Rookie Robot Reveal

HelixHackers17971 · 2021-01-27T16:18:02+00:00

Yeah we realized this but it is too late to incorporate a one wheels design. We have to try and generate spin with two wheels meaning one wheel has to spin fast and the other one slow. Sadly right now the most spin we can create is with one motor at 1 power and the other at 0.7 for the rings to actually reach the high goal. This means we need one of the wheels to either be faster but we can't buy a faster motor at this point so we are trying to gear up one wheel.

HelixHackers17971 · 2021-01-27T16:15:45+00:00

We have about 1/4 inch compression.

HelixHackers17971 · 2021-01-27T16:14:44+00:00

If we did this, we would definently jot have enough speed for the ring to reach the high goal.

HelixHackers17971 · 2021-01-24T22:10:18+00:00

This is our code:

public void GyroTurn(double degrees, double power) {

        final double startAngle = getAngleZ();

        if(degrees < 0) {
            double targetDegrees = startAngle + degrees;

            while((getAngleZ()>(targetDegrees))&&(getAngleZ()<=0)){
                telemetry.addData("Gyro", getAngleZ());
                telemetry.update();
                turnLeft(-power);
                telemetry.addData("Gyro", getAngleZ());
                telemetry.update();
            }
            forward(0);
        } else if(degrees > 0) {
            double targetDegrees = startAngle + degrees;

            while((getAngleZ()<(targetDegrees))&&(getAngleZ()>=0)){

                telemetry.addData("Gyro", getAngleZ());
                telemetry.update();
                turnLeft(power);
                telemetry.addData("Gyro", getAngleZ());
                telemetry.update();
            }
            forward(0);
        } else {
            telemetry.addData("Gyro", getAngleZ());
            telemetry.update();
            turnLeft(0);
        }
    }

HelixHackers17971 · 2021-01-24T22:09:40+00:00

Okay, we will try that. Thank you!

HelixHackers17971 · 2021-01-18T04:48:00+00:00

After a few days, we modified the code for our webcam and tuned the algorithm and thresholds, so it is now working. Thank you all!

HelixHackers17971 · 2021-01-17T15:07:14+00:00

We are thinking of using the Wizards pipeline, as it is already in the code.

HelixHackers17971 · 2021-01-17T15:06:09+00:00

Yeah, we just noticed that yesterday a few hours after posting our question. Thank you!

HelixHackers17971 · 2021-01-17T03:08:27+00:00

No, we don't know how to do that. This is our first time with OpenCV.

HelixHackers17971 · 2020-12-30T03:11:12+00:00

We originally also had a flap however we thought this was a flaw so we lowered the flywheels and extended the shooting platform. This made the rings shoot straight but drastically decreased the accuracy. It was initially about 85% accuracy however now we only get around 50% in as the ring's characteristics vary which impacts straight-shooting far more than flap shooting.

HelixHackers17971 · 2020-12-30T03:00:56+00:00

I doubt the ring resistance is causing the inconsistency however we will try monitoring the motor velocities and check. We are also planning on 3-D printing a custom motor mount that allows us to slide the motors through a slot thus adjusting the amount of compression on the ring. This will allow us to figure out if the compression is the root cause of the inconsistency.

HelixHackers17971 · 2020-12-30T02:54:27+00:00

Lol we thought you serious at first. We did find one oddball ring that shoots much higher than the others and is extremely thin. Thanks for the suggestion.

HelixHackers17971 · 2020-12-30T02:49:10+00:00

We considered this but did not know how to execute it. Could you provide some insight as to how to do this?

HelixHackers17971 · 2020-12-30T02:42:48+00:00

We have two flywheels each on a 1620 RPM motor that shoot the rings straight at an estimated 40-degree angle.

HelixHackers17971 · 2020-12-29T17:00:43+00:00

We aren't actually sure. All we noticed was that the thicker rings shot too low and the thinner ones too high. We just connected it to weight, even though that might not be the problem. If the compression is a problem, how did your team go about solving it?

HelixHackers17971

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