Hello All, the Killer Bees team 33 is a rookie team to VRC this year although we have been an FRC team for 17 years. We decided to unveil our robots on the forum because although we qualified for worlds are unable to attend what with FRC during the Spring. Hopefully someone will learn from or take inspiration from our designs.
So without further ado…
33A:
Concept:
-A light, nimble robot that can effectivly pick up and score more then one piece at a time. (this robot was built by underclassmen so it’s a bit less aggressive in design)
Drivetrain: H drive
-five 4" omnis
-one 393 on each side and two 269’s on the kicker wheel
-Geared 1:1 to all wheels
-Encoders on both sides and kicker wheel
Arm: Standard single pivot.
-2 393s 7:1 ratio
-surgical tubing assisted
-Potentiometer for arm control
Collector: Double Side Convayer
-Two 269s 1:1
-Gently sprung inward for better intaking
-.0135" polycarb bottom and top
-Holds 3 preloaded or 2 any orentation
33A
33A diagional
33A drivetrain
33A Back
33A front
33A collector
33B
Concept:
Make a robot as scoring efficient as possible. We decided this robot should be quick, agile, able to preload many game objects or pick up on the run and quickly dump or descore in any orentation.
Drivetrain: Asmytrical Cantilevered 6wd
-four 393s and two 269s 1:2.5
-2.75" omnis on the corners and 2.85" vexplorer wheels in middle
-single chain path
-wheel base takes advantage of 18" box
-2.8 fps
-two encoders and a gyro for auto
Arm: Parellel 6 bar
-two 269s 9:1 (3:1 + 3:1)
-heavily rubber band assisted
-potentiometer for easy positioning
-lifts to 30" in 1.7 seconds
Collector: Double side intake rollers
-two 269 1:1
-gently sprung in for optimal collecting
-24t sprockets for high surface velocity
-.0135" polycarb forms trough for game objects
-held 6 preloaded or 4 any orentation
-prematch: rollers pivoted inside trough and held in by each other (rotating released them.) In the back of the trough the polycarb was acordion folded up and held with a sprung down stick on a pivot within the chassis body (release by slightly lifting arm.)
Total weight: 14lbs
CoG: 4" off ground (max) and centered with arm at 30" including 6 game pieces.
33B
33A down
33B 12"
33B up
33B 30"
33B 20"
33B front
33B back corner
33B chassis front
33B chassis pod front
33B pod angled “cool”
33B angled
33B collector
33C
Concept:
-Wanted to be able to preload many game objects but only picked up one piece from the field at a time. This allows extra motors to be utilized for a faster lift and more powerful drive.
Drivetrain:
-four 393s and two 269s 1:2
-four 2.75" omni wheels
-motors geared togeather w/ 36t HS gears and chained to wheels
-2.2 fps
Arm: Hybrid Parellel “Chain bar” and Asmetrical four bar
-four 269s 5:1
-“chain bar” allows very far reach while four bar allows for low motor placement.
-heavily rubber band assisted
-lifts to 30" in about .6 sec.
Collector: Pneumatic Claw
-two double acting cylinders
-Asmytrical jaw closes inside itself hold fit inside box an hold in preloads
-preloads 4 or holds 1 (2 stacked) any orentation
33C front
33C angled
33C side
33C up
33C back corner
33C back
33C bottom
33C drivetrain side
33C claw
Programing:
-Software
-Modular, subsystem-based design allowed us to re-use very similar code on all 3 VRC33 robots
-Arms are fully state-machines driven with PID positioning controls, and manual overrides.
-Claw (33C) is fully state-machine driven, with a timing system allowing us to set a “lag profile” which corresponds to a lag of either the left or right when opening or closing (all tunable, multiple lag profiles can be coded in).
-VRC33A utilized “Doom” style slide drive controls, with left stick translation and right stick rotation
–VRC33B and VRC33C utilized “Halo” style skid steer controls, with left Y “Throttle” and right X “Wheel”, halo algorithm is modular allowing the same code files to be shared between all three robots, as the Doom drive utilizes the Halo drive internally.
-Autonomous navigation system drives perfectly straight using a gyro. We can also do gyro turns, but have yet to need it in competition.
-Autonomous can use the same subsystem calls that teleop uses for arm and claw control
-Autonomous selector uses two potentiometers for 5-bit auto selection (Color, Position, 2-bit code, Match Mode (PSC/RSC/Comp)) and 5 LED’s for feedback
(33C decided at a competition that we needed a new autonomous program, so we went to the practice field with a tape measure and measured the distance before the first match, entered it into a slot in the autonomous selector, and ran it for every match up until the finals without issue (it worked perfectly, we changed strategy in the finals and used a different routine). This modularity also allowed VRC33C to take an autonomous routine from VRC33B, remove a wait, and use it to beat 33B in the first finals match (it ran perfectly on both robots, without modification of the autonomous routine itself).
Extra info Stratigy: Recently all three of these robots competed against each other in the finals of a local competition (33A and 33C against 33B) Although 33A & C beat 33B in the first roud due to the auto mentioned above and a partner malfuntion 33B took home the win after utilizing this stratigy which some might find interesting/helpful:
1.Allow opponents to take middle 30" tower in auto while opening your gate using your iso robot to grab both 20"ers and scoring 6 preloads in your iso 30"er (for us just enough room for a doubler on top)
2. Score alot making sure your 12"ers are taken first.
3.Place doubler on your iso 30"er and guard while the other robot places the negator on the middle 30"er and guards it.
Enjoy
Questions and Comments are welcome, either I or aplard will do our best to answer any questions you might have.
(Oh, and sorry about the lack of video):rolleyes:
Thanks, Bryan