Difference between revisions of "DEWBOT VIII Shooter"
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:* An overshot wheeled shooter offers the desired backspin | :* An overshot wheeled shooter offers the desired backspin | ||
:* To manage mass & cost, it was decided early that a decision to use pivot drive (which was subsequently made) would also become a decision to fix the shooter azimuth relative to the chassis. If we use pivot drive, we will aim the robot; we will not use a turret to aim the shooter. | :* To manage mass & cost, it was decided early that a decision to use pivot drive (which was subsequently made) would also become a decision to fix the shooter azimuth relative to the chassis. If we use pivot drive, we will aim the robot; we will not use a turret to aim the shooter. | ||
| + | :* The camera should be utilized to adjust azimuth (relative to field). Automatic aiming preferred if (and only if) this could be demonstrated to result in higher scoring than Driver-aimed/Camera-assisted shooting. | ||
| + | :* A narrow-cone sonar was specified to determine distance to backboard | ||
| + | :* The shooter wheels must be speed-controlled | ||
| + | :* The sonar or alternately the operator to supply the set-point for the shooter wheel speed | ||
==Prototypes== | ==Prototypes== | ||
Revision as of 20:34, 30 July 2012
1640's Shooter requirements for Rebound Rumble are:
- This is a shooter; not a dumper
- Primarily targeting the top basket
- High scoring reliability (>67%) from Key or closer
- Ability to feed balls to alliance scoring field from the outbounder station
- Backspin to drop into basket and provide dead landing upon feeding
- Fast recycle; one shot per second (minimum)
- Automatic rangefinding & aiming
- Maintain low CoM for bridge balancing & preventing bridge tips
The Shooter system comprises:
- A fixed-geometry overshot wheeled shooter
- A tachometer to determine and thereby enable control of shooter wheel speed
- A camera for aiming
- A Drive Mode specifically for aiming the robot
- A narrow-beam sonor to determine range to back-board
Contents
Key Technical Challenges & Statements
- A high shooter elevation (trajectory) will be needed to score in the top basket
- High trajectory shooters shooting from the Key cannot be easily blocked (regardless of shooter height)
Concepts
- Wheeled shooter was the only serious concept examined (well, there was some catapult testing early)
- An overshot wheeled shooter offers the desired backspin
- To manage mass & cost, it was decided early that a decision to use pivot drive (which was subsequently made) would also become a decision to fix the shooter azimuth relative to the chassis. If we use pivot drive, we will aim the robot; we will not use a turret to aim the shooter.
- The camera should be utilized to adjust azimuth (relative to field). Automatic aiming preferred if (and only if) this could be demonstrated to result in higher scoring than Driver-aimed/Camera-assisted shooting.
- A narrow-cone sonar was specified to determine distance to backboard
- The shooter wheels must be speed-controlled
- The sonar or alternately the operator to supply the set-point for the shooter wheel speed
Prototypes
Prototyping was limited and the final shooter closely resembled the prototype.
Assembling prototype
Testing undershot wheel configuration
Testing overshot wheel configuration
Prototype mounted on drill press platform
Testing prototype on DEWBOT VI chassis
Testing the integrated Lift/Shooter assembly prototype
Design Details
55 deg
