2012:Shooter and Collector: Difference between revisions
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| Line 6: | Line 6: | ||
**Mechanical hardstops | **Mechanical hardstops | ||
**Absolute angular position sensor | **Absolute angular position sensor | ||
**<span style="color: red">Need | **Window motor | ||
**<span style="color: red">Need power controller</span> | |||
*2-Wheel shooter | *2-Wheel shooter | ||
| Line 19: | Line 20: | ||
*Camera mounted on turret | *Camera mounted on turret | ||
**Must have direct light source inline with lens | **Must have direct light source inline with lens | ||
**<span style="color: red">Do we need pan | **Must be able to tilt | ||
**Higher is better to see over robots in front of us | |||
**<span style="color: red">Do we need pan? </span> | |||
[[2012:Shooter and Collector Camera]] | [[2012:Shooter and Collector Camera]] | ||
| Line 28: | Line 31: | ||
*1 speed forward, 1 speed reverse (<span style="color: red">full speed? can use relay?</span>) | *1 speed forward, 1 speed reverse (<span style="color: red">full speed? can use relay?</span>) | ||
*Pushes balls in and on to first conveyor section | *Pushes balls in and on to first conveyor section | ||
*<span style="color: red"> | *Banebots RS-775 motor (<span style="color: red">need gearing</span>) | ||
= Wings/V-collector Design = | = Wings/V-collector Design = | ||
| Line 37: | Line 40: | ||
*Motion must be able to pull unloaded bridge down from horizontal | *Motion must be able to pull unloaded bridge down from horizontal | ||
*Must extert 10lbs force at the tip to pull the unloaded bridge | *Must extert 10lbs force at the tip to pull the unloaded bridge | ||
* | *AM-0914 motor and associated gearbox | ||
**Geared down 2-to-1 for additional torque (2-to-1 gives stall torque of 6200 oz-lbs = 380 inch-lbs) | |||
**2-to-1 gearing gives unloaded single-actuation of about 1 second | |||
**<span style="color: red">This also drives sensors (not needed for pneumatics)</span> | **<span style="color: red">This also drives sensors (not needed for pneumatics)</span> | ||
**<span style="color: red">If motor, decide speed controller or not</span> | **<span style="color: red">If motor, decide speed controller or not</span> | ||
| Line 45: | Line 50: | ||
= Ball Movement/Storage System Design = | = Ball Movement/Storage System Design = | ||
*Uses Banebots RS-775 motors [http://banebots.com/p/M7-RS775-18] | |||
*Banebots P60 16-to-1 transmissions [http://banebots.com/pc/P60K-S7/P60K-44-0007] | |||
*<span style="color: red">Two designs - not decided yet. DECIDE ME</span> | *<span style="color: red">Two designs - not decided yet. DECIDE ME</span> | ||
**<span style="color: red">See drawings on shop wall</span> | **<span style="color: red">See drawings on shop wall</span> | ||
Revision as of 08:54, 22 January 2012
Shooter Design
- Turret-mounted
- Approx. 280 degrees of rotation minimum need final range
- 1-degree precision
- Mechanical hardstops
- Absolute angular position sensor
- Window motor
- Need power controller
- 2-Wheel shooter
- Must be able to impart backspin
- Fixed angle of shot -- approximately 60-70 degrees above floor
- Each wheel independently controlled (to control backspin)
- Powered by Fisher-Price motor on speed controllers
- Sensor for RPM on each
- Provide sufficient resolution for rapid speed control update
- Identify sensor characteristics
- Camera mounted on turret
- Must have direct light source inline with lens
- Must be able to tilt
- Higher is better to see over robots in front of us
- Do we need pan?
2012:Shooter and Collector Camera
Beater Bar Design
- Fixed position within frame, as close to perimeter as possible
- 1 speed forward, 1 speed reverse (full speed? can use relay?)
- Pushes balls in and on to first conveyor section
- Banebots RS-775 motor (need gearing)
Wings/V-collector Design
- V-shaped collector outside of robot
- Articulated up/in and down/out -- 2-position motion
- Just a plain bars, no actual motion on the bars themselves
- Motion must be able to pull unloaded bridge down from horizontal
- Must extert 10lbs force at the tip to pull the unloaded bridge
- AM-0914 motor and associated gearbox
- Geared down 2-to-1 for additional torque (2-to-1 gives stall torque of 6200 oz-lbs = 380 inch-lbs)
- 2-to-1 gearing gives unloaded single-actuation of about 1 second
- This also drives sensors (not needed for pneumatics)
- If motor, decide speed controller or not
Ball Movement/Storage System Design
- Uses Banebots RS-775 motors [1]
- Banebots P60 16-to-1 transmissions [2]
- Two designs - not decided yet. DECIDE ME
- See drawings on shop wall
Resources
- Ball Trajectory Calculation spreadsheet
- Math behind the above spreadsheet
- Foil Sim III - Air flow simulator; useful for approximating drag effects on a ball
- Motor Specs from FIRST
Shooter and Collector Master Task List
Shooter and Collector's Engineering Notebook
Week 1
Week 2
Week 3
Week 4
Week 5
Week 6
Engineering Notebook Templates Available at:Engineering_Notebook_Template
Please Label All Notebook Pages 2012:Shooter and Collector XX.XX to avoid confusion.
