14 stack done in practice in Maui by Usagi 2 (There was a fan above, as the event was held in Maui High School’s gym. The stack was slowly moving side to side due to the draft by a few degrees)
11 stack done in the shop by Usagi 2
13 stack done in the shop done by Usagi 2
I’ve seen stacks as high as 17 from Lift Trays. The main limitation was the ceiling height.
Stack on stacks is the future of high-level competition in Hawaii. Usagi style robots are highly specialized to swap towers and dominate the field. Their main limitation is tray size (11). -I believe that at higher levels of competition Usagi will capitalize on available scoring space with stacks on stacks. Also, Usagi gives more versatility and strategy options. They can play the role of a stacker and in the last couple of seconds go around the field swapping towers. Their ability to hold multiple cubes allows them to dominate towers without having to chase cubes around.
Alright, so not so much of an argument for stacking on stacks but rather an argument for Usagi. Stacks on stacks have less relevance in skills as skills are more tower-based. In skills, Usagi can score multiple towers in a row without having to find more cubes.
Here’s a match as I see it:
Usagi A starts closer to the wide zone. It deploys as it moves towards the second to left premade stack and quickly intakes the stack. It then strafes over to the left and grabs the other 4 stacks, creating a 9 stack. It moves into position or even scores the stack into the corner as the autonomous period ends.
Usagi B starts closer to the small zone. It deploys before moving towards the second to right premade stack. It grabs 3 of the cubes on the ground before swerving to grab the other 4 on the ground to its right. It then stacks or prepares to stack those cubes before the autonomous period ends.
In driver, Usagi A finalizes its stack and moves to create a solid stack of “alliance color” (Orange for Red). It stacks a second stack before the 1:00 mark. Then Usagi A moves to score green cubes into towers (high tower first) If the opponents lack a towering robot or have a clear advantage in all colors then a stack on the stack may be warranted.
Usagi B finalizes its stack before grabbing cubes as fast as possible (green/purple likely) Usagi B scores that stack atop the other stack and moves to score green cubes into towers (alliance tower first)
Usagi A could be replaced by a normal tray robot but as I see it at high levels of competition longer tray isn’t a benefit in auton because of the number of cubes that can be reliably acquired in that slot by normal tray robots. As well, I prefer the Usagi robot’s tower swapping ability.
Usagi A is likely to be a more tower oriented variant, with a 1m lift and 4m drive base to dominate towers. Stacks on stacks with this variant may be limited to 6-5 cubes.
Correction: 10-18 cube conventional tray
- 10-18 conventional tray
- Usagi lift tray
TL;DR Usagi good