Reveal Us State Field with airSlate SignNow

Reveal us state field

hey I'm Chris from nine three seven zero a I wanted to go over Robert because uh our county decided that we should not go to Worlds while they banned all out-of-state field trips oh that's cool Robert is our second robot we had cocoa over there but then I took it apart we don't talk about that simple trade wat we we didn't have a lot of time to make him we made them between regionals and states that's like three months and our complex trade but didn't work so the intakes are well it's a four motor drivetrain one motor tilter and a motor on each intake so super simple it's a twelve and a half inch square drive base because we wanted to be able to you know ride the walls and stack that turned out pretty well we were happy with it the only thing that was an issue was turning because you have such a small distance between your wheels that was messed up and also odometer me was messed up which is not fun because we did all the calculations and such but the drive base is kind of sucky in theory it shouldn't be bad because it's just direct drive and then sprockets linking them this chain is kind of loose but that's okay the problem was that our school doesn't have high strength omni's so we have like half an inch of backlash on the wheels the regular traction mills are fine but that was not cool so our autonomous was pretty inconsistent we had a nine cube plan I'll probably post that sometime if I get a day to work on that but it was too inconsistent because these stupid wheels I just scratched myself that's fun our tilter is hundred rpm one two seven I'm gonna enter the program so I can operate that we have our Auton selector I made this with somebody's button library I forgot it's very cool it works well so that's nice you see our anti tip just shot out there that would be because that's cool we have it the this pin is zip tied to the tilter it's very jank but it works very well and it gave us no problems it's just on a linear slide if we were to do this again and we actually were going to it you can see right here but anyway um I would have them on either side because we actually can't align ourselves to the back wall which kind of sucks if we were gonna do Prague skills or yeah that's pretty much it because our Auton is decent enough it doesn't need to align it's a 2.75 inch Omni there's a two inch screw that goes through like that you can see the head over here it's a screw joint we had to make this super compact because uh the nighlok is too big for us to be able to put it there we were very close to going out of spec in this dimension which was a fun journey to solve but this ended up working actually pretty well and there's flat bearings on the bottom here so the only shortcoming I would save this design is that you have standoffs that connect the slide to the chassis which is jank and not good and I would not recommend it yes the intakes were you know their intakes I think this is a 24 and an 18 it's like the second biggest size and then the size below that we funneled them because our robot has a lot of trouble stacking diagonally in the small zone which was bad for autonomous the they're on a screw joint here and then a hinge in this dimension we had three doubled up number 64 bands so there's a lot of compression on them they overheat after like three stacks there's the scratch from before very cool they overheat after three stacks it's fine for matches driver control was a pain or driver practice sorry but I don't do that so I don't care we had really high shoulders because there was a pretty random chance that the cube would just kind of you know shake itself out during autonomous which was not fun for consistency you can see this big gaping hole here pause that this was for a cue block we had a cube walk that worked but the tray BOTS and the complex trade BOTS intakes were bad this was for a line sensor we decided to relocate it here it's mounted on a one by angle this is a really good place to mount them because with this one since our intakes are not perfectly parallel to the tray the cube will be like above the surface of the lexan by like half an inch so this would get really bad readings so do it by the side if you're a time traveler hinges are I think these are from 805 9 or 80 59 they are we decided to use a three by they originally had a tube I like this this one wasn't here we had to box them because we use so many rubber bands on the tray that they just bent in like that the C channel and it cracked once or twice listening on the bottom stage but we just decided to use three by so we could box it there's a 1 by angle here to prevent the rubber band from you know and during the mechanism and then these standoffs on the tray are for well you know to make sure that it stays roughly straight you can add spacers in the middle here like we did these were on our original robot so they're super I'm guessing when we have to take this apart these holes right here will be super stretched and like eroded and such we have inverted C channels because they look nice this one is the same design we had to do a little bit of work to get it to that's fun to get it how we wanted to in terms of straightness we ended up it's a pretty similar design you screw in the channel on either side of these holes box it but then you also have to put some spacers on this screw head which is ultimately what straightens it because it can end up like this when you deploy which is not good also we put spacers there because these are super eroded and yucky we could have swapped them we would have if we went to Worlds but ha ha we used pulleys for rubber bands they're just on screwed oints that was easy there's not anything significant about that license plates were super easy I think we stole this from some team in like middle school and you know now we're at world so whatever they're just standoffs with flat bearings on them these are horrible and they're super tight this one is not everything else is so that was aids to do and um state calls back-to-back but you know whatever um tilter is sorry I have to use two hands for this all right okay we had we have 84 tooth and a 12 tooth this is 100 RPM motor so the axle just goes through there that's easy both sides are on screw joints they're not fun to set up because you have to get the nighlok you know in there anyway they're not that bad we use a gyro for turns we got the gyro late-season because we didn't think we need it that is not true yeah cortex is mounted on you can see one by angle there as well as some a/c channel to get the this you can have holes on either side there our battery is all the way at the back the robot is well as you can see the tray goes past the wheel base so it's really easy to tip like this and it does that really easily we originally had our battery tucked away in here which was but one bed to get to and to made it super in balance so that was not fun but this is better I think that's the whole robot there are some build quality things that we could have made better in terms of actually designing a robot a complex trait about would have been a better design we only have time for that so that's it for the hardware software wise we have functioning of Dmitriy it's not on the robot right now because it doesn't work well in terms of this robots sensor Ridge that's a word this backlash is not good for a Trank believe it or not what ought on selector is very simple you just select your color and then what type that's easy when you hit play it calibrates the gyro and then brings up the logo from the SD card that's fun our we have a stack macro which came in very handy because a lot of the teams in north carolina are not quick at stacking or they do it manually or whatever stuff controller by the way one of our members has a 3d printer so we decided be may as well stack Macker it goes like that it's just a tilt urpy leap and then goes there's no rubber bands on the train I forgot about that okay yeah so that was it we can make it quicker we decided to make it safer instead which is the better call we have an issue where when it would go up it would get stuck because our bias and the P loop was too low we have an abandon button for that which is always fun [Music] my mother percent sure why our intakes aren't doing a thing we have an auto indexing feature in a stacking game imagine essentially when the cube line or the cube line sensor is I think it's greater than sixty percent the intakes will spin this way at like 15 percent till it's covered and then they'll hold that just makes it so the driver doesn't have to think about you know position of the cubes and the robot that's nice our autonomous uses a P loop in addition to another function that we're not ready to share with everybody yet I don't know I'll talk to my coder or a math guy about that but essentially it makes it ramp up and ramp down but you don't need to use slew rate or anything um that's fun uh what else other than that that's pretty much it you know code it's just a bunch of this statements TM so yeah that's Robert we're gonna take them apart shortly after this by Robert 5x forum