48 Power Cell Practice Run - FRC team 1690 Orbit

This week we would've competed in ISR District Event #3, had the season not been suspended. We made several improvements to our robot since our last competition, and wanted to share these in an uncut practice run, scoring 48 Power Cells; 24 inner and 24 outer goals and climbing. Enjoy!
(Video was taken on Tuesday, March 17th, before the Israeli government issued further restrictions that would have made it impossible to film)

[@yairkochalsky6571]

Stop being so good the season is over 😂

[@chadkrause6574]

I love the spindexer setup. That’s certainly the winning design this season

[@RaySchrantz]

Our team attempted that design a lot of different ways. The student that came up with it called it the revolver. Ended up taking way too much time to prototype properly and had to be scraped for an indexing system. The index system works great, was designed to have the physical capacity for 5 balls and fit under the trench, but because the 90° inversion is done by a passive ramp on one side and a single active roller on the other, it results half the speed at the inversion and only a capacity of 4 balls due to the rest of the system using active rollers on both sides. The slower speed creates a much larger gap between balls in the system despite it physically being able to fit 5 balls. If we decide to go back and replace the passive ramp for an active one, this problem may be fixed, but who know when we'll be able to get back into the school to attempt such an idea.

[@trufflesclothing]

1. it’s good but hear me out 118 didn’t have spindexer and 148 did one time 118 had 7 balls and didn’t get called and one time 148 had 6 balls and they got called because it displays the balls so what i’m saying is if you hid the balls that’s the iq play here

[@markcangila1613]

I love that side index you did at the start.

[@sn4rr]

Insane... (in a good way)

[@JayPatel-it6nd]

In the mainbrain

[@outofscopecode]

מטורף!

[@alon1461]

היי אבי

[@outofscopecode]

היי אלון

[@philipkuhle1683]

What kind of improvements were made?

[@yairkornblau9440]

We added another active roller to our indexing system, which makes the balls go in their slots quicker, and also allows us to shoot when the balls aren't organized, a state that led to many jams in ISR #1. We've also made many improvements to our vision alignment software that greatly speed up our cycle time

[@jeremyt7817]

Would've played so good...

[@king.brandon]

What is the drive motor gear ratio for the swerve modules? Was it being driven at full speed in the video? It's scary that I think you could realistically speed it up

[@tomkertesz10]

It's 8.61:1 on a falcon motor with 4 inch wheels, and was driven at full speed in this video at a top speed of about 3.5 m/s. It did turn out to be too slow for our liking and we would have sped it up if the season wasn't halted due to the COVID-19 situation. This topic was discussed in a Chief Delphi thread we put up when this video was published: www.chiefdelphi.com/t/team-1690-what-couldve-been-48-power-cell-practice-run/382743/21

[@harel5407]

אללה אורביט

[@markkaz7754]

damn

[@jacobfrye996]

When your opr is 182

[@amitgamez1304]

תיהיו בריאים

[@jacobliqu2093]

kinda reminds me of this video kzbin.info/www/bejne/fJ-XiYGDarZlprM

[@JamesHollowaySCIENCE]

what drive base are you using?

[@tomkertesz10]

A swerve drive, you can watch the dedicated reveal we did to a similar drive on the off season a few month ago: kzbin.info/www/bejne/rXTEnK2Dm7eDgdU

[@austinattig2239]

F

[@bigfootjustkilledyou]

2:04 1 2 3 4 5 6, shit wait a minute...

[@yairkornblau9440]

what?