14906 Systemcore Showcase

[drwho495]

Showcase of things related to the Systemcore by 14906 Leviathan Robotics.

[drwho495]

Here is a showcase of our eight A301, mecanum wheel drivetrain.

The motors drive the wheels on a ratio with a final output of ~1000 RPM.
We tested it with extra weights, and we saw some performance losses and browning out.
It drives faster than an FRC robot that uses coaxial swerve.

IMG_9529.mov

IMG_9494.mov

b0e251b4ac40465e84296fe703899757.mov

IMG_9495.mov

IMG_9497.mov

IMG_9493.mov

IMG_9489.mov

The robot was programmed in C++, with the inbuilt mecanum drive class.
Here is the code.
Here is the CAD.

If anyone has any suggestions or advice for things to try, let us know.

[qwertychouskie]

browning out

With the amount of amperage lithium batteries are capable of outputting, browning out with 8 actuators is a bit concerning, I'd like to see some investigation into that

[drwho495]

I'm not really sure if it was browning out, or if we saw some DS bugs. But I'm pretty sure it was browning out. The thing is, the voltage reading didn't show a drop, or really a change, at all.

[ThadHouse]

If you see it again, please post the DS logs. That'll help show if its watchdogging or browning out (I suspect its triggering the watchdog). Especially watching that video where you go most of the way across an FRC sized field, which isn't great for the built in Systemcore WiFi.

[drwho495]

Alright, I'll take a look when I get the chance.