2025:Drive Base: Difference between revisions
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<span style="font-family: georgia, palatino;">We have an Alpha bot!</span>[[image:img1737256043362.jpeg|thumb|300px]] | <span style="font-family: georgia, palatino;">We have an Alpha bot!</span>[[image:img1737256043362.jpeg|thumb|300px]] | ||
<span style="font-size: 14pt;" >''''''</span> | <span style="font-size: 14pt;">''''''</span> | ||
<span style="font-size: 14pt;" >'''1/28/2025'''</span> | <span style="font-size: 14pt;">'''1/28/2025'''</span> | ||
Drivebase gear train decision criteria: | Drivebase gear train decision criteria: | ||
{| style="border-collapse: collapse; width: 51.4884%; height: 124px; border-style: solid;" border="1" width="622" cellspacing="0" cellpadding="0" | {| style="border-collapse: collapse; width: 51.4884%; height: 124px; border-style: solid;" border="1" width="622" cellspacing="0" cellpadding="0" | ||
|- style="height: 46px;" | |- style="height: 46px;" | ||
| style="width: 8.11611%; height: 46px;" | Ratio Option | | style="width: 8.11611%; height: 46px;" | Ratio Option | ||
| class="xl64" style="width: 8.67628%; height: 46px;" | Gear Ratio | | class="xl64" style="width: 8.67628%; height: 46px;" | Gear Ratio | ||
| Line 31: | Line 31: | ||
| class="xl66" style="width: 18.321%; height: 46px;" | min accel (before torque dip) ft/s^2 | | class="xl66" style="width: 18.321%; height: 46px;" | min accel (before torque dip) ft/s^2 | ||
| class="xl64" style="border-left: none; width: 17.3927%; height: 46px;" | closer goal travel time - 13.08333ft | | class="xl64" style="border-left: none; width: 17.3927%; height: 46px;" | closer goal travel time - 13.08333ft | ||
| class="xl66" style="width: 15.172%; height: 46px;" | | | class="xl66" style="width: 15.172%; height: 46px;" | | ||
farther goal travel time - 25ft | farther goal travel time - 25ft | ||
|- style="height: 23px;" | |- style="height: 23px;" | ||
| style="width: 8.11611%; height: 23px;" | 1 | | style="width: 8.11611%; height: 23px;" | 1 | ||
| class="xl67" style="width: 8.67628%; height: 23px;" | 7.13:1 | | class="xl67" style="width: 8.67628%; height: 23px;" | 7.13:1 | ||
| Line 41: | Line 40: | ||
| class="xl67" style="border-left: none; width: 17.3927%; height: 23px;" | 1.2s | | class="xl67" style="border-left: none; width: 17.3927%; height: 23px;" | 1.2s | ||
| class="xl68" style="width: 15.172%; height: 23px;" | 2.04s | | class="xl68" style="width: 15.172%; height: 23px;" | 2.04s | ||
|- style="height: 23px;" | |- style="height: 23px;" | ||
| style="width: 8.11611%; height: 23px;" | 2 | | style="width: 8.11611%; height: 23px;" | 2 | ||
| class="xl67" style="width: 8.67628%; height: 23px;" | 5.9:1 | | class="xl67" style="width: 8.67628%; height: 23px;" | 5.9:1 | ||
| Line 48: | Line 47: | ||
| class="xl67" style="border-left: none; width: 17.3927%; height: 23px;" | 1.16s | | class="xl67" style="border-left: none; width: 17.3927%; height: 23px;" | 1.16s | ||
| class="xl68" style="width: 15.172%; height: 23px;" | 1.84s | | class="xl68" style="width: 15.172%; height: 23px;" | 1.84s | ||
|- style="height: 23px;" | |- style="height: 23px;" | ||
| style="width: 8.11611%; height: 23px;" | 3 | | style="width: 8.11611%; height: 23px;" | <span style="background-color: rgb(45, 194, 107);" >3</span> | ||
| class="xl70" style="width: 8.67628%; height: 23px;" | 5.36:1 | | class="xl70" style="width: 8.67628%; height: 23px;" | <span style="background-color: rgb(45, 194, 107);" >5.36:1</span> | ||
| class="xl71" style="width: 12.8578%; height: 23px;" align="right" | 21.9 | | class="xl71" style="width: 12.8578%; height: 23px;" align="right" | <span style="background-color: rgb(45, 194, 107);" >21.9</span> | ||
| class="xl72" style="width: 18.321%; height: 23px;" align="right" | 17.1 | | class="xl72" style="width: 18.321%; height: 23px;" align="right" | <span style="background-color: rgb(45, 194, 107);" >17.1</span> | ||
| class="xl70" style="border-left: none; width: 17.3927%; height: 23px;" | 1.2s | | class="xl70" style="border-left: none; width: 17.3927%; height: 23px;" | <span style="background-color: rgb(45, 194, 107);" >1.2s</span> | ||
| class="xl72" style="width: 15.172%; height: 23px;" | 1.8s | | class="xl72" style="width: 15.172%; height: 23px;" | <span style="background-color: rgb(45, 194, 107);" >1.8s</span> | ||
|} | |} | ||
currently the swerve modules have option 3 installed. The difference is minute and changing does not look advantageous enough at this point. NO CHANGE. | currently the swerve modules have option 3 installed. The difference is minute and changing does not look advantageous enough at this point. NO CHANGE. | ||
| Line 63: | Line 62: | ||
<span style="font-family: georgia, palatino;" >To Do:</span> | <span style="font-family: georgia, palatino;">To Do:</span> | ||
*<span style="text-decoration: line-through; font-family: georgia, palatino;" ><span>Built Alpha Bot (Given to Programmers)</span></span> | *<span style="text-decoration: line-through; font-family: georgia, palatino;"><span>Built Alpha Bot (Given to Programmers)</span></span> | ||
*<span style="text-decoration: line-through; font-family: georgia, palatino;" ><span>Bumper Material Analysis </span></span> | *<span style="text-decoration: line-through; font-family: georgia, palatino;"><span>Bumper Material Analysis </span></span> | ||
*<span style="text-decoration: line-through; font-family: georgia, palatino;" ><span>Design Swerve Belly Pan</span><span></span></span> | *<span style="text-decoration: line-through; font-family: georgia, palatino;"><span>Design Swerve Belly Pan</span><span></span></span> | ||
*<span style="text-decoration: line-through; font-family: georgia, palatino;" ><span>Finalize Base Size (Suspected 30" x 29")</span></span> | *<span style="text-decoration: line-through; font-family: georgia, palatino;"><span>Finalize Base Size (Suspected 30" x 29")</span></span> | ||
*<span style="font-family: georgia, palatino;" >Assemble 8th Swerve (Just missing 2 Kraken X60's)</span> | *<span style="font-family: georgia, palatino;">Assemble 8th Swerve (Just missing 2 Kraken X60's)</span> | ||
*<span style="text-decoration: line-through; font-family: georgia, palatino;" ><span>Cut frame pieces for Comp Bot</span></span> | *<span style="text-decoration: line-through; font-family: georgia, palatino;"><span>Cut frame pieces for Comp Bot</span></span> | ||
*<span style="text-decoration: line-through; font-family: georgia, palatino;" ><span>Assemble Competition Frame</span></span> | *<span style="text-decoration: line-through; font-family: georgia, palatino;"><span>Assemble Competition Frame</span></span> | ||
*<span style="font-family: georgia, palatino;" ><span style="text-decoration: line-through;" >Make</span> Fabricate Swerve Safety Covers</span> | *<span style="font-family: georgia, palatino;"><span style="text-decoration: line-through;">Make</span> Fabricate Swerve Safety Covers</span> | ||
*<span style="font-family: georgia, palatino;" >Decide Bumper Materials</span><br> | *<span style="font-family: georgia, palatino;">Decide Bumper Materials</span><br> | ||
*<span style="font-family: georgia, palatino;" >Develop Bumper Mounting Hardware</span> | *<span style="font-family: georgia, palatino;">Develop Bumper Mounting Hardware</span> | ||
***<span style="font-family: georgia, palatino;" >determine mounting location</span> | ***<span style="font-family: georgia, palatino;">determine mounting location</span> | ||
***<span style="font-family: georgia, palatino;" >rivet belly pan in place</span> | ***<span style="font-family: georgia, palatino;">rivet belly pan in place</span> | ||
*<span style="font-family: georgia, palatino;" >Build a robust and secured Gyro mount</span> | *<span style="font-family: georgia, palatino;">Build a robust and secured Gyro mount</span> | ||
*<span style="text-decoration: line-through; font-family: georgia, palatino;" ><span>Cross Bar Placements (Discuss with Game Piece / Elevator)</span></span> | *<span style="text-decoration: line-through; font-family: georgia, palatino;"><span>Cross Bar Placements (Discuss with Game Piece / Elevator)</span></span> | ||
*<span style="animation-delay: -0.01ms !important; animation-duration: 0.01ms !important; animation-iteration-count: 1 !important; scroll-behavior: auto !important; transition-duration: 0ms !important; font-family: georgia, palatino;" >Design Carry Handles (Not Urgent)</span> | *<span style="animation-delay: -0.01ms !important; animation-duration: 0.01ms !important; animation-iteration-count: 1 !important; scroll-behavior: auto !important; transition-duration: 0ms !important; font-family: georgia, palatino;">Design Carry Handles (Not Urgent)</span> | ||
Latest revision as of 19:17, 28 January 2025
1/5/25
Built 4 Swerves, they are missing their magnetic encoders as we do not have the CANCoders at this point. They are also missing the grease on the gears and the screws mounting the Krakens do not have Locktite. The extra parts, bottom mounting plate, and encoder securing hardware are still in the box because we can't put them on just yet. We have 10 new SDS MK4n swerve modules using Kraken x60's as the driving and steering motors. We intend to use 4 swerve modules for a Alpha bot, and 4 for the final robot, leaving 2 extra. We are leaving the built swerve modules on the drive base shelf in the shop closet.
- The programmers
''''' 1/7/2025
We built 2 more swerves today, we moved the 4 new CANcoders onto the Drivebase shelf. The current status of all six of our assembled swerve modules is: They need the CANcoder magnet Loctited in place, they need the CANcoders mounted along with their protective covers, the gears need to be greased, and the motors need to be Loctited once their position is solidified (7 bolts). We have 4 more modules left to assemble.
1/16/2025
We have an Alpha bot!
'
1/28/2025
Drivebase gear train decision criteria:
| Ratio Option | Gear Ratio | peak acceleration ft/s^2 | min accel (before torque dip) ft/s^2 | closer goal travel time - 13.08333ft |
farther goal travel time - 25ft |
| 1 | 7.13:1 | 29.1 | 23.8 | 1.2s | 2.04s |
| 2 | 5.9:1 | 24.1 | 18.9 | 1.16s | 1.84s |
| 3 | 5.36:1 | 21.9 | 17.1 | 1.2s | 1.8s |
currently the swerve modules have option 3 installed. The difference is minute and changing does not look advantageous enough at this point. NO CHANGE.
To Do:
- Built Alpha Bot (Given to Programmers)
- Bumper Material Analysis
- Design Swerve Belly Pan
- Finalize Base Size (Suspected 30" x 29")
- Assemble 8th Swerve (Just missing 2 Kraken X60's)
- Cut frame pieces for Comp Bot
- Assemble Competition Frame
- Make Fabricate Swerve Safety Covers
- Decide Bumper Materials
- Develop Bumper Mounting Hardware
- determine mounting location
- rivet belly pan in place
- Build a robust and secured Gyro mount
- Cross Bar Placements (Discuss with Game Piece / Elevator)
- Design Carry Handles (Not Urgent)
