Hi Daniel! The ball shooter is driven by a 775pro with a 1.3:1 reduction in the drive belt. Shooter is a pair of 4" x 7/8" collision performa wheels with misc sprockets in-between for added rotating mass. Getting distance is all about finding the sweet spot between exit angle and rpm of the motor. We went through lots of trial and error. With the exit geometry we ended up with we found that around 80-90% motor power was about right for the more vertical up close shots and 70-80% for the more horizontal longer distance ones. Thanks for reaching out and good luck this year!
I was wondering what the fixed angle of the hood is? Also, what's the approximate height of the ball off the ground when it's just exiting the shooter? Thanks so much! Great Video!
I have a few questions: How much compression did you have on the hood of that shooter? What wheels did you used? What was the gearing on that shooter? Did you have a flywheel? Do you guys have a cad of this bot? How much compression is on the ball in the tube on the way up to the shooter? What happens if you shoot both balls with like no time in between? Sorry I know it’s a lot of questions but it is an amazing bot
Hi Zach! The balls were compressed about 2" at the tightest point at the flywheel and going up the mag the balls are gripped alot lighter, probably closer to 1/2", just enough to stay in contact. The shooter is a pair of 4"x 7/8" collision performa wheels with some misc sprockets in-between to increase the rotating mass of the flywheel. Driven off a 775pro with a 1.3:1 reduction from the belt. The thing is a CANNON. If you were to shoot multiple balls back to back though without letting the shooter spool back up the subsequent balls wouldn't go nearly as far with the nice trajectory we achieved. That being said the recovery time could be shortened with PID tuning to ramp up current after a shot but that wasn't implemented here. Also, if given the means and time we would highly recommend adding some way to manipulate the exit angle of the hood rather than being tied to the fixed arc that we have here. Unfortunately we don't have a cad model as this was built from scratch in 3 days, but are happy to answer questions and provide advice! Thanks for reaching out and good luck this year!
What type of parts did you guys use for your hook/claw? My team was considering possibly using a cnc machine to make a similar component, but we're not sure if aluminum is the way to go.
Quick question, we are having issues with backspin on our shooter how did you guys counteract it with the 2 pound flywheel you guys have? We have a 4 pound flywheel right now
I was driving the robot and for the different angles I just got accustomed to where I was on the field to figure out which direction we had to be pointed to line up the shot. Basically, practice makes perfect! Distance though was honestly a lot of trial and error. We played around with departure angle until we were happy with it. We set up the prototype on the field and just manually manipulated the fixed hood up or down until we found an angle that we felt could be repeatable from a variety of distances. Then the rest was just finesse of the rpm of the flywheel. My co-driver did a FANTASTIC job eyeballing the needed rpm for whatever distance we were at. Our shooter put an incredible amount of backspin on the ball and we actually found the farther shots required less rpm than the close-up ones.
No offense guys, you made a really nice bot...love your shooter. It's just that the FRC games are getting really repetitive. Pick up a ball, shoot a ball, hang or lift the robot. FIRST game committees are really suffering from a lack of creativity.
The versa planetary's Andrew linked were used for just about every mechanism but the shooter. The 1/2" hex stock for the motor pully on the shooter has a 5mm center hole on one end that matches up with the 5mm shaft on the 775 pro. Two set screws and some loctite kept it in place pretty well.
I don't remember which ratio the winch gearbox was off the top of my head. It was either the 10.71:1 or the 12.75:1. As for weight though, we weighed it with battery and bumpers attatched and it was under 120lb, so this bot was pretty light as far as frc bots go.
We had a 775pro on a 50:1 versa planetary that actuated the intake arm up and down. This isn't exactly necessary, you could very easily design an arm to flop down at the begining of the match just by shaking the robot and would accomplish the same goal. As for dimensions, we used the AndyMark KOP chassis in the square configuration, so that would be about 30"x30" horizontal and the top of the climber arm in it's retracted position was about 38" off the ground
The ball intake was spun by a 775pro on a 5:1 versa planetary and then a 1:1 belt drive up to the rotating hex shaft. Though that gearing was a lot higher than it needed to be. We were running the intake at about 40% power and it still was plenty fast!
@@danielpack8147 We had another 775pro on a 50:1 versa planetary this time that rotated the intake arm up and down. This isn't exactly necessary though, you could very easily design an arm to flop down at the begining of the match just by shaking the robot and that would basically accomplish the same goal.
The balls were compressed about 2" at the tightest point at the flywheel and going up the mag the balls are gripped alot lighter, probably closer to 1/2", just enough to stay in contact.
Ideally it should have been, but there was miscommunication with our climber sub-team and the claw ended up being too narrow to fit around the center rung. If you make your claw ~6-8" wide you should be able to no problem!
We were using 4" andymark standard mecanums, though we found them a little larger and grippier that we would have liked but that was what we had on hand. I would look into something smaller, closer to the 2" size range. FRC125 has some 3d printable ones that look promising. Google "FRC125 Mecanum"
Amazing work! must be one of the most successful ri3d I've seen :)
This is actually insane
a great team is behind this great Robot. very instructive
How did you get so much distance from your ball shooter? What motor did you use and was it geared?
Hi Daniel! The ball shooter is driven by a 775pro with a 1.3:1 reduction in the drive belt. Shooter is a pair of 4" x 7/8" collision performa wheels with misc sprockets in-between for added rotating mass. Getting distance is all about finding the sweet spot between exit angle and rpm of the motor. We went through lots of trial and error. With the exit geometry we ended up with we found that around 80-90% motor power was about right for the more vertical up close shots and 70-80% for the more horizontal longer distance ones. Thanks for reaching out and good luck this year!
I was wondering what the fixed angle of the hood is? Also, what's the approximate height of the ball off the ground when it's just exiting the shooter? Thanks so much! Great Video!
This is easily the best ri3d I've seen everything about this is amazing. However it seems that the climbing system takes sometime to activate
I have a few questions: How much compression did you have on the hood of that shooter? What wheels did you used? What was the gearing on that shooter? Did you have a flywheel? Do you guys have a cad of this bot? How much compression is on the ball in the tube on the way up to the shooter? What happens if you shoot both balls with like no time in between?
Sorry I know it’s a lot of questions but it is an amazing bot
Hi Zach! The balls were compressed about 2" at the tightest point at the flywheel and going up the mag the balls are gripped alot lighter, probably closer to 1/2", just enough to stay in contact. The shooter is a pair of 4"x 7/8" collision performa wheels with some misc sprockets in-between to increase the rotating mass of the flywheel. Driven off a 775pro with a 1.3:1 reduction from the belt. The thing is a CANNON. If you were to shoot multiple balls back to back though without letting the shooter spool back up the subsequent balls wouldn't go nearly as far with the nice trajectory we achieved. That being said the recovery time could be shortened with PID tuning to ramp up current after a shot but that wasn't implemented here. Also, if given the means and time we would highly recommend adding some way to manipulate the exit angle of the hood rather than being tied to the fixed arc that we have here. Unfortunately we don't have a cad model as this was built from scratch in 3 days, but are happy to answer questions and provide advice! Thanks for reaching out and good luck this year!
What type of parts did you guys use for your hook/claw? My team was considering possibly using a cnc machine to make a similar component, but we're not sure if aluminum is the way to go.
Quick question, we are having issues with backspin on our shooter how did you guys counteract it with the 2 pound flywheel you guys have? We have a 4 pound flywheel right now
How did you figure out the adjustments necessary to score shots at such a variety of angles and distances?
I was driving the robot and for the different angles I just got accustomed to where I was on the field to figure out which direction we had to be pointed to line up the shot. Basically, practice makes perfect! Distance though was honestly a lot of trial and error. We played around with departure angle until we were happy with it. We set up the prototype on the field and just manually manipulated the fixed hood up or down until we found an angle that we felt could be repeatable from a variety of distances. Then the rest was just finesse of the rpm of the flywheel. My co-driver did a FANTASTIC job eyeballing the needed rpm for whatever distance we were at. Our shooter put an incredible amount of backspin on the ball and we actually found the farther shots required less rpm than the close-up ones.
Could you guys tell me what the specs are on your color wheel mech and the ball indexer? Great robot btw!
can you share with us your CAD file? for intake system
Excellent work! One question, What height does your robot shooter has with respect to the floor?
what do you use to drop the intake
No offense guys, you made a really nice bot...love your shooter. It's just that the FRC games are getting really repetitive. Pick up a ball, shoot a ball, hang or lift the robot. FIRST game committees are really suffering from a lack of creativity.
Sick
Awesome build! How did you get a 775 pro to have a pulley on a 1/2” hex shaft?
Place a versa planetary gear box with 1/2" hex output shaft: www.vexrobotics.com/versaplanetary.html
The versa planetary's Andrew linked were used for just about every mechanism but the shooter. The 1/2" hex stock for the motor pully on the shooter has a 5mm center hole on one end that matches up with the 5mm shaft on the 775 pro. Two set screws and some loctite kept it in place pretty well.
What is the ratio on your toughbox mini for the winch? Also is your robot without bumpers and battery 125 pounds?
cool robot by the way :D
I don't remember which ratio the winch gearbox was off the top of my head. It was either the 10.71:1 or the 12.75:1. As for weight though, we weighed it with battery and bumpers attatched and it was under 120lb, so this bot was pretty light as far as frc bots go.
How exactly does the intake with the mecanum wheels drop down after the match starts? Also what are the dimensions of the robot?
We had a 775pro on a 50:1 versa planetary that actuated the intake arm up and down. This isn't exactly necessary, you could very easily design an arm to flop down at the begining of the match just by shaking the robot and would accomplish the same goal. As for dimensions, we used the AndyMark KOP chassis in the square configuration, so that would be about 30"x30" horizontal and the top of the climber arm in it's retracted position was about 38" off the ground
@@jadenstreed2489 ok much appreciated 👍
What gearbox / motor did you use to rotate the ball picker upper?
The ball intake was spun by a 775pro on a 5:1 versa planetary and then a 1:1 belt drive up to the rotating hex shaft. Though that gearing was a lot higher than it needed to be. We were running the intake at about 40% power and it still was plenty fast!
How was the ball intake arm rotated up/down?
@@danielpack8147 We had another 775pro on a 50:1 versa planetary this time that rotated the intake arm up and down. This isn't exactly necessary though, you could very easily design an arm to flop down at the begining of the match just by shaking the robot and that would basically accomplish the same goal.
Jaden Streed okay thank you!
Can you hold 5 balls? Great job!
In theory yes. but we only had 2 balls to play with during our time.
what motor/ratio are you using for the flywheel
Hi Sajiv! We were running a single 775pro with a 1.3:1 reduction in the drive belt for our ball shooter
What's your compression on the balls?
The balls were compressed about 2" at the tightest point at the flywheel and going up the mag the balls are gripped alot lighter, probably closer to 1/2", just enough to stay in contact.
How does the Claw detach from the arm
The claw sits inside a bracket and slides out when the arm is lowered. Check out 2:45 for a good view!
Is it capable of a center climb?
Ideally it should have been, but there was miscommunication with our climber sub-team and the claw ended up being too narrow to fit around the center rung. If you make your claw ~6-8" wide you should be able to no problem!
Kono Dio da
can you share with us your CAD file? for intake system
What mecanum wheels are you guys using for intake?
We were using 4" andymark standard mecanums, though we found them a little larger and grippier that we would have liked but that was what we had on hand. I would look into something smaller, closer to the 2" size range. FRC125 has some 3d printable ones that look promising. Google "FRC125 Mecanum"