel is 2+ balls wide to allow you to dump them out of your robot faster into the high gooal.

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• Less chance of a 3 pointer
• Similar to 2009 and some 2006 robots.
• Possibly viable for MCC robots

Shooter ideas

• Shooter double wheel
• How do we adjust angle with this?
• Shooter acceleration 2017 spectrum stuff
• Shooter hood, adjustable with spacers like 2017
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Turret

• Shoot sideways from the start, allow teams to feed you.
• Shoot towards intake, or away from intake
• Shoot out of front or back

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• If turret, the accelerator rollers/wheels probably need to be on the turret as well.
• Possibly the turret is in the middle of the tower
• Or at the bottom 33 style

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Hood - 33 - 2016

Lead screws adjust hood, stops the balls from moving the hood.

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Linkage Hood

33 - 2012

Gear rack hood

Rack on the hood, gear on a servo or slow spinning motor output.

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971 - 2017

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111 - 2006

(Behind the Design Book)

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Small sector gear & rack hood

Smaller gear near the pivot powers their hood from a window motor, could work from a snowblower motor.

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118 - 2012

Adjustable shooter hood compression

33 - 2017 - standoffs help you adjust the shooter compression

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Can also do it by building in adjustments to the shooter side plates, or if you are using rails for a hood have slots in them and bolts so you can slide them forward and backwards.

Adjust hood on opposite side of shooter

It may be possible to put the hood adjusting mechanism on the front of the shooter by extending a lever arm through the shooter shaft as a pivot. This save space behind the shooter so you can keep it loser to max height and further back.

Pneumatic Hood

Use a couple cylinders to get a multi position hood.

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2056 - 2016

971 - 2012

Backspin

Helps with stability

Helps the balls drop into the back of goal when it hits the backboard it spins down.

Ball Spaghettification

• With consecutive acceleration wheels, the gap between the balls increases
• Allowing you to score them next to each other but have them come out of the shooter spaced out a little and not jam the main shooter wheel

Hood Foam/Rubber Backing

2017 shooters used foam backing, yoga mats even, to allow the balls to compress less given a more consistent shot.

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If the power cells have inconsistent compressions

Wheel Type

Don’t shoot with spoked compliant wheels, they compress differently based on where the ball hits the wheel.

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Lots of teams have shot consistently with many wheels, so mainly finding one and deciding on that one so we can start testing and stuff

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Hooded Shooter Variables

• Wheel Size, Type, Width, Material, Flexy-ness(pattern)
• Wheel Speed and torque
• Recovery Time
• Inertia (flywheel)
• Contact time / arc length with the ball for each shot
• Accelerator Feed Wheels/Rollers (kicker wheels)
• Size, type, width, material, flexy-ness
• Qty of accelerators wheels
• Wheel/Roller Speeds, each one, want to go from slow to fast
• Distance between shooter wheel and accelerator wheels/rollers(distance between each)
• Hood Type and adjustment mechanism
• Hood backing material, thickness, width, design
• Is it foam, is it metal rails, plastic rails, how many, what is the arc, etc
• Launch Angles
• Conveyor/hopper to Accelerator Feed Wheels system

Hardstop location

Possible hard stop into the DJ booth to let us be at the right angle to shoot into the goal.

One way bearing

Allows last roller to spin faster than the motor is spinning it. This allows the ball to be pulled through the mechanism faster than the feed motor moves.

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Should be on the accelerator wheel, may allow us to have the accelerator wheel be the same motors as the shooter wheel.

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How a one way bearing works - https://www.youtube.com/watch?v=0QXrFUlFbQk

Dingus/Macker for close range

Since you don’t need much velocity, a dingus, or macker may work for a short range shot to adjust the angle, instead of pulling the hood all the way down.

Close tolerance at top of ball path

We want the ball centered perfectly every time it enter the accelerator wheel.

Safety wire rubber to wheel

Distances

Intiantion Line = 10ft

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Front Trench Line = 18 ft

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Front DJ Booth = 29ft (minus robot length) ~26ft

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Back DJ Booth = 32 ft

Color Wheel stuff

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To combine intake and color wheel we could have a two wheel design and just spin it different ways

Maybe if we can move it, it could be

shooter wheel too?

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Vertical Wheel

Cons: gearing of Wheel to

Control Panel changes with

Distance to it. If you aren’t

Right against the trench,

You won’t be able to use

Motor encoder.

Pneumatic Cylinder

wheel

Color sensor

Spoked Wheel

Small wheel with spokes use the Spacers to move

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Bison ri3d

Angled compliant wheels to move wheeeel

https://youtu.be/3zWEQ0VDG5E?t=38

Pro: it wouldn‘t take up a lot of space

Pop down angle color wheel

Color wheel drive pops down after we drive into table with the stilts

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The color sensor is on top of the wheel

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Uses pneumatics to pop out a single wheel.

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Basically a NEO 550 - VP - Flex Wheels or solid small wheel which ever grips better. Maybe AM 2” stealth wheel.

Climber/Balancing

Balance Calculations

https://www.geogebra.org/m/aapcdzvf

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http://www.samcfuchs.com/ClimbingSimulator/

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Wack Climbing Defense

Use climber (if not enough time) to push up one side of opponent’s generator switch and cause an imbalance and put one bot back on the ground (potentially two if one slides), therefore having a net gain of twenty points (taking into account the points you would have gained by climbing). There are no rules against this as long as you do not touch an opponent while doing it.

36in

/15

• 2 hook climber
• Pros: easy solo level climb
• Cons: Slides when not in middle, cant move along bar
• 1 hook climber
• Pros: easy climb
• Con: balancing, probably slide easily
• Wheeled climber
• Pros: adjust balance during climb
• Cons: difficult traction? difficult to do? Potentially unreliable
• Stinger

Triple Climb?

Two hooks, right in the middle of the bar for balance

then from under our robot on opposite sides come out forklift things

Pros: really good for balance

Cons: may be hard to lift 3 robots

Telescoping tubes

Tubes that telescope and stuff. And hook on the end of it

Maybe double with the winch

Curl

• Could be with with buddy climb
• you can curl up, you can give a lot more room for the buddy bar climb.
• Curl could also shift our cg but not actually because it unravels when the match ends

Scissor Lift

This allows us to get a lot of lift out of a simple mechanism. 195 used a scissor lift to climb higher than a single stage elevator.

Fork Legs Lift underneath

• Forks under you that goes down through 971 linear slides thing
• Lineup on the middle, Muscle up and latch
• 28 inch bot drives on platform, and pull up
• Maybe with a buddy bar

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63” Tall Bar - Need ~30 in under you to lift a 28” robot a few inches off the ground.

So that means you need to grab the bar 33” from the bottom of your robot. Which means you stilts need to lift you, 30 inches to be able to grab the bar (of course that’s what it means)

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The V-bar above the center is 1ft above the bar, so your robot can be 42” tall and still not hit the vbar when fully up. And that is only directly next to the bar, as you move further away from the bar you can be taller, almost certainly the full 45”

Passive Forks

The forks are sprung down and held in a latch at the top of their motion. ��A release lets them spring down to a bottom latch. The bottom latch prevents us from crushing our partners and allows us to buddy climb.

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Our partner can stop the rung from going down on our side if we need to try to triple using our buddy climb.

Hooks

• Hooks that extend up and buddy bar on the back
• The very simple

Drop a bar/hook (requires “cheesecake”)

• We climb up and linear extend a bar or hook and make sure the other is on an alliance partner and we ascend

Angle

• Thought process, how do I get more space? By the power of angles because frame perimeter rules
• 1323 or 125 forks in 2018 with robot angle
• But instead it’s not 90 or 0, it’s some whacky angle in between where your forks are flat, and your robot is not and you can still yeet up to the top

Tube string lift

Tube string lift that goes up cause it's just an elevator

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• Hook can be your carriage, so elevator stages can be taller.
• Continuous so each stage doesn’t have to go up at the same amount.

Hook

1986 - 2013

Drawer slides, very compact

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https://youtu.be/uKy-IKDq_6o?t=129

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28” full extension slides

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Powering Drawer Slides/Hooks

• Powered by same rope
• Spool rope one way to extend elevator, spool the other way to lift us using the hooks

Template

• Slide 100 has template so you can use it
• template

Gas springs on climber

If you have your climber rails on a pivot and gas springs pushing them into position, if you drive into the bar the gas springs collapse and you don’t bend your climber.

Ratchet / Brake

Needs a ratchet so we don’t fall down

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https://www.mcmaster.com/ratchets

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That’s 2590 - 2014 ->

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WCP has a COTS brake now

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Or stationary hooks like 2013 titanium

Lets you be rigid when fully climbed

Friction on bottom of forks

Friction on the bottom of the forks stops us from swinging forward or backwards until the forks are off the ground. Normals force is just the spring force of the springs pulling down the forks.

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Need lots of spring force, surgical tubing wrapped around a pulley should work.

V-Groove Rung attachment

It’s not a hook that we have to pull down on to seat. It’s a V-groove that we drive into and latches and then we can pull down on it.

Climber cross bar

3d printed insert into vertical 2x1 end caps, thread all all the way through it. Holes in the outer walls of the side rails to allow you to tighten the screws.

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Plus a few angle brackets on the side of the vertical 2x1 as well. Just can’t have anything on the side wall so it can be used as the bearing surface.

Climber A-Frame

Make sure to have a support bar on the climber going towards the shooter tower side of the robot, so that it’s put into tension when we curl.

Spring pulling down on climber

If we have a spring pulling down the climber it helps to climb quicker.

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60lb+ of constant force springs.

Double Gate Latch?

Top and bottom, springs to latch?

Hooks on the top of the climber

We should have hooks on top of the bar for fast solo climbing, when we don’t need to use the latches, and can lift lift less high.

Complete Robots

Quick single file ball path sketch

Basically our 2012 robot really,

Assume the intake over the bumper can somehow center the ball.��Has a rectangle and the circle to show a climbing bar 30” from the floor.��Keeps 5 balls in a row, below max height.

Fold to go under trench

Shooter raises to shoot from higher.

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48 - 2012

330 548 2012 arm thing

• Arm with room for 5 balls that has two independent wheels at the front for shooting
• The independent wheels are for doing color wheel/ getting sick spin shots
• When the arm is fully vertical, it hooks and climbs

Human Feed load only robot

Consistent cycles, drive to the loading station, get 5 balls, drive back out of the sector, shoot into the goal.

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Only works if opponents are scoring lots of balls.

Literally exactly verbatim 971 2012

• They tested their 8 possible designs that year to be able to sort 5 or 6 balls and chose that one
• Their ball path never jammed at the curve, and maybe there can be belts on both walls
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Week 1 - Tues - Jan 7th

Field Building has started

CLIMBER

• First Prototype is using Drawer Slides, It gives us the extension we need and is small, light and simple.
• Gas spring stops drawer arm from breaking
• First prototype is in progress and we identified things we will change:
• Smaller blocks
• Small bearings
• 3d printed bearing mount for string
• Spacing

Intake

• Rough prototype of ball going over bumpers
• Made from protopipe and hex shafts
• Mecanum (black) wheels used to center ball
• 2 inch compliant (red) wheels
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https://photos.spectrum3847.org/2020-FRC/2020-Build-Season/i-CBtkmGp/A

Trade Offs / Considerations

• Complexity / Simplicity
• # of Actuations (Turret, hood, belts, buddy climb, etc)
• Reliability
• Weight
• Packaging / Features
• CG vs simplicity
• simpler to mount motors near shooter, but CG is worse, etc
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Shooter/Intake Location

Opposite vs Aligned Facing (does not matter with turret)

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Co-Located vs Separated Mounting Locations

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Intake is always on “Front” moved forward when you push forward.

Opposite Facing

• Pros
• The feeder is always opposite the goal (for Full court shot)
• Don't have to turn around if ball behind you(Auton shot and intake behind afterwards)
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• Cons
• Driving forward is not the direction the shooter faces. You drive backwards to “aim shooter”
• You auto aim tho (but not actaully)
• Front and back camera possibly
• Rebounding is hard

Aligned Facing

• Pros
• Assuming that front throttle is intake, it’s easier to aim the shooter as well
• Can pick up lobbed balls better/ rebounds
• Easier to get fed balls in auto because shooter is farther from the goal
• You can use your intake to keep a defender further away from you

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• Cons
• Have to turn around to score if you are between balls and goal
• Can’t do full court. Less good in auton
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Co-Located

• Pros
• Could be lighter because structure can be integrated
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• Cons
• Belt pathing more complicated because it starts and ends in the same spot and has to go around a longer path
• Weight is centrally located; less flexibility in weight or CG
• Stowing the intake is trickier; packaging is harder the intake might want to be where the shooter is
• Hopper is legit harder, the feeder entrance is not the intake entrance

Separate Located

• Pros
• Belt pathing can be closer to a straight line
• Ball hopper is easier
• Packaging on the intake is a lot better, and weight is more flexible
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• Cons
• Structures are harder integratedly

Aligned Facing - Separated Location

Shooter On left facing right - Intake on right facing right

Nickname: The OP Robot

• Pros
• Defender is really far away, virtually unblockable
• Free throw line shot is farther (easier)
• Also easiest auto feed shot
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• Cons
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Aligned Facing - Co-located

Shooter On left facing left - Intake on left facing left

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• nope

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• Cons
• Worse in every way

Opposite Facing - Separated Location

Shooter On left facing left - Intake on right facing right

• Pros
• Intake can be closer to the feeder station
• Easiest full court shot

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• Cons
• Free throw auto shot is the worse
• the hardest auto feed ball shot, is closest to the goal
• Easiest to block

Opposite Facing - Co-Located

Shooter On left facing right - Intake on left facing left

• Pros
• Short path to intake ball
• Best free throw path tandem with intaking balls
• 2nd hardest to block
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• Cons
• Feeder full court is farther away

Turret w/any of these?

• Pros
• Has pros of both Aligned and Opposite facing with potentially none of their Cons
• Has every angle.
• Easier auton shots because it can shoot at weird angles
• Can shoot at 90 degrees for possible robot feeding us balls
• Can shoot at any position, can help if there is defense and we are like pinned i guess
• turning can probably maybe be faster than your robot
• If being defended can still align to goal
• Cons
• BIG shooter feed inconsistencies
• Weight up high
• More complicated
• More wires, more weight for motors and wires
• Can’t be as close to the edge
• Less rigid because mounted on a bearing and not rigid structure, shot might be less accurate

Turret Facing - Co-Located

Shooter On left turret - Intake on left facing left

• Pros
• Not much
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• Cons
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Turret Facing - Separate location

Shooter On left turret - Intake on right facing right

• Pros
• Very versatile autons
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• Cons
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Other considerations in terms of permutations and interactions of robot decisions

• Intake going front because that’s when we are manual driving
• Omniwheels first when driving over bumps
• (intake on omni side for both of these at the same time)
• Shooter over the pneumatic wheels because of rotation axis
• 341 Bumper dip?
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Buddy Climb or No Buddy Climb

Week 1 Decisions

• Robot Length? -
• Forks
• Ball Path
• Robot Width? -
• Wheel Spacing? -

Week 2 - Tues - Jan 14th

Subsystem Leads

Drivetrain - Jack

Climber - Michael

Latches - Chris, James

Stilts - Kathleen, Mason

Shooter - Alex, Felipe

Intake / Ball Path - Aiden, Ethan

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Controls - Jia, Emilio, Abbie, Aidan B

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Everybot+ -

Drive train

2020 Drivetrain Prototype - Starlight

4x 6” Pneumatic wheels

2x 6” omni wheels

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( 4 plus 2 concept)

Starlight Notes - https://docs.google.com/document/d/1h4yTrnovF1t83SN7EQlGShAozCzBzLxYI-wuPDXsgOY/edit#

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Drivetrain

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• Version 1 CAD is done and has been sent to Solarcraft
• In house parts will be made this week
• Lathe shafts
• Router
• Front Rail
• 3D print
• Wheel Hubs
• Rail Inserts
• Standoff Inserts

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Intake

Intake

• Another version of intake
• Still over the bumpers but now using 2019 style rollers
• 7/8th dead axle shaft with needle bearings and 1 ⅛” Polycarbonate tube
• Prototype made with pvc pipe spun on 3-D printed parts
• Forms path that drives the ball

​

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https://photos.spectrum3847.org/2020-FRC/2020-Build-Season/i-8DbppRV/A

How do we vector the ball?

• We want a large hitbox on the intake is better but we shoot balls single file
• But funneling is difficult and balls jam easily
• So how do we go from 3 to 2 to 1 balls wide
• Many ideas out there, 2056 (2012) style, 341 (2012) style. Mecanum intake (snow problem)

​

​

Intake prototypes

• We made 2 versions like this
• Testing roller geometries
• We realized that intaking could be better with 3 inch compliant wheels
• will test that this week
• Tried testing vectoring with angled blocks
• Balls sometimes jammed/got stuck on angled blocks

​

​

New prospective intake design

Similar intake and ball path as 971

​

https://youtu.be/aLmXVKNuH4E

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Climb

Climber Elevator

• Dropped the drawer slides idea
• Inspired by 148’s 2019 elevator
• 1-stage elevator, fully retracted ~>45in
• Powered by chain on both sides
• Two NEO motors
• Triangular trusses to keep the elevator steady
• Hooks attached close to the midpoint of the moving stage of the elevator that we will use to climb up
• Attached towards the middle of the moving stage to give the robot underneath us more room to fit

Buddy Climb Prototype

• We are inspired by 971’s 2019 linear actuator belt climb
• Last week, we started our prototype
• The wooden frame represents our “robot”
• The forks will rest inside the bumpers of our robot
• Our idea is to have a motor (775) that drives the bars down & a robot (about <26”) drives onto the forks
• Center of gravity will be opposite of the robot we carry, so that plus traction pushes the forks down
• We will have to coordinate with other teams for los issues
• The ‘reverse belt’ design makes the whole system lighter with around the same power and efficiency.

Controls

Controls

​

• Code updated for 2020
• PID Velocity Closed Loop
• Worked on Updating SPARK MAX and TALON FX firmware
• Got Color sensor working
• Chameleon Vision
• Maintenance

Shooter

CONSISTENCY IS KING

Everything in the shooter path needs to be consistent.

​

Rigid and consistent hood angle

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Velocity control on every motor in the ball path, from the belt bed to the final shooter wheel.

Shooter Progress So Far

• Tested ball shooting on a modified 2017 shooter
• 2 feeder rollers powered by a 775 pro
• 4 inch Shooter wheel powered by 2 775 pros
• Adjustable hood to test different release angles
• https://photos.spectrum3847.org/2020-FRC/2020-Build-Season/i-F8H8wNg/A
• Current Set Goals for Shooter
• Consistency in shots
• Large two point shooting range
• Able to be tuned for more accurate 3-point shooting in certain spots

Shooter Plans Going Forward

• V2 Prototype is almost ready to begin testing to tune variables to find consistent shots
• 4 inch kicker wheel powered by a Neo at 1:1
• 6 inch shooter wheel powered by 2 Neo’s at 1:1
• Allows us to test with a six inch shooter wheel
• Testing compression levels, release angle, and wheel velocity
• Goal is to be able to move to a close to a final version as soon as possible, in order to begin fine tuning shots quickly

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Shooter Trajectory - 44ft not needed

Shooter Trajectory

Up close shot

Everybot +

Everybot + Goals

• Build an Everybot and document the process
• Improve on the Everybot as we go
• Have a robot for driver practice and defense
• Learn to build the kit bot so we can help our partners

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Week 3 - Tues - Jan 21th

Drive train

Drivetrain

​

​

• Sheet Metal was send out last Monday. We are hoping to get it back Friday
• Router has been tuned to cut 2x1 for front rails
• Will be cut this week
• All lathe parts are done
• Yay!

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Drivetrain

• The CAD for the bumpers is done
• Started working to integrate other subsystems

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Drivetrain Gearbox

​

• 2 Falcon 1.5 stage shifting Gearbox
• Based on: Falcon 1.5 Stage Shifting Gearbox - CAD
• 1st Gearbox has been made
• Plates made of delrin. Final version will be .25 aluminum

Intake + Ball Pathing

Intake

• 3 Roller intake that moves the ball up - 1 NEO
• Prototyped on Thurs of last week

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• CAD version that also has pneumatic powered pivot

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Ball Pathing

• Prototype V Belt design
• Funnels the ball
• Now has a belt in the middle that helps feed
• Protopipe belt tower to feed into shooter

Tower and V connect

Shooter

Shooter

​

​

• Tested prototype shooter
• Used 6in Vex tires, then 6in Colson wheels
• Tested with yoga mat and teflon on hood
• Started tuning the PID controls for velocity control
• Shooter wheel geared 3:2 from two Neos
• Accelerator wheel powered from same motors

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Shooter

​

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https://photos.spectrum3847.org/2020-FRC/2020-Build-Season/i-sxb8gkn/A

Climb

Climb

​

​

• 2 Hooks on top of elevator
• Grippy stuff on them
• For solo climb
• Attached via sheetmetal “C”
• Other Changes
• Switched bearings to only be mounted on static bar of elevator
• Inner elevator bar (the moving one) switched to a sheetmetal C
• Chain geometry fixed, closer to the elevator
• More CAD progress

Buddy Climb

​

​

• Belt and pulley system
• Using a versaplanetary gearbox
• finished the CAD
• 9mm belt
• Parts should be coming this week

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Latches

• From one swinging gate latch to two spring-loaded latches (per side)
• Y-funnel to guide into proper area

Color Wheel

In frame color wheel may be possible

• ​

Color Wheel

• Likely, a Compliant wheel on an Ultra Planetary Gearbox with a NEO 550

Controls

Controls

• Velocity Control Working, can consistently be at a speed

Week 4 - Tues - Jan 28th

Drive train

DriveTrain

• Sheet metal came in and Protobot drive train is assembled
• Next sheet metal run is going out on Thursday
• Will include parts for Comp and Practice bots

Intake + Ball Pathing

Intake

• Finished the CAD for protobot
• Got the parts lasercut out of wood and mounted to Protobot chassis
• After some testing, realized that we probably don’t need the middle passage with a belt
• Used BAG motors on Prototype
• will be NEO 550s on the actual design

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Intake

• Some problems:
• Didn’t test the up position for the intake and bottom bar hits the powered-V (oops)
• First compliant wheels on funnel would catch balls and jam them
• Could lower powered-V so it interferes less
• Balls stored seemed like a tight fit
• Solutions:
• Made the intake able to go in all positions
• Got rid of the first wheels
• Made it into one plate and got rid of the middle belt
• Widened area

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Shooter

Shooter

• Pew pew
• Instead of extending hood, we added a second accelerator wheel on the back
• We exist in the CAD now so that’s cool
• Figured out how we’re mounting on robot
• Have all our stuffs cut/laser cut
• Can begin assembling on protobot
• Lathe Colson wheels
• To reduce gap between them
• To make their diameter consistent across

Climber

Climber

​

​

• Gearbox
• More CAD Progress
• Elevator stabilization bar moved to the top
• Lots of holes
• Trying to get CAD finished before Thursday deadline

Buddy Climb Forks

​

​

• Now have functioning partial prototype of

belt/pulley system

• Working on clamps
• Laser cut a test one
• Need to figure out

what the dimensions

of the forks will end

up being

​

​

Latch

• Latches’ curves adjusted to have a steeper angle when meeting; Allows more clearance for the bar
• Bulkier Y funnel, along with brackets being introduced to hold the latches

Controls

Controls

​

• Ball Tracking
• PID Velocity Control
• Getting more used to it
• Starting Breakdown of Tasks for Electrical and Programming
• Sensors
• IR Beam
• IR Distance
• DJ
• Working Prototype

Everybot +

Everybot

• Chassis complete
• Started working on upper body frame

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Week 5 - Tues - Feb 4th

Week 5 ideas / notes

• Flip out alignment guides on pivots to set up our shooting locations on the tape line.
• Limelight to tell us we are aligned to goal

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• Need to add flashlight to the front
• https://www.lightmalls.com/unique-fire-uf-t20-cree-xm-l-t6-led-800-lumen-3-mode-white-light-zooming-flashlight-torch-1-x-18650
• Standoff under the Tower motor/VP
• Shooter belt is opposite the Tower motor

Drive train

DriveTrain

• Protobot drive train is assembled and wired
• Next sheet metal run was sent on Thursday
• Should come in sometime this week
• Will include parts for Comp and Practice bots

Intake + Ball Pathing

Powered V / Funnel / Indexer

• Last week, ran into problems with balls jamming

and not sitting right

• Made it into one plate and widened the gap
• Mounted the NEO 550s

Powered V

• To-Do
• Robot is pretty heavy, so looking to reduce weight
• Might have less plate
• Not sure which belts/wheels are necessary
• Considering taking out VersaPlanetary and do belt reduction

with the NEO 550

Intake

• Mounted the pneumatics to intake so

It can move up and down

• Got it wired and connected to rest of robot
• Looking to put lightning patterns to reduce weight
• Might use smaller pneumatic cylinders instead of the 6-stroke

Shooter

Shooter

• pEw PeW
• We built a thing on the protobot, but...
• We need to change hood angle and height and possibly construction

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Climb

Climber

​

​

• More CAD progress
• We have sent out the sheet metal to Solarcraft

Buddy Climb Forks

​

​

• finished clamps
• Figured out how to add side bearings so plates don’t scrape along bar
• Need to CAD the gear w/ hex shaft crossing robot
• Need to figure out

what the dimensions

of the forks will end

up being

​

​

Latches

• Back to 1 latch
• Changed position of pivot point and simplified funnel geometry
• Figuring out latch geometry

Controls

Vision

• Ball tracking with OpenSight
• Can track multiple balls
• Working on getting position of each ball so that robot can drive to it automatically
• Implemented wide angle camera
• Loading Bay tracking with OpenSight
• Can find Loading Bay and send position data through NetworkTables so that robot can align with target

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Vision

• LimeLight
• Can track goal from various distances and angles
• Need to experiment with angle and position of camera
• Need to implement sending angle and position data over NetworkTables

​

Electrical & Programming

• Electrical is done on protobot
• If you want to learn how to do electrical talk to Emilio
• Programming Breakdown
• Talon FX: Jia
• Spark max: Emilio
• Everybot: Michael

Everybot +

Everybot

​

​

• Finished main chassis
• Started working on intake

​

Left to do:

-drive train

-intake and shooter

-climber/hook

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Week 6 notes and ideas

• Falcon direct gear to tower gears, 8t pinion. Remove the VP
• Weight savings
• Flex Wheels to pool noodles - 1lbs
• Remove roller - 1lb
• Remove VPs in Funnel and remove one NEO 550, move to belt and crossed belt
• Remove VP from tower and switch to Falcon with 8t pinion
• Fairlanes move to stealth wheels
• Top sprockets for climber is ⅜” bearing with ⅜” hex shaft retained from the outside
• This time next week, the plan is to have a fully wired comp bot

Week 6 - Tues - Feb 11th

Sign Ups

Dripping Springs Sign Up -

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​

Comp Team Nominations - https://forms.gle/tzTDk2LuPyMvEUew7

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Drive train

Drivetrain

​

​

• TO DO:
• Paint/Powder coat all parts
• Design and laser belly pan
• Assemble frame
• Make wheel assemblies
• Make chain runs
• Assemble 2nd gearbox

​

​

​

Intake + Ball Pathing

Intake and Powered V

​

​

• Removed belt on one side provisionally
• Only has 2 rollers now that have larger OD
• Tested with 2.5” Pool Noodles
• Will likely use 2.5” Polycarbonate Roller - just came in today
• We still need to determine the length of these rollers
• Intake slopes added- two on side and one on front
• Always and still iterating and improving
• but final version for the most part should be done by the end of the week

​

Intake

Before After

Ball Tower

​

​

• Belt shifter thingy
• The belt moves back removing tension and allowing the balls to stack up before going into the shooter
• Currently a single ball can go to high
• need to adjust rails to remove traction between front belt and the ball

​

Shooter

Shooter (PeW PEw pEW PEw peW)

​

• New Motor Mounts
• Room for 6 Talons, currently testing with 4, will probably drop to 3
• Ability to change which wheels are powered and how they belt together
• Changed from Fairlane wheels to AndyMark Stealth Wheels
• Lighter and don’t require weird hubs
• Still adjusting hood angle and length

​

Climber

Climber

​

• CAD Progress
• Sheet Metal Came In
• Construction ready to start

​

​

​

Forks

​

• Changed CAD to have Neo 550 and gears instead of VP gearbox and motor
• Makes it lighter
• Added hex shaft
• Connects both sides
• Side Bearing Clamps hold the bar

much more securely.

​

​

​

Latches

​

• ‘Claw’ curvature adjusted, alongside the pivot point being moved
• More support implemented, looking for ways to lighten it overall

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Controls

Vision

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• ​

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Electrical

​

• Still need people to learn electrical
• Talk to Emilio
• Protobot electrical is done and working
• Cable Management is better than last week

Color Wheel

​

• Prototype Finished
• Can detect Colors with over 99% certainty
• To Do:
• Paint Color Wheel
• Make motors move
• That motor likely is not a VP because of weight
• Figure out what options work best
• 3d printed pulley reduction
• Large gear reduction
• Ultraplanetary possibly

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Everybot +

Everybot

​

​

• Intake:
• PVC pipes and shafts are cut to size
• Gussets and other components also ready for assembly

​

​

Everybot Climber

• the housing for the winch is complete
• Mounted to the chassis
• Left to do:
• Measure and cut rod that will actually winch robot up / assemble said rod
• Mount motor
• Create hook/ pulley system

Week 7 - Tues - Feb 18th

AKA Old Bag Day

Announcements

• Sign ups went out in email and slack
• Dripping Springs
• VEX Volunteering
• No Meeting Saturday
• Sunday likely going to scrimmage but have to find out where. Depends on state of the robot.
• Parent and Team Meeting - Wednesday 2-19-20 at 5:30pm
• Strategy & Scouting Meetings next two Wednesdays
• Drive and Pit Team announced this week. (no later than Friday)

Drive train

Drive Train

• Comp Drive Train is done
• Spare parts still need to be made

Intake + Ball Pathing

Intake

• Worked on making everything closer to competition versions
• Made lexan plates
• Switched from pool noodle intake to polycarb intake
• Handles for the robot
• Added support for the pivot so less weight on
• side bars
• Frosted lexan plate

Powered V

• Most of design stayed the same
• Unclear instructions led to Compliant wheels being removed
• it seemed to work better than what we had before
• Decided to take them off and only use belts
• Got rid of VPs on NEO 550s
• Made competition “V” out of birch and thin
• PTFE plastic covering over it

Tower

• Lexan top thingy with hole cutout
• Prevents balls from being pushed up to shooter wheels
• Helps align balls for more consistent shots
• Lightening holes
• Lowered pneumatic cylinders
• Moves front belt farther away and lessens compression
• Should help with ball control
• Removed front pair of rails
• Before, the ball could still ride up with only one belt actually moving it

Shooter

Shooter

• New Hood design
• 3D-Printed Parts, ⅞ Tube, and Thread All to increase rigidity
• Built up new parts on Protobot
• Lexan and PETG instead of wood

Climb

Climber Gearbox

• CAD is almost done
• It will be built and assembled today
• ​

Climber

• Build preparation
• Lots of construction on smaller parts to get ready for major construction of elevator for climber chassis

​

Forks

​

• We have a new working prototype with the neo550 on, runs very smoothly
• Made some changes to the CAD to add a hole for a rod that will go behind the battery to protect it
• Now working on creating a gusset for the forks that will be strong enough to hold a robot
• https://photos.spectrum3847.org/2020-FRC/2020-Build-Season/i-HgWggFR/A

​

​

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Forks Changes

• Bearing in Polycarb plates can be MAT jointed Delrin Slides
• Long Hex shaft is Thunderhex with ½” shoulders on ends to go in ½” Bearings With Snap rings on the ends
• Shaft is non continuous with a ¾ hex OD coupler because disassembly and assembly 17 ¼ 8.625 each
• Non Bearing Spacers can be ⅜” OD standoffs instead
• Shape of plate can be cut further possibly
• Edit extension to have ⅞ tube semi circle and ¼ inch hole

​

​

​

Latches

• Almost finished with the “final” CAD
• After finishing the CAD, should be good to laser cut
• Changes to mounting system
• Finger Joints

​

​

​

Controls

CODE

• Github Optimization
• Shooter PID and Accelerator PID are now separate
• Tower and Intake PID loop is made
• Electrical Layout almost finalized on Comp-Bot
• Electrical works on Practice bot
• Sensors on Robot
• We can now press 1 button and intake 5 balls where they go to the right place (kinda).

Color Wheel

Color Wheel

• Going to be over the intake
• On the side of the robot so we can use our bumpers to align to the side of the table
• Semi-compliant, so we don’t destroy it when we drive into the wheel
• Color sensor under the table, avoids some of the light from the arena is the hope.

​

Everybot +

Everybot

• Intake has been attached to the robot
• Ratchet strap was obtained and climber should be done soon
• Bumpers need wood

​

To-Do List

• Wire Competition Robot
• Mount tower on comp bot
• Cut Tower Plates for Competition Robot
• Get tower shafts, belts mounted
• Build Climber and forks onto Climber Chassis
• Climber Gearbox
• Get camera stuff working on practice bot (then comp bot)
• Mount comp intake and funnel

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Comp Season

Week 1 - Tues - Feb 25th

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It’s Go Time

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Drive train

Drive Train

• Comp Falcons were taken apart and Locktighted to prevent Failure Mode
• https://www.chiefdelphi.com/t/psa-falcon-failure-mode/378128

Intake + Ball Pathing

Intake/Powered V

• Finished mounting onto comp bot
• Everything is assembled together and ready to run
• Neo on opposite side than practice bot
• Lexan side panels with lightning patterns
• Everything is frosted and painted except the rollers cause weight
• When we were testing at Pearland, one side of Powered V wasn’t working but seemed to work fine

Tower

• Cut pieces out of lexan
• Frosted and mounted
• Shaft changes

​

​

Shooter

Shooter

• Comp Bot Shooter Mounted
• tuning PID loops and Limelight aiming
• Tested Practice bot at Pearland(5414)
• https://photos.spectrum3847.org/2020-FRC/2020-Build-Season/i-rbvThhN/A

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Climber

Climber

• Practice Climber chassis is pretty much done
• Only hooks remain to climb
• Will start transplanting practice climber onto comp bot today

​

Forks (Buddy Climb)

• Final CAD Design almost done, just adjusting parts to reduce weight.
• Not going on for Dripping Springs, but will be ready and on for Houston
• Part Sheets are made and we are close to ready to build, final plate design is all we need

​

Latches

• Currently working on mounting the latches on the climber bar
• Slight alterations to make everything fit better

Top Latch

• Heavily inspired by FRC 6328
• Prevents us from falling off the bar when solo climbing

https://youtu.be/hPsjOGNUzz4

​

Controls

Controls

• Limelight aim was sort of working at Pearland, tuning it more today
• Also aiming to get pipeline switching working today
• Code is getting there, fixed a lot of things at Pearland
• Comp bot tuning maybe starts today
• Other than drivetrain and intake, everything else that needs to be PID tuned has been tuned on protobot
• Diagnostic tools are progressing at a decent rate
• Sensors worked and then stopped working
• Driver and Operator Controls have been set for now
• Code is on: https://github.com/Spectrum3847/Ultraviolet-2020

Color Wheel

Color Wheel

• We have decided that we will not complete the color wheel for the dripping springs event; we will have a version completed for Houston week 4, but whether or not it is on the robot then is yet to be determined
• Because Color Wheel Tasks are like not all that important

Everybot +

Everybot

• Climber finished and attached
• Intake almost done, needs to

be attached (also needs two

Bottom rollers)

• Working on electrical and

programming

Dripping Springs Debrief Comp Season

Week 2 - Tues - Mar 3th

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Dripping Springs

• ENGINEERING INSPIRATION AWARD!
• #1 Seed - CHAMPIONS
• Texas Torque #1477
• Orion #3240
• 1 win from a perfect win record (means we can do better next time :) )
• What’s the goal for the rest of the season?
• Win Matches
• 6+ Auto Balls, 20+ Telop Balls, Climb Every match
• Increase Inner Goal Percentage
• What do we need to do?
• Improve Drive Train and driver practice
• Better ball paths to pickup balls
• Improve feeder station line up (automate)
• Improve shooter aiming and velocity control (limelight)
• Improve climber hooks

Drive train

Front Wheels

• Broken Omnis and Old AM High Grips
• Only had 4 of 6 wheels powered in Finals
• Potential Solutions
• Pneumatic Wheels but less grippy ones
• Brakes?
• Gear change?
• Lower our high gear a bit

Intake + Ball Pathing

Intake/Powered V

• Powered V never failed
• For the most part, Intake seemed to run pretty smoothly
• Only failed in 1 match because we slammed into the post with intake down
• Failure Points:
• Balls got stuck when intake came up
• Intake would stay down for a little after button was let go
• Power cells got stuck here ---------------->
• Power cells also came up and over intake

​

Intake/Powered V

• Ways to improve
• Add string or surgical tubing to intake to force intake to come up faster and prevent balls from coming out the top
• Add more zip ties to side walls in the middle/bottom instead of just the top
• Add button on controller to run powered v and tower without having to put intake down
• Add lexan/sheet metal support wherever there are rollers
• Possibly change front roller to compliant wheels to better pick up balls

​

Tower

• Worked pretty swell
• No major problems
• Small issues
• Front belt fell off the top pulley
• Print wider flange on pulleys
• Bolts on back rails kept coming loose
• Jammed at some point

Shooter

Shooter

• Shooter worked well throughout the event
• Only problem was in the first match when tower jammed and the shooter didn’t have enough torque to spin up
• https://photos.spectrum3847.org/2020-FRC/Feb--28---March-1--Week-One---Dr/Dripping-Springs-2020/i-3VxnqZz/A
• Moving Forward:
• Will be working on making sure the yoga mat is more securely attached (zipties)
• Continuing to tune in our shots
• Considering possibly looking into potentially making a different hood angle or an adjustable multi-angle hood to perhaps have a deep-shot for future events (maybe)
• Continuing to test with bad balls

​

Climber

Climber

• Climber was consistent
• The most consistent at the event
• Climbed almost every match
• Left to do:
• Redesign top hooks?
• Went through some wear
• No more buddy climb / lower latches

​

Latches

• Did not break at Dripping Springs
• Might break in Houston
• To prevent this, discussing ways to strengthen latches, possibly metal?
• We have a Lexan version to mount and test with
• Otherwise, latches work very well

Buddy Climb

• Problems with viability in terms of weight

-We are currently at 117 pounds and our max is 125

• One of the only way to cut more weight from buddy climb is most likely in the forks, and that needs to support an entire other robot.
• Could provide us with a nice edge on other teams both in terms of points and ranking points.
• From what we’ve seen not consistent in other robots

Controls

Controls

​

• Limelight worked well for shooting 2s throughout the event
• More tuning will be taking place throughout the coming weeks
• Intake camera streamed through Limelight also worked well
• This week we will be adding OpenSight to the intake side to align with the loading bay
• Autonomous will be expanded
• 6 ball & 8 ball options

Comp Season

Week 3 - Tues - Mar 10th

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Drive train

Drivetrain

• Tested other solutions for the Broken Omnis Problem
• Tried testing with alternative Pneumatic wheels - too much traction
• Decided to stick with Omnis but make protective wheel guards
• Brakes
• also a possibility we are thinking about

Intake + Ball Pathing

Intake & Powered V

• Added support plates on the sides to make intake more rigid
• Things to still do:
• spring intake up
• Springs or
• Surgical tubing
• Intaking balls better
• Lowering roller height or
• using compliant wheels
• Powered V
• Make angled guards larger

Tower

• Worked this week mostly on getting practice bot tower fully upgraded to be the same as comp’s
• No significant changes done

Shooter

Shooter

• No major changes being done at this time
• Lots being done by controls team to tune shots for the shooter at different distances

Climber

Climber

• No major changes to the elevator
• Working on getting the climber maintenance box stocked up

Climber

​

• Hooks
• Working on strengthening hooks so they don’t bend
• Making a 3d printed filling in place of the spacers to make them stronger

Color Wheel

Color wheel

• Color Wheel
• Because there is no more buddy climb, we don’t need the vertical space where the latches previously existed
• That means it can mount almost directly to the elevator rails
• More relevant/only really needed for State Champs & Champs

Controls

Controls

• Things need to do:
• Limelight Aim
• Automatic Shooter Wheel Speed Control
• Loading Bay auto align and drive in
• 5+ ball autos
• Path Following
• Color wheel, sensor values, FMS data stuff, encoding how much we’ve spun
• Anti-Tip Rocking - Brake/coast code

Everybot +

Everybot

• Robot is fully assembled.
• Troubleshooting some issues with code

Field Build

Field Build

• Cleaned Room after animation class was done
• Making a goal target approximation to practice lineup
• Taped out Initiation line and trench and have measured distances for the barriers
• Need to place 4x4’s for the far wall
• Need to make o-rings for ball spots and holes in barriers for balls

Week 3 Comp and Beyond

Season cancelled

• Unfortunately, all the FRC events were cancelled today (3/12/20)
• While we are disappointed the season will not continue, we understand the need for canceling the events for the health of our community.
• Hopefully we will be able to continue playing Infinite Recharge in the off-season.
• We are still planning to host TRI in July (9th-11th). If any team would like to apply, they may do so. TRIapp.Spectrum3847.org

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Edit: Nope