Back in May I hinted that I may resurrect my triangular drive chassis that was designed during the 2013-2014 Toss-up season. This past weekend I finally finished the work I started back then, it’s not designed to compete (obviously) so this pretty much ends development of this iteration for now.
Here’s a quick recap of how I ended up with this design.
This drive was created in 2014 and incorporated some my favorite ideas from that time, it’s the basis for this years drive, I use exactly the same construction with internal motors and allowance for either mecanum or omni wheels.
There’s a whole thread about that drive here.
and 2015 was all Flywheel control, I never did actually build a complete robot.
So here’s the 2016 final version.
4 Motor drive, speed gearing, two IMEs for keeping the motor current under control using the smart motor library.
4 Motor two bar (??) arm, torque gearing, single IME with PID for arm angle.
1 Motor intake, quad encoder that slaves the intake angle to the arm.
It only picks up single stars, no attempt at all on the cubes, it would need a better intake to compete but as I said development is over. Once it high hangs all power can be removed and it will not drop, the CG is such that there’s no need for a latch or anything.
Programming is all ROBOTC and is mostly borrowed from the “open source robot”.
and a short video showing off how bad I am at driving.