POWERPLAY FTC - Sprint 6 Robot
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- čas přidán 10. 12. 2022
- This video highlights the iteration activities in the last five weeks since Meet 1. Since Sprint 5 was all prototyping work, we decided to combine both Sprint 5 and 6 into a single video.
Don't forget to check out the outcome of our Sprint 6 effort in:
• POWERPLAY FTC - Sprint...
Instagram: / how14469
Twitter: / howrobotics
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Thankyou so much for the inspiration guys. Our robot this year was heavily influenced by you guys and we have thus made it all the way to Australian nationals. Sadly we didn’t qualify for worlds but your documentation has also given our team a new spark. Thankyou so much.
Holy crap, yalls season comes way before ours in Florida lol
thank you friends for giving me inspiration
very impressive. I really like how they didn't waste any time since the start of the season, I also enjoy seeing their updates and the evolution of their Robot. They had very clear goals for their Robot and they achieved it. It's pretty awesome
sheesh, very nice cycling design
pretty cool
Ostrobogulously cool
Incredibly cool
The stability of the arm is really cool. I do have a question, what are the extra markings on the field used for? Are they used by the sensors or just there for visual clarity?
The extra markings on the field show the spot where we want the robot to be when loading the cones on the junction. This makes it easier to finetune the program since we can instantly tell when the robot is off course. The rectangular markings were for our sprint 4 autonomous placement (gen 1), and the square markings are for our current autonomous placement (gen 2).
We really admire your design process! How exactly do your "sprints" work? What's the general approach you take to each sprint?
A sprint for us is a 2 week long period when we try to accomplish a certain amount of goals to completion within that time frame.
The objective of a sprint is always to have a functioning robot that meets those goals.
Our team believes in the, “I’ll know it when I see it” mindset, which essentially means that we make incremental changes, observations of the implemented solution, and a retrospect to plan for the next sprint. This prevents us from taking big leaps in development each time, which may turn out to be a waste of time.
We had the same idea of having a viper slide rotate on a base plate, but our height was above 18 inches. How were you able to keep within the limits?
If we were to install the viper slides how they were meant to be built they would be above 18 inches because the motors are placed under the rails. However we moved the motors to the side of the rails, and it allowed us to drop down the rails, and be within a legal height
Dang! That’s really effective… do you guys just solder your 5v encoders to the 3.3v system or do y’all use level shifters? How do you guys account for the slippage of Mechanam wheels in auto?
The encoder output from our motors are 3.3V. No level shifters needed. it’s a direct connection from the motor to the control or expansion hub.
As for the slippage of the wheel, we account for this by moving at a slower speed and speed ramping.
Great design! Could you let us know which slider you’re using for your arm?
For the vertical slides we are using the GoBilda viper slides. For the horizontal slides we are using the cascading x-rail kit from servocity. The cascading x-rail’s have been discontinued.
Hey, great job!! Which software are you using for the 3d models of your robot?
Hey there!
Our CAD is done through OnShape since there is a large library of FTC parts available on it. These parts are then imported into Inventor where they are constrained together to make our robot. All the CAD in this video is done and displayed on Inventor. Thank you for the question!
Do your motors for the dual viper slides have gears to connect them or do they run without any connection to the other one?
Our viper slide motors do run separately. They aren’t connected to each other, and they are coded to move simultaneously.
Could you link your 3d claw cad, and also how did you make the rotating viper system?
Hi there!
The rotating viper system consists of a GoBilda Super Duty Worm Drive Pan Kit along with 14mm Baseplate by GoBilda. The vertical slides are, as you stated, 4-stage Viper Slides. As for the Claw, if you would like to see an image of it, in the video at the 2:00 minute mark, there is a CAD model of the claw. Thanks for asking!
we are currently inspired by your designed and we hope to create a robot similar to yours! However, how do you tackle the height limit?
Hey there, it seems like this question has been asked before in this video. Take a look at the answer. If there’s something more specific you’d like to find out, let us know.
Are you willing to share the turret code? I’d like to see what you did in both auto and teleop for it
The turret we are using is controlled using the RUN_TO_POSITION mode. We control it by setting the motor to this mode and then setting a target position and power. To do this, you have write the code in a certain way.
First, set the target position of the turret motor.
Next, set the mode (again) to RUN_TO_POSITION.
Finally, give the motor power.
Here is an example of this:
turretMotor.setTargetPosition(100);
turretMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION);
turretMotor.setPower(0.4);
@@HowRobotics did you guys implement anything to keep the motors from over rotating while using run to position? Our robot is currently struggling with a tetrix motor over rotating before it gets to its correct position. May just be the motor but would like any input you guys have!
@@kadenfuller8166 What kind of attachment are you using RUN_TO_POSITION with? Our base starts to overshoot when the arm extends out, so we use RUN_TO_POSITION while the arm isn't fully extended. It might be different for you based on the attachment you are using and how you use it. If you want less of an overshoot, you will have to create a custom PID.
@@HowRobotics it’s for our arm mechanism that’s attached to our lift system. I’ve been wondering if I could somehow control the acceleration so that it just slows down sooner before it gets to its position. Thanks for the input on maybe making a PID for it!
@@kadenfuller8166 I recommend you pay close attention to your derivative gain. This is what allows your arm to decelerate (or anticipate) the desired position. However, don't go too crazy with this gain. If you make it too big, it will "over anticipate" and decelerate before reaching the position you want your arm to go to.
hey!! i'm working on a project where I am building a robot, can you send me your code (maybe a link) so I can get an idea of how to make the robot move? tysm!!!
I now feel discouraged