Okay, okay… this isn’t exactly a reveal. But this is a design tested that which failed to our standards. No, the intake won’t be shown, and this is my first time creating a dr4b. I’ve been having one of the worst two days of my life, but I hope you enjoy the concept… (NOTE: When I have time I’ll upload videos to YouTube of the concept. The pictures aren’t in order probably so sorry bout that)
EDIT: Wow, also sorry if the images are stretched.
What was it about this concept that did not meet your standards?
Hmm, nice work. The chassis seems a bit low profile to get over the bump though.
We have a similar mobile goal intake design
Here are videos of progress and then the failed outcome (We will be doing a rebuild in the future, but we won’t upload until it’s certain we’re not using the idea).
Can’t even push the mobile goal, drive is incredibly unreliable (One side trips way too easy), as well as the lift is unstable. Due to those reasons, I am forced to rebuild with another strategy in-mind.
Just for a note: We have already found out an intake that can pick up cones from any orientation.
^Above (Yeah, just wasn’t strong enough)
Yup! It’s low profile to create a lip to hold the mobile goal into itself nice and snug! I tested the robot, it was able to easily go into the 10 point zone… Buuuut you’re right, so the robot wasn’t able to get out.
Cool! Hope to see it when the time comes 
What was the ratio on your drive, and what wheel size? It’s hard to tell if those are 4in omni’s or the 3.25in. Do you feel that the omni’s are going to be a viable option as a drive wheel considering that they are known for having less traction. Also in the final video that you posted your DR4B only seemed slightly unstable while coming down, so I’m wondering if you felt that the mechanism’s unstable nature came from the weight of your team’s intake or because of how you guys built the mechanism.
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1:1 Turbo 6 Motors
The motors are powering the two back 3.75" wheels. Just for a tip, the front is 4" to go over the 10 pt zone easier.
I haven’t really seen any problems with the type of wheel (If it’s not meconium) for the amount of traction, so I think it’s a viable option. I just had too much friction with the gearbox, so next time I’m keeping it simple
I think it’s partly the CORTEX in addition to the mechanism, but I’ll double-check tomorrow
Even if the cone is fallen down and sideways or just fallen down (straight) and upright?
Thanks!
a couple more question…
What was the rationale for having the front and back wheels be different sizes, and were the wheels placed so that the robot was level when resting on the floor or was it slightly slanted. Being that the front and back wheels were different sizes and both had the same gear ratio, did your team have any adverse experiences with robot movement, being that the front was moving at a different speed than your rear wheels. Also what made your team choose to use a turbo motor with an external 1:1 gear ratio over a standard or HS motor with external gearing to bring it to the desired speed, and are you guys planning on keeping a 6 motor drive or do you plan to switch to a reduced or higher drive motor count.
Also does your team spend any time planning out the build before building either on paper or using cad? I ask because your build quality is amazing, especially to be done in only two days. I am definitely a fan of your drive train/ electrical board.
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Usually, the hot spot for speed for me is turbo with 3.25" wheels, and I was trying to do 4" wheels on the front to make it easier to go up the PVC.
I did compromise and the placement on the 4" wheels are higher so the robot is as close as possible to be level.
The only wheels powered were the back wheels (Kinda like a car). Soooo wasn’t too smart but I only had so much space to build off of.
[Above]
This, I can’t really talk about until our actual reveal. Sorry 
My team is a two man team, which one isn’t able to be there so it’s just me… I don’t do CAD models, I just picture the robot out in my mind, and I can somehow tests physics in my mind as well(I kinda underestimated the weight of the mobile goal + cones tho).
Why thank you! I was actually reeeeally lucky when placing everything. One thing I did consider with this robot is that I wanted it to be back heavy to increase traction of the two back wheels, which kinda explained why everything was in one area. Thank you very much! 
okay these should be the last question…
regarding your team size. How does your team split up the work load being that there is only two people? do you have one person that solely works on programming and the other person is the electrician/ builder or do both of you work on it all. I ask because right now I am currently on a two man team. Then for the programming of your robot did you guys implement any algorithms to help improve the control of the robot? If so what kind of algorithms, slew rate, pid, ect.
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Meh, it’s fine
Usually, my partner is extraordinarily busy, so that means I’m the one usually doing things. Basically, he documents, and I build, program, and drive… Yup. Even though he only does one single task, he is what brought us to worlds with a design award. In fact, we are considered undefeated of the regional design awards out of all the years we’ve been 1815D. To be completely honest, it really depends on how much work you can handle at once. If you both can handle the equal amount, distribute evenly. Otherwise, you may have to have one guy do a bit more work.
Here’s our codes throughout the StarStruck year: GitHub - 1815Delta/Delta-II-Code: This is our code throughout the year
The final code is the Scorpion 3.0.pdf, and I try to keep things as neat as possible to make it easy for me to understand and hopefully others.(EDIT//: Except Scorpion 2.0 because I was rushed)
Awesome, I will definitely be looking into your code. I definitely know the importance of a good notebook thanks to FTC. Are you guys willing and able to share a copy of a past design notebook? I would be very interested in looking at what a quality design notebook for vex is and looks like.
In your code it looks like you are setting motor power equal to a desired sensor values. How well has this work for your team for keeping mechanisms at desired positions?
Yea, sure!
Here’s the design notebook in our nbn year when we were in 8th grade: https://drive.google.com/file/d/0B2FMbedhlx3fUUNvZDdIUXNRV0U/view?usp=sharing
Here’s the design notebook in our StarStruck year when we were in 9th grade:
https://drive.google.com/file/d/0B2FMbedhlx3fQ1VnbGl3MTNpRlk/view?usp=sharing
By the way, the illustrations during our 9th grade was on our second notebook
So, basically our Engineering notebook consists of a digital version, a written version, and a scouting sheet of our competitions. Here’s some examples of what our scouting sheets look like:
South Texas: https://drive.google.com/file/d/0B2FMbedhlx3fQXRQRzJKWmhjSlE/view?usp=sharing
Worlds: Worlds Spreadsheet Engineering Division - Google Sheets
It actually works very well! Occasionally I do some position tracking of lifts as well as manipulators to allow you to automatically tell the lift to go to a specific angle just by pressing one button.
Just a fun tip: Btw our worlds scouting sheet predicted 86868 to win worlds before the championship even started, and it was right on!
great notebook. I thought that it was really unique to be on what appears to be power point (correct me if I’m wrong), and was filled with a lot of content and pictures. I was kinda surprised by the lack of pages. We are only about two months in and I already have about 21 pages. For your scouting sheets it looks as though your team conducts excellent pre-competition data, but do you guys also collect in competition data? I’m sure that you do considering your team spends so much time dong research about your competitors. Personally I think that pre-competition data is about as good as pit scouting. Useful but its not really going to help make decisions.
Very close! It was Google Docs. It did have a lack of pages, but this year I am planning to help my teammate document every single piece of metal added, the position it was added, and why it was added (Literally meaning that). Usually my teammate and I create the scouting sheets, then we bring over people from other teams of 1815 to scout. Usually they scout every single team, how well they do in-game(They watch), and we usually know what they do before my teammate and I see them in person.