During the 2014-2015 Skyrise season team number 26 has enjoyed much success in the north Texas region, winning 4 out of 7 tournaments we attended this year. As such we have decided to bring our robot to the forum in this complete reveal of the Ironwave robot. https://vexforum.com/gallery/files/3/9/5/9/0/8/cover1.jpg
The specifications of our robot are as follows:
Four motor mecanum [drive](https://vexforum.com/gallery/files/3/9/5/9/0/8/drive1.jpg") train with the internal gearing set for high torque, and an external speed ratio of 12:15.
Six motor four stage [scissor lift]("https://vexforum.com/gallery/files/3/9/5/9/0/8/arm1.jpg") with high torque internal gearing, and 7:1 external torque gearing.
One double action pneumatic [Skyrise arm]("https://vexforum.com/gallery/files/3/9/5/9/0/8/sarm1.jpg") for scoring while the drive train is stationary. The skyrise arm is also equipped with one double acting pneumatic [claw]("https://vexforum.com/gallery/files/3/9/5/9/0/8/claw1.jpg").
One single action pneumatic semi-passive [needle intake]("https://vexforum.com/gallery/files/3/9/5/9/0/8/needle1.jpg") with a two cube capacity.
Other features not mentioned above are the [anit-tipping mechanisms]("https://vexforum.com/gallery/files/3/9/5/9/0/8/tip1.jpg"), LED [underglow]("https://vexforum.com/gallery/files/3/9/5/9/0/8/glow1.jpg"), 20 pt skyrise autonomous with a 90% success rate, and a 5 pt cube autonomous with a 50% success rate (greater programs are in the making).
Some of our accomplishments during the 7 tournaments we attended in the Skyrise season include, 5X tournament champion, 2X tournament finalists, 4X excellence award, 1X sportsmanship award, 1X amaze award, 1X semi finalist, 46 pt robot skills, 35 pt programming skills, 101 pt match, and a 178 pt combined match score.
A more complete summary can be found on YouTube [here]("https://youtu.be/sx9oQCcx98I), we hope you enjoy this reveal.
I’m sorry that was a bad memory on my part, it is supposed to be 4 tournament champions, I should remember to double check myself next time:D
I’m not the programmer, so I can’t answer that question very well, however I do know that when the arm is raising or lowering our custom program is running, and when we quit pressing the button to raise the arm it will incorporate PID to level the arm, and minimize strain on the motors. This is done by setting the target value of the PID on both sides of the scissor lift to the IME reading of one side of the arm, and then it will automatically correct any difference in the height of the arm from side to side. It is also worn while to nor that the IME sensors will eventually accumulate a large difference between their values from side to side, so whenever the arm is down we have it calibrate itself back to zero via touch sensors. Hope this helps, and we look forward to seeing your team at worlds:cool: