After 4 months of building, rebuilding, and programming, we have finally finished our regionals robot, Jigsaw CV2. This robot features a four motor, 2 stage single flywheel, a 6 motor x drive, and a 2 motor rubber band drum intake. The 2 stage single flywheel works by spinning 2 omni wheels at a 13:1 gear ratio and then gearing that to single 5 inch wheel that spins at a 32:1 gear ratio. We regulate the speed of the flywheel through a little bit of P control I wrote (it basically does power +1 if rpm is below target rpm, and -1 if its above), but that code isn’t used much because our flywheel gate usually is able to drop a ball into the flywheel the moment that the target rpm is reached, so the P control is more of a back up in case there is a slight delay between the gate dropping and the ball rolling into the flywheel. The rubber band drum intake just pushes all of the balls up into a magazine, and then a servo rotates a flap that drops the balls into the flywheel. We just got done with our state competition on Saturday, and it was a blast. We were able to consistently score around 280 in programming skills when we practiced at our field, but we did not expect the field at state to flex as much as it did when the program tried to align itself with the field wall, so we could only get 174 in the 2 runs we were allowed to do. I’d like to thank 2567B and 7282C for choosing us in the 3rd seeded alliance. It’s too bad that some chassis problems kept us from making it to the semis. Due to 4 double qualifications, we expect to receive an invite from programming skills, despite the fairly low score we got. We just have to wait for the skills cutoff and recf to get everything figured out.
Hope to see you guys at worlds!
And for anyone wondering, yes, this thing WAS as freaking cool on the match fields as it is in the video. One of the most unique and efficient solutions for 4 ball capacity that I have seen.
Very unique ball transfer mechanism.
@Michael Nutt That ball storage bin and intake utilized while running in both directions, then on top of it a flywheel capable of doing both short range and full-court (I assume) - that is a very clever design and quite an engineering achievement!
What is your fire rate at short range and full-court?
Also, did you ever have problems of balls jamming switch between the intake and outtake?
And, finally, how does six-motor holonomic drive performs against six-motor tank drives on the field in terms of speed, torque, and maneuverability?
(Sorry, if it is too many questions, you don’t have to answer if that information is secret.)
Lol we aren’t really good enough to have secrets :P. The only problem we had with the intake was that occasionally 2 balls would go in at once, so we had to add a piece of metal to the gate to keep a ball from dropping down until the gate drops back, so that it is impossible for 2 balls to go in at once. We never had an issue with switching from intake to outtake though. Our fire rate short range was 2 bps and full field was 1.5 seconds per ball. We used to have a higher rate of fire full field (1.5 bps), but between all of the building that went on, things that may have shifted slightly, and some changes I made to make us better at half field for skills, but worse at full field, it went from 1.5 bps to 0.75 bps :/. For this reason we are going to rebuild our flywheel in a way that makes it almost impossible to get off alignment and easy to fix. I really like how the x drive allows us to maneuver, but I would assume it hurt our pushing power a little bit. There wasn’t much defense played so I don’t really know how it would do with that. We had it directly driven with torque internals, so it was a bit slow, but we will have it sped up soon (either with high speed or turbo internals).