I’ll answer for both robots.
DOGO:
4m 600rpm drive (externally geared 7:3 on 4.125" wheels, 257rpm, 55.5"/s)
1m 100rpm six bar (externally geared 7:1)
1m 100rpm four bar (externally geared 5:1)
1m 100rpm tilter (externally geared 3;1)
AMOGO:
4m 200rpm drive (externally geared 3:5 on 3.25" wheels, 333rpm, 56.7"/s)
1m 100rpm four bar (externally geared 5:1)
1m 100rpm tilter (externally geared 3:1)
1m 200rpm intake (externally geared 1:1)
1m 600rpm conveyor (direct)
Ok, makes sense, thanks
I love the DOGO robot but could you take close-up pictures of the arm/lift so we can see it in more detail.
The CAD is really helpful for looking at stuff like this.
Welcome to the forums!
There is CAD available if you have anything specific you’d like to look closer at. The renders are pretty hard to make more of, but if anyone else would like to render the robots and wants the robots in specific positions, just let us know and we can set you up.
@jrp62 was kind enough to put the CAD into Onshape, an in-browser CAD software.
And there’s step files here that can be opened in any CAD software.
Hope this helps!
Hello @Unionjackjz and the rest of Harvard-Westlake robotics!
I noticed while looking through the PROS code for AMOGO that there were several mentions of “EZ-Template”, so I am curious:
What is this code normally used for, if anything besides AMOGO and DOGO?
How do you intend the general public use this template?
Thanks for your help, and for such an incredible reveal.
Hi 
EZ-Template is a PROS project with drive train functions that I developed throughout Change Up. The PID on this robot on “normal” drives (around 63"/s and below), the constants should work with very minimal tuning.
I got motivation after VEXU “Worlds” to make a project that already has everything setup, where you just input ports, cartridge rpm, external ratio, and wheel size. After that’s done and code is downloaded, the drive functions will work and tuning can start.
This was made for convenience for me, but now that I’ve stopped competing, it’s a fun side project.
I decided to make it public because my Change Up code was public, so I saw no difference in this. If teams want to use it they can, but there’s other libraries that are public such as Okapi that won skills for MS and HS in Turning Point. Here’s a video of 365X’s champion prog run from Turning Point..
A big issue with EZ-Template right now is it’s not setup as a PROS library like it should be, making it annoying to use. I wasn’t expecting other teams to use it when I started this, let alone releasing it with a robot reveal, so I didn’t think to set it up properly. 1.1 will fix this.
Thank you for such great teaching opportunities with these robot reveals!! <3 My 6th & 7th graders are fascinated and inspired! They jumped into CAD head first and have discovered more features than I imagined. Two students led a class for the whole team, after just exploring these 2 robots. They would like to pour themselves into the VEXcode as well and have been working hard to figure out how to view it. I am unfamiliar with GitHub and have tried a number of times myself. Even though I know VEXcode Blocks, I’m not sure what I am looking at when I open the vexcode file. I don’t know how to lead them in this part of their excitement. What do you recommend?
I’m pretty sure that you need VEXcode Pro to open that code. If you don’t have access to VEXcode Pro, you might be able to copy and paste the code into the normal VEXcode. I also would not recommend copying someone’s code so you understand how it works
Welcome to the forums!
This is amazing to hear!
The easiest way to get the code off of GitHub and onto their computer is to press the green Code button at the top rightish of your screen, and then Download Zip.
@insert_code is correct, you need VEXcode Pro to view this code. Once downloaded, go to File → Open and find the directory the directory for the code, and select the <Robot>.v5code file.
I think the best way to learn code is small project based tasks. Like, make the robot move forward, turn 180 and come back. Make the robot move with joysticks, then using if statements to make a lift move, etc.
This is a quick basics on using VEXcode Pro.
You can set motors and sensors up the same in VEXcode and VEXcode Pro, by clicking the motor icon in the top left of the screen. You can set a motor by motorname.spin(fwd, -100 to 100, pct);. You can read controller buttons with controllername.ButtonL2.pressing(), and joysticks with Controller1.Axis3.value() (where the axis is the number on the controller). And to delay the program uses wait(some number, msec or sec);
int main() {
// Initializing Robot Configuration. DO NOT REMOVE!
vexcodeInit();
// Drive forward at 100 percent power
left.spin(fwd, 100, pct);
right.spin(fwd, 100, pct);
// Wait 1 second
wait(1, sec);
// Move the left side forward and the right side backwards (turn the robot)
left.spin(fwd, 100, pct);
right.spin(fwd, -100, pct)
// Wait 500ms, or 0.5 seconds
wait(500, msec);
// Move forward at 100 percent poewr
left.spin(fwd, 100, pct);
right.spin(fwd, 100, pct);
// Wait 1 second
wait(1, sec);
// Stop the robot
left.spin(fwd, 0, pct);
right.spin(fwd, 0, pct);
}
Hope this helps!
Hello! WE ARE IN BIG NEED OF HELP! My team only has about two weeks to finish but we need a different file or some instructions if possible. Would there happen to be a file compatible with chrome or at least viewable on a Chromebook?! It would be a MAJOR help! Thank you!
You can use the onshape files that @jrp62 posted. Onshape is an online, browser-based CAD that runs well on chromebooks, all you will need to do is create an account and open up the links that jrp62 posted.
@Unionjackjz
Can you explain to me the way the lift works?
Thank you!
Welcome to the forums!
Could you be a little more specific about what part you’d like clarification on? For example, the gears or the linkage?
The lift works with a gear system, using both a 12 tooth high strength gear and a larger gear, I think 80 tooth. Its powered with a motor that changes the elevation of the lift contraption. The contraption itself consists of essentially a parallelogram that change location based on the positions.
This might help…
Great video!
It would be great if you could explain how to build it and what parts I need. And maybe a video/ images on how to build it.
@Unionjackjz What did you use for the conveyer belt thing. Can you send a link so I can order it?
bruh you’re literally asking for the entire robot
if they want the full robot they can get it…
they released the CAD files