That's an impressive amount of work they put in just so they could shoot on the move! i didn't expect less, kudos to them and thanks for showcasing this awesome robot
This robot caught my eye from the beginning, our programming team compared our software to orbit this whole season. Very impressive robot and a awesome team. Very Unfortunate outcome, but they showed us they are a team to watch in future years.
I kept trying to think of a way to mathematically optimize the shot arc, but minimizing the derivatives of robot parameters is such an elegant solution. Amazing stuff as always One question, did you factor in the shape/mechanics of the hub into your shot optimization? We did most of our shot optimization based on a shot that had a very low chance of bouncing out
Yes we actually did. As part of the "cost" calculation for every shot, we added the max height of the trajectory of the ball. That's due to conservation of energy: The higher the ball gets, the more potential energy it has. When the ball gets to the target, all the potential energy is converted to kinetic energy, and the more energy the ball has when hitting the target, the more likely it will bounce out.
@@olikat9774 The physics simulation solves the differential equation for the position of the ball, using Euler's method. The trajectory calculation takes into account the current state: velocity (a vector in the vertical plane), position, and spin, and yields the next state, in small steps. What defines a trajectory of a ball, is the initial state. The hood angle, combined with the speed of the shooter wheels, can be thought of as a vector in the vertical plane, which represents the initial velocity.
@@olikat9774 In regards to the slip on the ball, we don't compensate for it in the shooting simulation, but multiply by a factor in the robot code. This is due to the fact that the balls are inflated differently. Furthermore, this number increases between matches throughout the competition.
![ร้อยพ่อพันแม่ - WanMai [Official MV]](http://i.ytimg.com/vi/XY2pNYASEbg/mqdefault.jpg)
Proud to be orbit 2013-2015. Well done!
Here years later, about to finish my engineering degree together with almost all my team members from orbit.
Nice, did u do mechanical or electrical?
That's an impressive amount of work they put in just so they could shoot on the move! i didn't expect less, kudos to them and thanks for showcasing this awesome robot
As a member of team 1138, I’m so glad that we had the opportunity to be on an alliance with such an excellently designed and programmed robot.
Who's been watching bernardetcheverry7405 for a while now? ✋
My favorite robot this season so sad they couldn't make it further
This robot caught my eye from the beginning, our programming team compared our software to orbit this whole season. Very impressive robot and a awesome team. Very Unfortunate outcome, but they showed us they are a team to watch in future years.
The vision for climb so so nice
liri was so friendly in the pits!!! it was really nice to meet you guys at worlds :)
I wanted an Orbit vs 254 faceoff in Einstien finals so badly. Huge bummer they choked in the playoffs.
Best 2022 robot
I kept trying to think of a way to mathematically optimize the shot arc, but minimizing the derivatives of robot parameters is such an elegant solution. Amazing stuff as always
One question, did you factor in the shape/mechanics of the hub into your shot optimization? We did most of our shot optimization based on a shot that had a very low chance of bouncing out
Yes we actually did. As part of the "cost" calculation for every shot, we added the max height of the trajectory of the ball. That's due to conservation of energy:
The higher the ball gets, the more potential energy it has. When the ball gets to the target, all the potential energy is converted to kinetic energy, and the more energy the ball has when hitting the target, the more likely it will bounce out.
@@noamprag9393 how do you find the shot velocities that a wheel speed and hood angle will produce, do your the wheels slip on the ball?
@@olikat9774 The physics simulation solves the differential equation for the position of the ball, using Euler's method.
The trajectory calculation takes into account the current state: velocity (a vector in the vertical plane), position, and spin, and yields the next state, in small steps.
What defines a trajectory of a ball, is the initial state. The hood angle, combined with the speed of the shooter wheels, can be thought of as a vector in the vertical plane, which represents the initial velocity.
@@olikat9774 In regards to the slip on the ball, we don't compensate for it in the shooting simulation, but multiply by a factor in the robot code.
This is due to the fact that the balls are inflated differently. Furthermore, this number increases between matches throughout the competition.
@@noamprag9393 Interesting, did you have to rework the math after adding a hood roller to account for reduced spin?
1690 is 100% the best controls team IMO
amazing software, and an unlucky season outcome
A a member of team 2046 bear metal, we we so fortunate to be drop kicked by this stacked robot in the carver district