While I know there’s only a few days till world so we are still working out some problems that robots hang.
We are using a winch and a PTO for the hang, however at the end of the hang, where we need the robot to be parallel to the ground, our robot’s motors do not have enough power and are not in a physically advantageous position to pull the robot to be parallel to the field. we don’t know why, or how we could fix this and so I was wondering if any one of you had had this problem before and could help us.
Here are a few images that I have that show how the robot looks like.
I’m not an expert but I think it is because of how you built it.
I don’t think your triangle thing has enough space to rotate forward along your pincher
Here’s what I mean:
The blue is what I’m mean by the triangle.
The red arrow is the direction that c-channel 1 wants to go
But, c-channel 2 is kind of acting like a wall, preventing c-channel 1’s path
If this is the case, i think you may be able to fix it by making c-channel able to rotate farther on your pincher thing. (Imagine the highlighted tip going forward as shown in the pic)
If i am completely wrong, then maybe your string is too short.
Is this a ratchet issue?
Or is it more of a power problem?
Try using a higher gear ratio. Your hang will take longer, but it’ll get into a parallel position.
On high climbs the rope is what pulls you up, but the lift geometry is what keeps you straight. In your case, you have plenty of strength but the lift isn’t holding the robot straight, so it struggles at the end and won’t straighten out no matter how much more force you add. I think probably the easiest way for you to make the lift support it would be to make your lift collapse in one of these two positions by adjusting stage lengths and hard-stops:
If the force from the weight of the robot is on the center of the black line, then on the left one the red stage would have to rotate counterclockwise and the blue+green stages would have to stretch for the robot to be able to rotate down. On the right one, the red one would need to rotate counterclockwise, the blue one would have to be compressed, and the green one would have to stretch for the robot to rotate. On your current one, the robot can rotate freely at the top because the lift just complies with the movement, as you can see when you reach the top in the gif and it falls back, despite the string not unraveling.
You can see this in action in other people’s climbs like the one linked below, where the robot doesn’t ever rotate completely vertical because the lift is holding it straight while it climbs.
Move the winch farther back into the bot… that will change the angle. However, you need the chassis to stop sliding upwards at some point… that will force rotation. If you have an air cylinder left… deploy it to push against the tube with something with high friction coefficient.
Nice. If you don’t mind me asking, we were practicing with it at a scrimmage and 23 got 3 warnings and a DQ lol for illegal descoring. How did you guys get good and getting in and out of the goals quickly without being DQed? What was your process like? And how often do you guys do it. Ik it’s a lot of questions but we’re a bit confused and would like some help from another fellow descore bot
This post would better belong in a topic on its own, or on an already existing topic dedicated to this. I believe there was a post a while back about this, but I can’t seem to find it. ( @bkahl could you split this? Thank you!)
From personal recollection, usually it involved a 77w or 88w drive about 70 - 80 in/sec. I rarely see descores, but they help slow down opponent cycling a little and forces them to be cautious. Most descores go from the short side across to the other short side and through the alley, but I would think going out the long side of the net would meet less resistance.
Since your pulley is on the bottom of the robot, make the rope run from the top and add more tension to your rope. You might have too much weight on the front of your robot and that could also cause this.
