5509A 9 Cube Autonomous Reveal

Hello VEXforums! I thought I’d post our 9 cube autonomous reveal here. Let me know if you have any questions. Thanks for watching!

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This is insane! If you guys can get it into the deep zone, you probably won’t even need to knock it down. Really nice work!

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Nice work! We are in the process of perfecting ours. How do you get your stack to be set down so evenly?

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Can you re-intake the stack in driver control so there can be 2 stacks in the large corner? Not really much point to this if you can’t.

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@Ryan_26982E I think they can recapture the tower with the same way it intakes the 4 high stack

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subtle flex

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What’s gonna happen at worlds when the alliances have scored a combined 34 cubes in autonomous. Literally 30 seconds of driver control and then all the cubes are gone. Unless neutral towers are scored, teams may just chill for the last minute lol.

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BattleBots

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dr4b trays can intake tall stacks easily

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We use an offset 4-bar, which places the stack in front of the intake wheels, so we don’t affect it backing away

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This is a remarkable auto! Refreshing to see a competitive DR4B in TT.

How did you determine the minimum time the ultrasonics need to re-calibrate the robot’s position? (around 0:09)

Are your curved pathes pre-generated or are they done in real time? They look very smooth. :smile:

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Thank you! We actually aren’t using the sonars yet, those are for the future to improve. We use a field positioning system and as a result we can tell it any coordinate and it generates its own movement, which is the explanation for the curves

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how many omni wheels does it use

4 outer omniwheels with 2 inner locked omniwheels

is it possible to use 2 front outer omni wheels and two normal wheels then 2 inner omni wheels?

Are you saying using omniwheels on the front and back with a grip wheel in the middle? If so you can, but you’ll need to put rubber bands around the grip wheel since it’s slightly smaller than omniwheels

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so just to confirm i need to put rubber bands on the grip wheel? im not so sure on the logic there.

The grip wheel has a smaller circumference than the omniwheels. If you use a plain grip wheel it will actually be slightly above the ground. You need rubber bands to bridge that distance and grip the tile

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tile? don’t you mean foam? also i like your idea i think im gong to try it. any others ideas?

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Yes foam. Also I’d advise having at least 1" of ground clearance to get over the barrier

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