Flusher uses a shift key, where the functions of each button change slightly while holding the shift key, similar to how a keyboard changes to CAPITOL LETTERS.
R1 Shift
L2 + R1 Intake ONLY the side rollers
L1 + R1 Outtake ONLY the side rollers
R2 + R1 Poop
Useful File Descriptions
This code was structured so the way you move subsystems in opcontrol is identical to autonomous. Each subsystem has a task that “listens” for what the current roller state is, and they will each figure out on their own what to do.
src/roller_config.cpp: Sets the active roller state.
src/main.cpp Main file with on screen autonomous selection, this is basically the EZ-Template example project. But in opcontrol there is user control code added.
src/anitjam.cpp: “Motor” object that gives the option to let each motor actively try to unjam itself.
src/color_detection.cpp: Decides when a blue or a red ball is in the robot.
src/conveyor.cpp: Conveyor functions for opcontrol and autonomous.
src/side_rollers.cpp: Side roller functions for opcontrol and autonomous.
src/auton.cpp: Default EZ-Template example autonomous routines.
EZ-Template
This code uses EZ-Template, a simple PROS template that handles drive base functions for VEX robots. That can be found here.
I personally use either a belt or disc sander to shave the plastic off. And yes it is commonly used when having like a rubber banded or tensioned mechanism, so that oncer the gap of the gear comes, the mech will spring back.
This wasn’t explained in the video at all, which it probably should have been. We made shorts explaining this, the gear was put in a drill and everything was touched to a belt sander. This was needed for the 5 hole wide drivetrain, but isn’t at all needed with a 6 hole drivetrain.
Here are the three videos showcasing how these were made
oh I kind of answered foster using 5686T’s answer. Those are not slip gears, and thanks to unionjackjz for clearing that up.
I would like to add that IF you want to use 2.75in wheels, you can’t just shave the ends of the gear but you have to cut the entire gear in half. Im not going to lie but it took me like 30 min per gear to be perfectly sawed in half. (I used a saw because I don’t have an angle grinder. but I would assume that an angle grinder would be easier.)
You ground down the gear so it would fit into the side of the omni wheel to give enough clearance to fit inside the C-channel space. That is just amazing.
So the gear that I can see at the back of the robot has been cut so that gear can clear the rollers on the wheel below it.
My next question is how you figured out that would work?
(BTW, you should really wear a mask, all of that fine red powder you are making isn’t going to be good for your lungs. )
Students at my high school used a similar trick (with a file instead of a belt sander) to make bevel gears for PTOs back in cortex era. I’ve done this to bevel gears for clearance ever since, it’s a great trick! The same thing was done to make the circular pieces of metal that hold all of our flex wheels on, we just used a screw instead to clamp down the metal.
