Statistics


flaps up: 28" long x 35" wide x 22" high


flaps down: 47 " long x 35" wide x 13" high


Weight: 123 lbs.


Max Speed: 2 ft/s








Control System Details


E-Brake:

Software control of a servo positioned next to 2 limit switches is used to change the brake/coast setting of the drive system speed controllers. This helps to reduce the back-driven movement while balancing on the bridge (brake), and allow smoother handling while maneuvering on the rest of the field (coast).


IR Encoder Ring:

Composed of 2 rings, one diffuses light and the other reflects light. It is mounted on the inside of one wheel and provides a transition between light and dark, for every " the robot has moved.

Auto Balancing Software:

  1. Once on bridge, select side of robot facing bridge (thumb wheel on joystick) then select auto balance mode (button on top of joystick).
  2. The s/w turns on the E-brake, turns off the compressor and drives the robot straight up the bridge, at a slow speed.
  3. When the gyro detects a rate change greater than a specific threshold, the s/w reverses the drive direction.
  4. Collectively, the IR sensor and encoder ring are used to measure how far back the robot has traveled and the s/w stops the robot at a predetermined distance.

Capabilities


Balancing Goals - Auto Balancing Software: The auto balancing s/w allows for quicker and more consistent balancing, with 1 or 2 goals. Once attached to goal(s) on level ground in front of bridge, a balanced condition is achieved in less than:

15 sec. 65% of the time
45 sec. 95% of the time

Goals:

Attach & release 1 or 2 goals and Move 1 or 2 goals across bridge.



Stretcher:

Attach & release stretcher. Push or pull stretcher on level ground. Push stretcher plus 130 lbs. over bridge.


Bridge:

Change direction of bridge tilt by driving over 4x6 and returning over bridge.

Mobility:

Cross the field with or without the bridge (20 sec.).

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