05/10/12 - Scoring / De-Scoring Prototypes

The team talked about various scoring and de-scoring strategies last night and began prototyping an intake that can both pick up sacks from the floor and de-score or steal sacks from the trough goals. Below are our test videos, all tests were ran with two 269 motors direct driving the wheels:

Test 1: Using a 5 inch wheel for de-scoring from the trough goals.

Result: 5 inch wheel does not grip the sacks well and does not de-score them easily from the trough.

Test 2: Using the 30 tooth sprocket with small tread flaps wrapped around the outside.

Result: Small flaps worked better than the 5 inch wheel and could de-score some sacks. Decided to try larger flaps to see if that worked better.

Test 3: Using the 30 tooth sprocket with some small and some large flaps wrapped around the outside.

Result: De-scored fairly well. We are going to experiment with using a piece of extendable polycarbonate to support underneath the sacks for sack stealing purposes.