RoboJackets Wiki - User contributions [en]

Cathi

2017-03-03T02:21:08Z

Jma: /* Motorama 2017 */

{| class="wikitable" align="right"
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Cathi
|-
! scope="row" colspan="2" |
|-
! scope="row" style="text-align:left" | Year Of Creation
| {{{year|2013-2014}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Versions
|-
! scope="row" style="text-align:left" | Current Version
| {{{currver|2.1}}}
|-
! scope="row" style="text-align:left" | Update Year
| {{{updyr|2014-2015}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Information and Statistics
|-
! scope="row" style="text-align:left" | Weight Class
| {{{wc|FeatherWeight}}}
|-
! scope="row" style="text-align:left" | Weapon Class
| {{{weapc|Ring Spinner}}}
|-
! scope="row" style="text-align:left" | Wins/Losses
| {{{winloss|0/5}}}
|-
! scope="row" style="text-align:left" | ("Temporary")
| {{{TBA|("Temporary")}}}
|-
! scope="row" style="text-align:left" | ("Temporary")
| {{{TBA|("Temporary")}}}
|}

Cathii is a 30 pound invertable ring spinner robot.  A ring spinner design was chosen because it allows and offense on every side of the robot, while still being invertable.  The ring design allows weight normally dedicated to the armor of the robot to be dedicated to the weapon, thus increased the power of the weapon.  Her ring is approximetly 15 pounds and spins around 2500 rpm at top speed.  Cathii has be undergoing continual improvements every year since her first competition in 2014.

== Competitions ==

=== Motorama 2014 ===

*Results:
**Bracket Style:
***[http://youtu.be/HrBQlkcsCsE?list=PLa4DDbMiSUTW8V-dy5on2g5KvAXro05Za Loss vs Pitter Patter]
***[http://youtu.be/UoEmcIyIQaQ?list=PLa4DDbMiSUTW8V-dy5on2g5KvAXro05Za Loss vs Candy Paint and Gold Teeth]

=== [[Motorama_2015|Motorama 2015]] ===

*Results:
**Bracket Style:
***[http://youtu.be/HrBQlkcsCsE?list=PLa4DDbMiSUTW8V-dy5on2g5KvAXro05Za Loss vs Pitter Patter]
***[http://youtu.be/UoEmcIyIQaQ?list=PLa4DDbMiSUTW8V-dy5on2g5KvAXro05Za Loss vs Candy Paint and Gold Teeth]
*Results:
**Bracket Style:
***[https://www.youtube.com/watch?v=nQ0EcZ4UvJg&index=7&list=PLElIOq0YqguswjV-Bftne-QkNToZ3p9Fi Loss vs Drum Thing Else]
***[https://www.youtube.com/watch?v=qwzfQ44UKHI&index=15&list=PLElIOq0YqguswjV-Bftne-QkNToZ3p9Fi Loss vs Triggo]
**[https://www.youtube.com/watch?v=e9lHdjj1454&index=17&list=PLElIOq0YqguswjV-Bftne-QkNToZ3p9Fi Loss in Featherweight Rumble] 

=== [[Motorama_2016|Motorama 2016]] ===

*Results:
**Bracket Style:
***[https://www.youtube.com/watch?v=CVMc3VlrNUs Loss vs megatRON]
***[https://www.youtube.com/watch?v=7lreUldRKR8 Loss vs The Robot Formerly Known as Drumthing]
***[https://www.youtube.com/watch?v=gg38rxzOTnA Win vs Gracious Pipefessionalism]

=== [[Motorama 2017]] ===
*Results:
**Bracket Style:
***Win vs Gracious Pipefessionalism
***Loss vs
***Loss vs

== Version ==

=== Cathi V1.0 ===

Desgined By: Max Carlson[[File:Cathii.jpg|frameless|right|480x360px|Mega-Smitti]]

Cathi was first designed and built during the 2013-2014 school year.  

{| border="1" cellpadding="1" cellspacing="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| RS-545
|-
| Drive Motor Controllers 
| Ragebridge 1.0
|-
| Weapon Motor 
| NTM 5050
|-
| Weapon Motor Controllers
| TURNIGY K-Force 120A-HV OPTO 
|-
| Reciever
| Turnigy
|-
| Remote Control
| Turnigy
|-
| Battery
| Turnigy Nanotech 8s 5000mAh
|}

==== Problems:   ====

*Drive Motors are over volted
*Weapon ESCs burned up
*Weapon Belts would bind and stall out the weapon motors
*Overall weight was heavier than the estimated weight(weapon aluminum inserts were removed to account for this)

==== Future Changes/Improvements: ====

*Decrease the main robot voltage
*Look into new weapon ESCs
*Redesign weapon motor system
*Use more powerful drive motors

=== Cathi V1.1 ===

Very little changes occured in this second iteration.  The majority of parts were reused, with some being altered.

{| border="1" cellpadding="1" cellspacing="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| RS 550
|-
| Drive Motor Controllers 
| RageBridge 1.0
|-
| Weapon Motor 
| NTM 5050
|-
| Weapon Motor Controllers
| TURNIGY K-Force 120A-HV OPTO 
|-
| Reciever
| Turnigy
|-
| Remote Control
| Turnigy
|-
| Battery
| Turnigy Nanotech 6s 5000mAh 
|}

==== Problems: ====

*The RS-550s performed better than the RS-545s, but still burnt up
*The Weapon motor controllers continued to burn up
*The inner pulley diameters were decreased to keep the belts from binding.  This resulted in under tensioned belts which failed to transmit the force of the motors.

==== Future Changes/Improvements: ====

*Program the Ragebridge/Tranmitter to limit the motor voltage
*Use new weapon motor controllers
*Change the weapon motor system
*Change the weapon mount system

=== Cathi V2.1 ===

Designed By: [https://wiki.robojackets.org/w/User:Ebisgaard Ethan Bisgaard]

Cathii was completely redesigned from the ground up.  Some of the design goals were reducing the overall weight and accomplishing that overall weight, redesigning the weapon system, and improving the electronics system.  When fininshed, the entire robot shrunk by approximetly 1" in diameter and was estimated to be 28 pounds.  The actual weight ended up being 29 pounds accomplishing our first goal.  For the weapon system, the weapons mounts were completly redesigned, and we switched to a teardrop wheel drive instead of a beld drive.  The new weapon mounts are a custom built tapered roller mount which increased the load ratings, while eliminating the friction seen in the previous pulley design.  The idea behind the teardrop wheel is similar to a centrifugal clutch; as the weapons spin up, the wheel would expand to contact the inside face of the weapon ring.  Both of these designs accomplished our second goal.  Finally, we changed the electronics of the robot.  For the drive system, we programed the drive controls on the trasmitter for a maximum voltage of 16 volts instead of the max volts of our robot(22 volts).  This kept our drive motors from overvolting and burning up.  We also used a new weapon ESC, the Toro TS 150a.

Cathii accomplished all design goals set out.  All aspects of the robot worked as expected except for the teardrop wheels.

{| border="1" cellpadding="1" cellspacing="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| RS-550
|-
| Drive Motor Controllers 
| RageBridge 1.0
|-
| Weapon Motor 
| NTM 50-50
|-
| Weapon Motor Controllers
| Toro TS 150a
|-
| Reciever
| Hobbyking
|-
| Remote Control
| Hobbyking
|-
| Battery
| Turnigy Nanotech 6s 5000mAh
|}

==== Problems: ====

*Teardrop wheels exploded under their high speeds and high forces
*The weapon motors burned up either due to high lateral forces on the motor, or prolongedhigh current in the motor.

==== Future Changes/Improvements: ====

*Redesign the weapon drive system

=== Cathi V2.2 ===
Designed By: Justin Ma

Cathiii was modified from the remnants of V2.1. The weapon ring and tapered roller mounts were retained, while the weapon drive was converted back to a pulley system with a rubber drive wheel. The robot ended up being 28 pounds. For the weapon drive, the pulley system consisted of a steel pulley, angular contact bearings, and aluminum end caps that bolted into both the top and bottom plates, and were driven by two 1/8" wide polyurethane belts. A neoprene rubber wheel, cut from tubing, was epoxied onto the pulley. The drive system was kept the same save for the electronics. The RageBridge was replaced with a Scorpion XXL controller and provided unregulated voltage to the drive system.

{| border="1" cellpadding="1" cellspacing="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| RS-550
|-
| Drive Motor Controllers 
| Scorpion XXL
|-
| Weapon Motor 
| Scorpion HKIII-4025-550KV
|-
| Weapon Motor Controllers
| Toro TS 150a
|-
| Reciever
| Hobbyking
|-
| Remote Control
| Hobbyking
|-
| Battery
| Turnigy Nanotech 6S 2650mAh
|}

==== Problems: ====

*Weapon drive wheel detached from the pulley.
*The weapon motors experienced inconsistent loading due to tolerance stack-up of bearings and bearing mounts.

=== Future Improvements: ===
*Weapon drive design needs a positive interference mechanism to constrain the weapon drive wheel from slipping off.
*Weapon motor mounts should have a compliance mechanism for radial interference.

== Notes: ==
[[Category:Pages with broken file links]] [[Category:BattleBots]] [[Category:FeatherWeights]]

Cathi

2017-03-03T02:20:22Z

Jma: /* Motorama 2017 */

{| class="wikitable" align="right"
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Cathi
|-
! scope="row" colspan="2" |
|-
! scope="row" style="text-align:left" | Year Of Creation
| {{{year|2013-2014}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Versions
|-
! scope="row" style="text-align:left" | Current Version
| {{{currver|2.1}}}
|-
! scope="row" style="text-align:left" | Update Year
| {{{updyr|2014-2015}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Information and Statistics
|-
! scope="row" style="text-align:left" | Weight Class
| {{{wc|FeatherWeight}}}
|-
! scope="row" style="text-align:left" | Weapon Class
| {{{weapc|Ring Spinner}}}
|-
! scope="row" style="text-align:left" | Wins/Losses
| {{{winloss|0/5}}}
|-
! scope="row" style="text-align:left" | ("Temporary")
| {{{TBA|("Temporary")}}}
|-
! scope="row" style="text-align:left" | ("Temporary")
| {{{TBA|("Temporary")}}}
|}

Cathii is a 30 pound invertable ring spinner robot.  A ring spinner design was chosen because it allows and offense on every side of the robot, while still being invertable.  The ring design allows weight normally dedicated to the armor of the robot to be dedicated to the weapon, thus increased the power of the weapon.  Her ring is approximetly 15 pounds and spins around 2500 rpm at top speed.  Cathii has be undergoing continual improvements every year since her first competition in 2014.

== Competitions ==

=== Motorama 2014 ===

*Results:
**Bracket Style:
***[http://youtu.be/HrBQlkcsCsE?list=PLa4DDbMiSUTW8V-dy5on2g5KvAXro05Za Loss vs Pitter Patter]
***[http://youtu.be/UoEmcIyIQaQ?list=PLa4DDbMiSUTW8V-dy5on2g5KvAXro05Za Loss vs Candy Paint and Gold Teeth]

=== [[Motorama_2015|Motorama 2015]] ===

*Results:
**Bracket Style:
***[http://youtu.be/HrBQlkcsCsE?list=PLa4DDbMiSUTW8V-dy5on2g5KvAXro05Za Loss vs Pitter Patter]
***[http://youtu.be/UoEmcIyIQaQ?list=PLa4DDbMiSUTW8V-dy5on2g5KvAXro05Za Loss vs Candy Paint and Gold Teeth]
*Results:
**Bracket Style:
***[https://www.youtube.com/watch?v=nQ0EcZ4UvJg&index=7&list=PLElIOq0YqguswjV-Bftne-QkNToZ3p9Fi Loss vs Drum Thing Else]
***[https://www.youtube.com/watch?v=qwzfQ44UKHI&index=15&list=PLElIOq0YqguswjV-Bftne-QkNToZ3p9Fi Loss vs Triggo]
**[https://www.youtube.com/watch?v=e9lHdjj1454&index=17&list=PLElIOq0YqguswjV-Bftne-QkNToZ3p9Fi Loss in Featherweight Rumble] 

=== [[Motorama_2016|Motorama 2016]] ===

*Results:
**Bracket Style:
***[https://www.youtube.com/watch?v=CVMc3VlrNUs Loss vs megatRON]
***[https://www.youtube.com/watch?v=7lreUldRKR8 Loss vs The Robot Formerly Known as Drumthing]
***[https://www.youtube.com/watch?v=gg38rxzOTnA Win vs Gracious Pipefessionalism]

=== Motorama 2017 ===
*Results:
**Bracket Style:
***Win vs Gracious Pipefessionalism
***Loss vs
***Loss vs

== Version ==

=== Cathi V1.0 ===

Desgined By: Max Carlson[[File:Cathii.jpg|frameless|right|480x360px|Mega-Smitti]]

Cathi was first designed and built during the 2013-2014 school year.  

{| border="1" cellpadding="1" cellspacing="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| RS-545
|-
| Drive Motor Controllers 
| Ragebridge 1.0
|-
| Weapon Motor 
| NTM 5050
|-
| Weapon Motor Controllers
| TURNIGY K-Force 120A-HV OPTO 
|-
| Reciever
| Turnigy
|-
| Remote Control
| Turnigy
|-
| Battery
| Turnigy Nanotech 8s 5000mAh
|}

==== Problems:   ====

*Drive Motors are over volted
*Weapon ESCs burned up
*Weapon Belts would bind and stall out the weapon motors
*Overall weight was heavier than the estimated weight(weapon aluminum inserts were removed to account for this)

==== Future Changes/Improvements: ====

*Decrease the main robot voltage
*Look into new weapon ESCs
*Redesign weapon motor system
*Use more powerful drive motors

=== Cathi V1.1 ===

Very little changes occured in this second iteration.  The majority of parts were reused, with some being altered.

{| border="1" cellpadding="1" cellspacing="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| RS 550
|-
| Drive Motor Controllers 
| RageBridge 1.0
|-
| Weapon Motor 
| NTM 5050
|-
| Weapon Motor Controllers
| TURNIGY K-Force 120A-HV OPTO 
|-
| Reciever
| Turnigy
|-
| Remote Control
| Turnigy
|-
| Battery
| Turnigy Nanotech 6s 5000mAh 
|}

==== Problems: ====

*The RS-550s performed better than the RS-545s, but still burnt up
*The Weapon motor controllers continued to burn up
*The inner pulley diameters were decreased to keep the belts from binding.  This resulted in under tensioned belts which failed to transmit the force of the motors.

==== Future Changes/Improvements: ====

*Program the Ragebridge/Tranmitter to limit the motor voltage
*Use new weapon motor controllers
*Change the weapon motor system
*Change the weapon mount system

=== Cathi V2.1 ===

Designed By: [https://wiki.robojackets.org/w/User:Ebisgaard Ethan Bisgaard]

Cathii was completely redesigned from the ground up.  Some of the design goals were reducing the overall weight and accomplishing that overall weight, redesigning the weapon system, and improving the electronics system.  When fininshed, the entire robot shrunk by approximetly 1" in diameter and was estimated to be 28 pounds.  The actual weight ended up being 29 pounds accomplishing our first goal.  For the weapon system, the weapons mounts were completly redesigned, and we switched to a teardrop wheel drive instead of a beld drive.  The new weapon mounts are a custom built tapered roller mount which increased the load ratings, while eliminating the friction seen in the previous pulley design.  The idea behind the teardrop wheel is similar to a centrifugal clutch; as the weapons spin up, the wheel would expand to contact the inside face of the weapon ring.  Both of these designs accomplished our second goal.  Finally, we changed the electronics of the robot.  For the drive system, we programed the drive controls on the trasmitter for a maximum voltage of 16 volts instead of the max volts of our robot(22 volts).  This kept our drive motors from overvolting and burning up.  We also used a new weapon ESC, the Toro TS 150a.

Cathii accomplished all design goals set out.  All aspects of the robot worked as expected except for the teardrop wheels.

{| border="1" cellpadding="1" cellspacing="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| RS-550
|-
| Drive Motor Controllers 
| RageBridge 1.0
|-
| Weapon Motor 
| NTM 50-50
|-
| Weapon Motor Controllers
| Toro TS 150a
|-
| Reciever
| Hobbyking
|-
| Remote Control
| Hobbyking
|-
| Battery
| Turnigy Nanotech 6s 5000mAh
|}

==== Problems: ====

*Teardrop wheels exploded under their high speeds and high forces
*The weapon motors burned up either due to high lateral forces on the motor, or prolongedhigh current in the motor.

==== Future Changes/Improvements: ====

*Redesign the weapon drive system

=== Cathi V2.2 ===
Designed By: Justin Ma

Cathiii was modified from the remnants of V2.1. The weapon ring and tapered roller mounts were retained, while the weapon drive was converted back to a pulley system with a rubber drive wheel. The robot ended up being 28 pounds. For the weapon drive, the pulley system consisted of a steel pulley, angular contact bearings, and aluminum end caps that bolted into both the top and bottom plates, and were driven by two 1/8" wide polyurethane belts. A neoprene rubber wheel, cut from tubing, was epoxied onto the pulley. The drive system was kept the same save for the electronics. The RageBridge was replaced with a Scorpion XXL controller and provided unregulated voltage to the drive system.

{| border="1" cellpadding="1" cellspacing="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| RS-550
|-
| Drive Motor Controllers 
| Scorpion XXL
|-
| Weapon Motor 
| Scorpion HKIII-4025-550KV
|-
| Weapon Motor Controllers
| Toro TS 150a
|-
| Reciever
| Hobbyking
|-
| Remote Control
| Hobbyking
|-
| Battery
| Turnigy Nanotech 6S 2650mAh
|}

==== Problems: ====

*Weapon drive wheel detached from the pulley.
*The weapon motors experienced inconsistent loading due to tolerance stack-up of bearings and bearing mounts.

=== Future Improvements: ===
*Weapon drive design needs a positive interference mechanism to constrain the weapon drive wheel from slipping off.
*Weapon motor mounts should have a compliance mechanism for radial interference.

== Notes: ==
[[Category:Pages with broken file links]] [[Category:BattleBots]] [[Category:FeatherWeights]]

Cathi

2017-03-03T02:19:39Z

Jma: /* Motorama 2016 */

{| class="wikitable" align="right"
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Cathi
|-
! scope="row" colspan="2" |
|-
! scope="row" style="text-align:left" | Year Of Creation
| {{{year|2013-2014}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Versions
|-
! scope="row" style="text-align:left" | Current Version
| {{{currver|2.1}}}
|-
! scope="row" style="text-align:left" | Update Year
| {{{updyr|2014-2015}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Information and Statistics
|-
! scope="row" style="text-align:left" | Weight Class
| {{{wc|FeatherWeight}}}
|-
! scope="row" style="text-align:left" | Weapon Class
| {{{weapc|Ring Spinner}}}
|-
! scope="row" style="text-align:left" | Wins/Losses
| {{{winloss|0/5}}}
|-
! scope="row" style="text-align:left" | ("Temporary")
| {{{TBA|("Temporary")}}}
|-
! scope="row" style="text-align:left" | ("Temporary")
| {{{TBA|("Temporary")}}}
|}

Cathii is a 30 pound invertable ring spinner robot.  A ring spinner design was chosen because it allows and offense on every side of the robot, while still being invertable.  The ring design allows weight normally dedicated to the armor of the robot to be dedicated to the weapon, thus increased the power of the weapon.  Her ring is approximetly 15 pounds and spins around 2500 rpm at top speed.  Cathii has be undergoing continual improvements every year since her first competition in 2014.

== Competitions ==

=== Motorama 2014 ===

*Results:
**Bracket Style:
***[http://youtu.be/HrBQlkcsCsE?list=PLa4DDbMiSUTW8V-dy5on2g5KvAXro05Za Loss vs Pitter Patter]
***[http://youtu.be/UoEmcIyIQaQ?list=PLa4DDbMiSUTW8V-dy5on2g5KvAXro05Za Loss vs Candy Paint and Gold Teeth]

=== [[Motorama_2015|Motorama 2015]] ===

*Results:
**Bracket Style:
***[http://youtu.be/HrBQlkcsCsE?list=PLa4DDbMiSUTW8V-dy5on2g5KvAXro05Za Loss vs Pitter Patter]
***[http://youtu.be/UoEmcIyIQaQ?list=PLa4DDbMiSUTW8V-dy5on2g5KvAXro05Za Loss vs Candy Paint and Gold Teeth]
*Results:
**Bracket Style:
***[https://www.youtube.com/watch?v=nQ0EcZ4UvJg&index=7&list=PLElIOq0YqguswjV-Bftne-QkNToZ3p9Fi Loss vs Drum Thing Else]
***[https://www.youtube.com/watch?v=qwzfQ44UKHI&index=15&list=PLElIOq0YqguswjV-Bftne-QkNToZ3p9Fi Loss vs Triggo]
**[https://www.youtube.com/watch?v=e9lHdjj1454&index=17&list=PLElIOq0YqguswjV-Bftne-QkNToZ3p9Fi Loss in Featherweight Rumble] 

=== [[Motorama_2016|Motorama 2016]] ===

*Results:
**Bracket Style:
***[https://www.youtube.com/watch?v=CVMc3VlrNUs Loss vs megatRON]
***[https://www.youtube.com/watch?v=7lreUldRKR8 Loss vs The Robot Formerly Known as Drumthing]
***[https://www.youtube.com/watch?v=gg38rxzOTnA Win vs Gracious Pipefessionalism]

=== Motorama 2017 ===
Results:
*Bracket Style:
**Win vs Gracious Pipefessionalism
**Loss vs
**Loss vs
== Version ==

=== Cathi V1.0 ===

Desgined By: Max Carlson[[File:Cathii.jpg|frameless|right|480x360px|Mega-Smitti]]

Cathi was first designed and built during the 2013-2014 school year.  

{| border="1" cellpadding="1" cellspacing="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| RS-545
|-
| Drive Motor Controllers 
| Ragebridge 1.0
|-
| Weapon Motor 
| NTM 5050
|-
| Weapon Motor Controllers
| TURNIGY K-Force 120A-HV OPTO 
|-
| Reciever
| Turnigy
|-
| Remote Control
| Turnigy
|-
| Battery
| Turnigy Nanotech 8s 5000mAh
|}

==== Problems:   ====

*Drive Motors are over volted
*Weapon ESCs burned up
*Weapon Belts would bind and stall out the weapon motors
*Overall weight was heavier than the estimated weight(weapon aluminum inserts were removed to account for this)

==== Future Changes/Improvements: ====

*Decrease the main robot voltage
*Look into new weapon ESCs
*Redesign weapon motor system
*Use more powerful drive motors

=== Cathi V1.1 ===

Very little changes occured in this second iteration.  The majority of parts were reused, with some being altered.

{| border="1" cellpadding="1" cellspacing="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| RS 550
|-
| Drive Motor Controllers 
| RageBridge 1.0
|-
| Weapon Motor 
| NTM 5050
|-
| Weapon Motor Controllers
| TURNIGY K-Force 120A-HV OPTO 
|-
| Reciever
| Turnigy
|-
| Remote Control
| Turnigy
|-
| Battery
| Turnigy Nanotech 6s 5000mAh 
|}

==== Problems: ====

*The RS-550s performed better than the RS-545s, but still burnt up
*The Weapon motor controllers continued to burn up
*The inner pulley diameters were decreased to keep the belts from binding.  This resulted in under tensioned belts which failed to transmit the force of the motors.

==== Future Changes/Improvements: ====

*Program the Ragebridge/Tranmitter to limit the motor voltage
*Use new weapon motor controllers
*Change the weapon motor system
*Change the weapon mount system

=== Cathi V2.1 ===

Designed By: [https://wiki.robojackets.org/w/User:Ebisgaard Ethan Bisgaard]

Cathii was completely redesigned from the ground up.  Some of the design goals were reducing the overall weight and accomplishing that overall weight, redesigning the weapon system, and improving the electronics system.  When fininshed, the entire robot shrunk by approximetly 1" in diameter and was estimated to be 28 pounds.  The actual weight ended up being 29 pounds accomplishing our first goal.  For the weapon system, the weapons mounts were completly redesigned, and we switched to a teardrop wheel drive instead of a beld drive.  The new weapon mounts are a custom built tapered roller mount which increased the load ratings, while eliminating the friction seen in the previous pulley design.  The idea behind the teardrop wheel is similar to a centrifugal clutch; as the weapons spin up, the wheel would expand to contact the inside face of the weapon ring.  Both of these designs accomplished our second goal.  Finally, we changed the electronics of the robot.  For the drive system, we programed the drive controls on the trasmitter for a maximum voltage of 16 volts instead of the max volts of our robot(22 volts).  This kept our drive motors from overvolting and burning up.  We also used a new weapon ESC, the Toro TS 150a.

Cathii accomplished all design goals set out.  All aspects of the robot worked as expected except for the teardrop wheels.

{| border="1" cellpadding="1" cellspacing="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| RS-550
|-
| Drive Motor Controllers 
| RageBridge 1.0
|-
| Weapon Motor 
| NTM 50-50
|-
| Weapon Motor Controllers
| Toro TS 150a
|-
| Reciever
| Hobbyking
|-
| Remote Control
| Hobbyking
|-
| Battery
| Turnigy Nanotech 6s 5000mAh
|}

==== Problems: ====

*Teardrop wheels exploded under their high speeds and high forces
*The weapon motors burned up either due to high lateral forces on the motor, or prolongedhigh current in the motor.

==== Future Changes/Improvements: ====

*Redesign the weapon drive system

=== Cathi V2.2 ===
Designed By: Justin Ma

Cathiii was modified from the remnants of V2.1. The weapon ring and tapered roller mounts were retained, while the weapon drive was converted back to a pulley system with a rubber drive wheel. The robot ended up being 28 pounds. For the weapon drive, the pulley system consisted of a steel pulley, angular contact bearings, and aluminum end caps that bolted into both the top and bottom plates, and were driven by two 1/8" wide polyurethane belts. A neoprene rubber wheel, cut from tubing, was epoxied onto the pulley. The drive system was kept the same save for the electronics. The RageBridge was replaced with a Scorpion XXL controller and provided unregulated voltage to the drive system.

{| border="1" cellpadding="1" cellspacing="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| RS-550
|-
| Drive Motor Controllers 
| Scorpion XXL
|-
| Weapon Motor 
| Scorpion HKIII-4025-550KV
|-
| Weapon Motor Controllers
| Toro TS 150a
|-
| Reciever
| Hobbyking
|-
| Remote Control
| Hobbyking
|-
| Battery
| Turnigy Nanotech 6S 2650mAh
|}

==== Problems: ====

*Weapon drive wheel detached from the pulley.
*The weapon motors experienced inconsistent loading due to tolerance stack-up of bearings and bearing mounts.

=== Future Improvements: ===
*Weapon drive design needs a positive interference mechanism to constrain the weapon drive wheel from slipping off.
*Weapon motor mounts should have a compliance mechanism for radial interference.

== Notes: ==
[[Category:Pages with broken file links]] [[Category:BattleBots]] [[Category:FeatherWeights]]

Cathi

2017-03-03T02:17:19Z

Jma: /* Cathi V2.2 */

{| class="wikitable" align="right"
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Cathi
|-
! scope="row" colspan="2" |
|-
! scope="row" style="text-align:left" | Year Of Creation
| {{{year|2013-2014}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Versions
|-
! scope="row" style="text-align:left" | Current Version
| {{{currver|2.1}}}
|-
! scope="row" style="text-align:left" | Update Year
| {{{updyr|2014-2015}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Information and Statistics
|-
! scope="row" style="text-align:left" | Weight Class
| {{{wc|FeatherWeight}}}
|-
! scope="row" style="text-align:left" | Weapon Class
| {{{weapc|Ring Spinner}}}
|-
! scope="row" style="text-align:left" | Wins/Losses
| {{{winloss|0/5}}}
|-
! scope="row" style="text-align:left" | ("Temporary")
| {{{TBA|("Temporary")}}}
|-
! scope="row" style="text-align:left" | ("Temporary")
| {{{TBA|("Temporary")}}}
|}

Cathii is a 30 pound invertable ring spinner robot.  A ring spinner design was chosen because it allows and offense on every side of the robot, while still being invertable.  The ring design allows weight normally dedicated to the armor of the robot to be dedicated to the weapon, thus increased the power of the weapon.  Her ring is approximetly 15 pounds and spins around 2500 rpm at top speed.  Cathii has be undergoing continual improvements every year since her first competition in 2014.

== Competitions ==

=== Motorama 2014 ===

*Results:
**Bracket Style:
***[http://youtu.be/HrBQlkcsCsE?list=PLa4DDbMiSUTW8V-dy5on2g5KvAXro05Za Loss vs Pitter Patter]
***[http://youtu.be/UoEmcIyIQaQ?list=PLa4DDbMiSUTW8V-dy5on2g5KvAXro05Za Loss vs Candy Paint and Gold Teeth]

=== [[Motorama_2015|Motorama 2015]] ===

*Results:
**Bracket Style:
***[http://youtu.be/HrBQlkcsCsE?list=PLa4DDbMiSUTW8V-dy5on2g5KvAXro05Za Loss vs Pitter Patter]
***[http://youtu.be/UoEmcIyIQaQ?list=PLa4DDbMiSUTW8V-dy5on2g5KvAXro05Za Loss vs Candy Paint and Gold Teeth]
*Results:
**Bracket Style:
***[https://www.youtube.com/watch?v=nQ0EcZ4UvJg&index=7&list=PLElIOq0YqguswjV-Bftne-QkNToZ3p9Fi Loss vs Drum Thing Else]
***[https://www.youtube.com/watch?v=qwzfQ44UKHI&index=15&list=PLElIOq0YqguswjV-Bftne-QkNToZ3p9Fi Loss vs Triggo]
**[https://www.youtube.com/watch?v=e9lHdjj1454&index=17&list=PLElIOq0YqguswjV-Bftne-QkNToZ3p9Fi Loss in Featherweight Rumble] 

=== [[Motorama_2016|Motorama 2016]] ===

*Results:
**Bracket Style:
***[https://www.youtube.com/watch?v=CVMc3VlrNUs Loss vs megatRON]
***[https://www.youtube.com/watch?v=7lreUldRKR8 Loss vs The Robot Formerly Known as Drumthing]
***[https://www.youtube.com/watch?v=gg38rxzOTnA Win vs Gracious Pipefessionalism]

== Version ==

=== Cathi V1.0 ===

Desgined By: Max Carlson[[File:Cathii.jpg|frameless|right|480x360px|Mega-Smitti]]

Cathi was first designed and built during the 2013-2014 school year.  

{| border="1" cellpadding="1" cellspacing="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| RS-545
|-
| Drive Motor Controllers 
| Ragebridge 1.0
|-
| Weapon Motor 
| NTM 5050
|-
| Weapon Motor Controllers
| TURNIGY K-Force 120A-HV OPTO 
|-
| Reciever
| Turnigy
|-
| Remote Control
| Turnigy
|-
| Battery
| Turnigy Nanotech 8s 5000mAh
|}

==== Problems:   ====

*Drive Motors are over volted
*Weapon ESCs burned up
*Weapon Belts would bind and stall out the weapon motors
*Overall weight was heavier than the estimated weight(weapon aluminum inserts were removed to account for this)

==== Future Changes/Improvements: ====

*Decrease the main robot voltage
*Look into new weapon ESCs
*Redesign weapon motor system
*Use more powerful drive motors

=== Cathi V1.1 ===

Very little changes occured in this second iteration.  The majority of parts were reused, with some being altered.

{| border="1" cellpadding="1" cellspacing="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| RS 550
|-
| Drive Motor Controllers 
| RageBridge 1.0
|-
| Weapon Motor 
| NTM 5050
|-
| Weapon Motor Controllers
| TURNIGY K-Force 120A-HV OPTO 
|-
| Reciever
| Turnigy
|-
| Remote Control
| Turnigy
|-
| Battery
| Turnigy Nanotech 6s 5000mAh 
|}

==== Problems: ====

*The RS-550s performed better than the RS-545s, but still burnt up
*The Weapon motor controllers continued to burn up
*The inner pulley diameters were decreased to keep the belts from binding.  This resulted in under tensioned belts which failed to transmit the force of the motors.

==== Future Changes/Improvements: ====

*Program the Ragebridge/Tranmitter to limit the motor voltage
*Use new weapon motor controllers
*Change the weapon motor system
*Change the weapon mount system

=== Cathi V2.1 ===

Designed By: [https://wiki.robojackets.org/w/User:Ebisgaard Ethan Bisgaard]

Cathii was completely redesigned from the ground up.  Some of the design goals were reducing the overall weight and accomplishing that overall weight, redesigning the weapon system, and improving the electronics system.  When fininshed, the entire robot shrunk by approximetly 1" in diameter and was estimated to be 28 pounds.  The actual weight ended up being 29 pounds accomplishing our first goal.  For the weapon system, the weapons mounts were completly redesigned, and we switched to a teardrop wheel drive instead of a beld drive.  The new weapon mounts are a custom built tapered roller mount which increased the load ratings, while eliminating the friction seen in the previous pulley design.  The idea behind the teardrop wheel is similar to a centrifugal clutch; as the weapons spin up, the wheel would expand to contact the inside face of the weapon ring.  Both of these designs accomplished our second goal.  Finally, we changed the electronics of the robot.  For the drive system, we programed the drive controls on the trasmitter for a maximum voltage of 16 volts instead of the max volts of our robot(22 volts).  This kept our drive motors from overvolting and burning up.  We also used a new weapon ESC, the Toro TS 150a.

Cathii accomplished all design goals set out.  All aspects of the robot worked as expected except for the teardrop wheels.

{| border="1" cellpadding="1" cellspacing="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| RS-550
|-
| Drive Motor Controllers 
| RageBridge 1.0
|-
| Weapon Motor 
| NTM 50-50
|-
| Weapon Motor Controllers
| Toro TS 150a
|-
| Reciever
| Hobbyking
|-
| Remote Control
| Hobbyking
|-
| Battery
| Turnigy Nanotech 6s 5000mAh
|}

==== Problems: ====

*Teardrop wheels exploded under their high speeds and high forces
*The weapon motors burned up either due to high lateral forces on the motor, or prolongedhigh current in the motor.

==== Future Changes/Improvements: ====

*Redesign the weapon drive system

=== Cathi V2.2 ===
Designed By: Justin Ma

Cathiii was modified from the remnants of V2.1. The weapon ring and tapered roller mounts were retained, while the weapon drive was converted back to a pulley system with a rubber drive wheel. The robot ended up being 28 pounds. For the weapon drive, the pulley system consisted of a steel pulley, angular contact bearings, and aluminum end caps that bolted into both the top and bottom plates, and were driven by two 1/8" wide polyurethane belts. A neoprene rubber wheel, cut from tubing, was epoxied onto the pulley. The drive system was kept the same save for the electronics. The RageBridge was replaced with a Scorpion XXL controller and provided unregulated voltage to the drive system.

{| border="1" cellpadding="1" cellspacing="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| RS-550
|-
| Drive Motor Controllers 
| Scorpion XXL
|-
| Weapon Motor 
| Scorpion HKIII-4025-550KV
|-
| Weapon Motor Controllers
| Toro TS 150a
|-
| Reciever
| Hobbyking
|-
| Remote Control
| Hobbyking
|-
| Battery
| Turnigy Nanotech 6S 2650mAh
|}

==== Problems: ====

*Weapon drive wheel detached from the pulley.
*The weapon motors experienced inconsistent loading due to tolerance stack-up of bearings and bearing mounts.

=== Future Improvements: ===
*Weapon drive design needs a positive interference mechanism to constrain the weapon drive wheel from slipping off.
*Weapon motor mounts should have a compliance mechanism for radial interference.

== Notes: ==
[[Category:Pages with broken file links]] [[Category:BattleBots]] [[Category:FeatherWeights]]

Cathi

2017-03-03T02:15:36Z

Jma: /* Problems: */

{| class="wikitable" align="right"
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Cathi
|-
! scope="row" colspan="2" |
|-
! scope="row" style="text-align:left" | Year Of Creation
| {{{year|2013-2014}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Versions
|-
! scope="row" style="text-align:left" | Current Version
| {{{currver|2.1}}}
|-
! scope="row" style="text-align:left" | Update Year
| {{{updyr|2014-2015}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Information and Statistics
|-
! scope="row" style="text-align:left" | Weight Class
| {{{wc|FeatherWeight}}}
|-
! scope="row" style="text-align:left" | Weapon Class
| {{{weapc|Ring Spinner}}}
|-
! scope="row" style="text-align:left" | Wins/Losses
| {{{winloss|0/5}}}
|-
! scope="row" style="text-align:left" | ("Temporary")
| {{{TBA|("Temporary")}}}
|-
! scope="row" style="text-align:left" | ("Temporary")
| {{{TBA|("Temporary")}}}
|}

Cathii is a 30 pound invertable ring spinner robot.  A ring spinner design was chosen because it allows and offense on every side of the robot, while still being invertable.  The ring design allows weight normally dedicated to the armor of the robot to be dedicated to the weapon, thus increased the power of the weapon.  Her ring is approximetly 15 pounds and spins around 2500 rpm at top speed.  Cathii has be undergoing continual improvements every year since her first competition in 2014.

== Competitions ==

=== Motorama 2014 ===

*Results:
**Bracket Style:
***[http://youtu.be/HrBQlkcsCsE?list=PLa4DDbMiSUTW8V-dy5on2g5KvAXro05Za Loss vs Pitter Patter]
***[http://youtu.be/UoEmcIyIQaQ?list=PLa4DDbMiSUTW8V-dy5on2g5KvAXro05Za Loss vs Candy Paint and Gold Teeth]

=== [[Motorama_2015|Motorama 2015]] ===

*Results:
**Bracket Style:
***[http://youtu.be/HrBQlkcsCsE?list=PLa4DDbMiSUTW8V-dy5on2g5KvAXro05Za Loss vs Pitter Patter]
***[http://youtu.be/UoEmcIyIQaQ?list=PLa4DDbMiSUTW8V-dy5on2g5KvAXro05Za Loss vs Candy Paint and Gold Teeth]
*Results:
**Bracket Style:
***[https://www.youtube.com/watch?v=nQ0EcZ4UvJg&index=7&list=PLElIOq0YqguswjV-Bftne-QkNToZ3p9Fi Loss vs Drum Thing Else]
***[https://www.youtube.com/watch?v=qwzfQ44UKHI&index=15&list=PLElIOq0YqguswjV-Bftne-QkNToZ3p9Fi Loss vs Triggo]
**[https://www.youtube.com/watch?v=e9lHdjj1454&index=17&list=PLElIOq0YqguswjV-Bftne-QkNToZ3p9Fi Loss in Featherweight Rumble] 

=== [[Motorama_2016|Motorama 2016]] ===

*Results:
**Bracket Style:
***[https://www.youtube.com/watch?v=CVMc3VlrNUs Loss vs megatRON]
***[https://www.youtube.com/watch?v=7lreUldRKR8 Loss vs The Robot Formerly Known as Drumthing]
***[https://www.youtube.com/watch?v=gg38rxzOTnA Win vs Gracious Pipefessionalism]

== Version ==

=== Cathi V1.0 ===

Desgined By: Max Carlson[[File:Cathii.jpg|frameless|right|480x360px|Mega-Smitti]]

Cathi was first designed and built during the 2013-2014 school year.  

{| border="1" cellpadding="1" cellspacing="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| RS-545
|-
| Drive Motor Controllers 
| Ragebridge 1.0
|-
| Weapon Motor 
| NTM 5050
|-
| Weapon Motor Controllers
| TURNIGY K-Force 120A-HV OPTO 
|-
| Reciever
| Turnigy
|-
| Remote Control
| Turnigy
|-
| Battery
| Turnigy Nanotech 8s 5000mAh
|}

==== Problems:   ====

*Drive Motors are over volted
*Weapon ESCs burned up
*Weapon Belts would bind and stall out the weapon motors
*Overall weight was heavier than the estimated weight(weapon aluminum inserts were removed to account for this)

==== Future Changes/Improvements: ====

*Decrease the main robot voltage
*Look into new weapon ESCs
*Redesign weapon motor system
*Use more powerful drive motors

=== Cathi V1.1 ===

Very little changes occured in this second iteration.  The majority of parts were reused, with some being altered.

{| border="1" cellpadding="1" cellspacing="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| RS 550
|-
| Drive Motor Controllers 
| RageBridge 1.0
|-
| Weapon Motor 
| NTM 5050
|-
| Weapon Motor Controllers
| TURNIGY K-Force 120A-HV OPTO 
|-
| Reciever
| Turnigy
|-
| Remote Control
| Turnigy
|-
| Battery
| Turnigy Nanotech 6s 5000mAh 
|}

==== Problems: ====

*The RS-550s performed better than the RS-545s, but still burnt up
*The Weapon motor controllers continued to burn up
*The inner pulley diameters were decreased to keep the belts from binding.  This resulted in under tensioned belts which failed to transmit the force of the motors.

==== Future Changes/Improvements: ====

*Program the Ragebridge/Tranmitter to limit the motor voltage
*Use new weapon motor controllers
*Change the weapon motor system
*Change the weapon mount system

=== Cathi V2.1 ===

Designed By: [https://wiki.robojackets.org/w/User:Ebisgaard Ethan Bisgaard]

Cathii was completely redesigned from the ground up.  Some of the design goals were reducing the overall weight and accomplishing that overall weight, redesigning the weapon system, and improving the electronics system.  When fininshed, the entire robot shrunk by approximetly 1" in diameter and was estimated to be 28 pounds.  The actual weight ended up being 29 pounds accomplishing our first goal.  For the weapon system, the weapons mounts were completly redesigned, and we switched to a teardrop wheel drive instead of a beld drive.  The new weapon mounts are a custom built tapered roller mount which increased the load ratings, while eliminating the friction seen in the previous pulley design.  The idea behind the teardrop wheel is similar to a centrifugal clutch; as the weapons spin up, the wheel would expand to contact the inside face of the weapon ring.  Both of these designs accomplished our second goal.  Finally, we changed the electronics of the robot.  For the drive system, we programed the drive controls on the trasmitter for a maximum voltage of 16 volts instead of the max volts of our robot(22 volts).  This kept our drive motors from overvolting and burning up.  We also used a new weapon ESC, the Toro TS 150a.

Cathii accomplished all design goals set out.  All aspects of the robot worked as expected except for the teardrop wheels.

{| border="1" cellpadding="1" cellspacing="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| RS-550
|-
| Drive Motor Controllers 
| RageBridge 1.0
|-
| Weapon Motor 
| NTM 50-50
|-
| Weapon Motor Controllers
| Toro TS 150a
|-
| Reciever
| Hobbyking
|-
| Remote Control
| Hobbyking
|-
| Battery
| Turnigy Nanotech 6s 5000mAh
|}

==== Problems: ====

*Teardrop wheels exploded under their high speeds and high forces
*The weapon motors burned up either due to high lateral forces on the motor, or prolongedhigh current in the motor.

==== Future Changes/Improvements: ====

*Redesign the weapon drive system

=== Cathi V2.2 ===
Designed By: Justin Ma

Cathiii was modified from the remnants of V2.1. The weapon ring and tapered roller mounts were retained, while the weapon drive was converted back to a pulley system with a rubber drive wheel. The robot ended up being 28 pounds. For the weapon drive, the pulley system consisted of a steel pulley, angular contact bearings, and aluminum end caps that bolted into both the top and bottom plates, and were driven by two 1/8" wide polyurethane belts. A neoprene rubber wheel, cut from tubing, was epoxied onto the pulley. The drive system was kept the same save for the electronics. The RageBridge was replaced with a Scorpion XXL controller and provided unregulated voltage to the drive system.

{| border="1" cellpadding="1" cellspacing="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| RS-550
|-
| Drive Motor Controllers 
| Scorpion XXL
|-
| Weapon Motor 
| Scorpion HKIII-4025-550KV
|-
| Weapon Motor Controllers
| Toro TS 150a
|-
| Reciever
| Hobbyking
|-
| Remote Control
| Hobbyking
|-
| Battery
| Turnigy Nanotech 6S 2650mAh
|}

==== Problems: ====

*Weapon drive wheel detached from the pulley.
*The weapon motors experienced inconsistent loading due to tolerance stack-up of bearings and bearing mounts.

== Notes: ==
[[Category:Pages with broken file links]] [[Category:BattleBots]] [[Category:FeatherWeights]]

Cathi

2017-03-03T02:15:05Z

Jma: /* Cathi V2.2 */

{| class="wikitable" align="right"
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Cathi
|-
! scope="row" colspan="2" |
|-
! scope="row" style="text-align:left" | Year Of Creation
| {{{year|2013-2014}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Versions
|-
! scope="row" style="text-align:left" | Current Version
| {{{currver|2.1}}}
|-
! scope="row" style="text-align:left" | Update Year
| {{{updyr|2014-2015}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Information and Statistics
|-
! scope="row" style="text-align:left" | Weight Class
| {{{wc|FeatherWeight}}}
|-
! scope="row" style="text-align:left" | Weapon Class
| {{{weapc|Ring Spinner}}}
|-
! scope="row" style="text-align:left" | Wins/Losses
| {{{winloss|0/5}}}
|-
! scope="row" style="text-align:left" | ("Temporary")
| {{{TBA|("Temporary")}}}
|-
! scope="row" style="text-align:left" | ("Temporary")
| {{{TBA|("Temporary")}}}
|}

Cathii is a 30 pound invertable ring spinner robot.  A ring spinner design was chosen because it allows and offense on every side of the robot, while still being invertable.  The ring design allows weight normally dedicated to the armor of the robot to be dedicated to the weapon, thus increased the power of the weapon.  Her ring is approximetly 15 pounds and spins around 2500 rpm at top speed.  Cathii has be undergoing continual improvements every year since her first competition in 2014.

== Competitions ==

=== Motorama 2014 ===

*Results:
**Bracket Style:
***[http://youtu.be/HrBQlkcsCsE?list=PLa4DDbMiSUTW8V-dy5on2g5KvAXro05Za Loss vs Pitter Patter]
***[http://youtu.be/UoEmcIyIQaQ?list=PLa4DDbMiSUTW8V-dy5on2g5KvAXro05Za Loss vs Candy Paint and Gold Teeth]

=== [[Motorama_2015|Motorama 2015]] ===

*Results:
**Bracket Style:
***[http://youtu.be/HrBQlkcsCsE?list=PLa4DDbMiSUTW8V-dy5on2g5KvAXro05Za Loss vs Pitter Patter]
***[http://youtu.be/UoEmcIyIQaQ?list=PLa4DDbMiSUTW8V-dy5on2g5KvAXro05Za Loss vs Candy Paint and Gold Teeth]
*Results:
**Bracket Style:
***[https://www.youtube.com/watch?v=nQ0EcZ4UvJg&index=7&list=PLElIOq0YqguswjV-Bftne-QkNToZ3p9Fi Loss vs Drum Thing Else]
***[https://www.youtube.com/watch?v=qwzfQ44UKHI&index=15&list=PLElIOq0YqguswjV-Bftne-QkNToZ3p9Fi Loss vs Triggo]
**[https://www.youtube.com/watch?v=e9lHdjj1454&index=17&list=PLElIOq0YqguswjV-Bftne-QkNToZ3p9Fi Loss in Featherweight Rumble] 

=== [[Motorama_2016|Motorama 2016]] ===

*Results:
**Bracket Style:
***[https://www.youtube.com/watch?v=CVMc3VlrNUs Loss vs megatRON]
***[https://www.youtube.com/watch?v=7lreUldRKR8 Loss vs The Robot Formerly Known as Drumthing]
***[https://www.youtube.com/watch?v=gg38rxzOTnA Win vs Gracious Pipefessionalism]

== Version ==

=== Cathi V1.0 ===

Desgined By: Max Carlson[[File:Cathii.jpg|frameless|right|480x360px|Mega-Smitti]]

Cathi was first designed and built during the 2013-2014 school year.  

{| border="1" cellpadding="1" cellspacing="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| RS-545
|-
| Drive Motor Controllers 
| Ragebridge 1.0
|-
| Weapon Motor 
| NTM 5050
|-
| Weapon Motor Controllers
| TURNIGY K-Force 120A-HV OPTO 
|-
| Reciever
| Turnigy
|-
| Remote Control
| Turnigy
|-
| Battery
| Turnigy Nanotech 8s 5000mAh
|}

==== Problems:   ====

*Drive Motors are over volted
*Weapon ESCs burned up
*Weapon Belts would bind and stall out the weapon motors
*Overall weight was heavier than the estimated weight(weapon aluminum inserts were removed to account for this)

==== Future Changes/Improvements: ====

*Decrease the main robot voltage
*Look into new weapon ESCs
*Redesign weapon motor system
*Use more powerful drive motors

=== Cathi V1.1 ===

Very little changes occured in this second iteration.  The majority of parts were reused, with some being altered.

{| border="1" cellpadding="1" cellspacing="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| RS 550
|-
| Drive Motor Controllers 
| RageBridge 1.0
|-
| Weapon Motor 
| NTM 5050
|-
| Weapon Motor Controllers
| TURNIGY K-Force 120A-HV OPTO 
|-
| Reciever
| Turnigy
|-
| Remote Control
| Turnigy
|-
| Battery
| Turnigy Nanotech 6s 5000mAh 
|}

==== Problems: ====

*The RS-550s performed better than the RS-545s, but still burnt up
*The Weapon motor controllers continued to burn up
*The inner pulley diameters were decreased to keep the belts from binding.  This resulted in under tensioned belts which failed to transmit the force of the motors.

==== Future Changes/Improvements: ====

*Program the Ragebridge/Tranmitter to limit the motor voltage
*Use new weapon motor controllers
*Change the weapon motor system
*Change the weapon mount system

=== Cathi V2.1 ===

Designed By: [https://wiki.robojackets.org/w/User:Ebisgaard Ethan Bisgaard]

Cathii was completely redesigned from the ground up.  Some of the design goals were reducing the overall weight and accomplishing that overall weight, redesigning the weapon system, and improving the electronics system.  When fininshed, the entire robot shrunk by approximetly 1" in diameter and was estimated to be 28 pounds.  The actual weight ended up being 29 pounds accomplishing our first goal.  For the weapon system, the weapons mounts were completly redesigned, and we switched to a teardrop wheel drive instead of a beld drive.  The new weapon mounts are a custom built tapered roller mount which increased the load ratings, while eliminating the friction seen in the previous pulley design.  The idea behind the teardrop wheel is similar to a centrifugal clutch; as the weapons spin up, the wheel would expand to contact the inside face of the weapon ring.  Both of these designs accomplished our second goal.  Finally, we changed the electronics of the robot.  For the drive system, we programed the drive controls on the trasmitter for a maximum voltage of 16 volts instead of the max volts of our robot(22 volts).  This kept our drive motors from overvolting and burning up.  We also used a new weapon ESC, the Toro TS 150a.

Cathii accomplished all design goals set out.  All aspects of the robot worked as expected except for the teardrop wheels.

{| border="1" cellpadding="1" cellspacing="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| RS-550
|-
| Drive Motor Controllers 
| RageBridge 1.0
|-
| Weapon Motor 
| NTM 50-50
|-
| Weapon Motor Controllers
| Toro TS 150a
|-
| Reciever
| Hobbyking
|-
| Remote Control
| Hobbyking
|-
| Battery
| Turnigy Nanotech 6s 5000mAh
|}

==== Problems: ====

*Teardrop wheels exploded under their high speeds and high forces
*The weapon motors burned up either due to high lateral forces on the motor, or prolongedhigh current in the motor.

==== Future Changes/Improvements: ====

*Redesign the weapon drive system

=== Cathi V2.2 ===
Designed By: Justin Ma

Cathiii was modified from the remnants of V2.1. The weapon ring and tapered roller mounts were retained, while the weapon drive was converted back to a pulley system with a rubber drive wheel. The robot ended up being 28 pounds. For the weapon drive, the pulley system consisted of a steel pulley, angular contact bearings, and aluminum end caps that bolted into both the top and bottom plates, and were driven by two 1/8" wide polyurethane belts. A neoprene rubber wheel, cut from tubing, was epoxied onto the pulley. The drive system was kept the same save for the electronics. The RageBridge was replaced with a Scorpion XXL controller and provided unregulated voltage to the drive system.

{| border="1" cellpadding="1" cellspacing="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| RS-550
|-
| Drive Motor Controllers 
| Scorpion XXL
|-
| Weapon Motor 
| Scorpion HKIII-4025-550KV
|-
| Weapon Motor Controllers
| Toro TS 150a
|-
| Reciever
| Hobbyking
|-
| Remote Control
| Hobbyking
|-
| Battery
| Turnigy Nanotech 6S 2650mAh
|}

==== Problems: ====

*Weapon drive wheel detached from the pulley. Future design needs a positive interference mechanism to constrain the rubber from slipping off.
*The weapon motors experienced inconsistent loading due to tolerance stack-up of bearings and bearing mounts. Future design should have a compliance mechanism.

== Notes: ==
[[Category:Pages with broken file links]] [[Category:BattleBots]] [[Category:FeatherWeights]]

Cathi

2017-03-03T02:10:58Z

Jma: /* Cathi V2.2 */

{| class="wikitable" align="right"
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Cathi
|-
! scope="row" colspan="2" |
|-
! scope="row" style="text-align:left" | Year Of Creation
| {{{year|2013-2014}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Versions
|-
! scope="row" style="text-align:left" | Current Version
| {{{currver|2.1}}}
|-
! scope="row" style="text-align:left" | Update Year
| {{{updyr|2014-2015}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Information and Statistics
|-
! scope="row" style="text-align:left" | Weight Class
| {{{wc|FeatherWeight}}}
|-
! scope="row" style="text-align:left" | Weapon Class
| {{{weapc|Ring Spinner}}}
|-
! scope="row" style="text-align:left" | Wins/Losses
| {{{winloss|0/5}}}
|-
! scope="row" style="text-align:left" | ("Temporary")
| {{{TBA|("Temporary")}}}
|-
! scope="row" style="text-align:left" | ("Temporary")
| {{{TBA|("Temporary")}}}
|}

Cathii is a 30 pound invertable ring spinner robot.  A ring spinner design was chosen because it allows and offense on every side of the robot, while still being invertable.  The ring design allows weight normally dedicated to the armor of the robot to be dedicated to the weapon, thus increased the power of the weapon.  Her ring is approximetly 15 pounds and spins around 2500 rpm at top speed.  Cathii has be undergoing continual improvements every year since her first competition in 2014.

== Competitions ==

=== Motorama 2014 ===

*Results:
**Bracket Style:
***[http://youtu.be/HrBQlkcsCsE?list=PLa4DDbMiSUTW8V-dy5on2g5KvAXro05Za Loss vs Pitter Patter]
***[http://youtu.be/UoEmcIyIQaQ?list=PLa4DDbMiSUTW8V-dy5on2g5KvAXro05Za Loss vs Candy Paint and Gold Teeth]

=== [[Motorama_2015|Motorama 2015]] ===

*Results:
**Bracket Style:
***[http://youtu.be/HrBQlkcsCsE?list=PLa4DDbMiSUTW8V-dy5on2g5KvAXro05Za Loss vs Pitter Patter]
***[http://youtu.be/UoEmcIyIQaQ?list=PLa4DDbMiSUTW8V-dy5on2g5KvAXro05Za Loss vs Candy Paint and Gold Teeth]
*Results:
**Bracket Style:
***[https://www.youtube.com/watch?v=nQ0EcZ4UvJg&index=7&list=PLElIOq0YqguswjV-Bftne-QkNToZ3p9Fi Loss vs Drum Thing Else]
***[https://www.youtube.com/watch?v=qwzfQ44UKHI&index=15&list=PLElIOq0YqguswjV-Bftne-QkNToZ3p9Fi Loss vs Triggo]
**[https://www.youtube.com/watch?v=e9lHdjj1454&index=17&list=PLElIOq0YqguswjV-Bftne-QkNToZ3p9Fi Loss in Featherweight Rumble] 

=== [[Motorama_2016|Motorama 2016]] ===

*Results:
**Bracket Style:
***[https://www.youtube.com/watch?v=CVMc3VlrNUs Loss vs megatRON]
***[https://www.youtube.com/watch?v=7lreUldRKR8 Loss vs The Robot Formerly Known as Drumthing]
***[https://www.youtube.com/watch?v=gg38rxzOTnA Win vs Gracious Pipefessionalism]

== Version ==

=== Cathi V1.0 ===

Desgined By: Max Carlson[[File:Cathii.jpg|frameless|right|480x360px|Mega-Smitti]]

Cathi was first designed and built during the 2013-2014 school year.  

{| border="1" cellpadding="1" cellspacing="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| RS-545
|-
| Drive Motor Controllers 
| Ragebridge 1.0
|-
| Weapon Motor 
| NTM 5050
|-
| Weapon Motor Controllers
| TURNIGY K-Force 120A-HV OPTO 
|-
| Reciever
| Turnigy
|-
| Remote Control
| Turnigy
|-
| Battery
| Turnigy Nanotech 8s 5000mAh
|}

==== Problems:   ====

*Drive Motors are over volted
*Weapon ESCs burned up
*Weapon Belts would bind and stall out the weapon motors
*Overall weight was heavier than the estimated weight(weapon aluminum inserts were removed to account for this)

==== Future Changes/Improvements: ====

*Decrease the main robot voltage
*Look into new weapon ESCs
*Redesign weapon motor system
*Use more powerful drive motors

=== Cathi V1.1 ===

Very little changes occured in this second iteration.  The majority of parts were reused, with some being altered.

{| border="1" cellpadding="1" cellspacing="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| RS 550
|-
| Drive Motor Controllers 
| RageBridge 1.0
|-
| Weapon Motor 
| NTM 5050
|-
| Weapon Motor Controllers
| TURNIGY K-Force 120A-HV OPTO 
|-
| Reciever
| Turnigy
|-
| Remote Control
| Turnigy
|-
| Battery
| Turnigy Nanotech 6s 5000mAh 
|}

==== Problems: ====

*The RS-550s performed better than the RS-545s, but still burnt up
*The Weapon motor controllers continued to burn up
*The inner pulley diameters were decreased to keep the belts from binding.  This resulted in under tensioned belts which failed to transmit the force of the motors.

==== Future Changes/Improvements: ====

*Program the Ragebridge/Tranmitter to limit the motor voltage
*Use new weapon motor controllers
*Change the weapon motor system
*Change the weapon mount system

=== Cathi V2.1 ===

Designed By: [https://wiki.robojackets.org/w/User:Ebisgaard Ethan Bisgaard]

Cathii was completely redesigned from the ground up.  Some of the design goals were reducing the overall weight and accomplishing that overall weight, redesigning the weapon system, and improving the electronics system.  When fininshed, the entire robot shrunk by approximetly 1" in diameter and was estimated to be 28 pounds.  The actual weight ended up being 29 pounds accomplishing our first goal.  For the weapon system, the weapons mounts were completly redesigned, and we switched to a teardrop wheel drive instead of a beld drive.  The new weapon mounts are a custom built tapered roller mount which increased the load ratings, while eliminating the friction seen in the previous pulley design.  The idea behind the teardrop wheel is similar to a centrifugal clutch; as the weapons spin up, the wheel would expand to contact the inside face of the weapon ring.  Both of these designs accomplished our second goal.  Finally, we changed the electronics of the robot.  For the drive system, we programed the drive controls on the trasmitter for a maximum voltage of 16 volts instead of the max volts of our robot(22 volts).  This kept our drive motors from overvolting and burning up.  We also used a new weapon ESC, the Toro TS 150a.

Cathii accomplished all design goals set out.  All aspects of the robot worked as expected except for the teardrop wheels.

{| border="1" cellpadding="1" cellspacing="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| RS-550
|-
| Drive Motor Controllers 
| RageBridge 1.0
|-
| Weapon Motor 
| NTM 50-50
|-
| Weapon Motor Controllers
| Toro TS 150a
|-
| Reciever
| Hobbyking
|-
| Remote Control
| Hobbyking
|-
| Battery
| Turnigy Nanotech 6s 5000mAh
|}

==== Problems: ====

*Teardrop wheels exploded under their high speeds and high forces
*The weapon motors burned up either due to high lateral forces on the motor, or prolongedhigh current in the motor.

==== Future Changes/Improvements: ====

*Redesign the weapon drive system

=== Cathi V2.2 ===
Designed By: Justin Ma

Cathiii was modified from the remnants of V2.1. The weapon ring and tapered roller mounts were retained, while the weapon drive was converted back to a pulley system with a rubber drive wheel. The robot ended up being 28 pounds. For the weapon drive, the pulley system consisted of a steel pulley, angular contact bearings, and aluminum end caps that bolted into both the top and bottom plates, and were driven by two 1/8" wide polyurethane belts. A neoprene rubber wheel, cut from tubing, was epoxied onto the pulley. The drive system was kept the same save for the electronics. The RageBridge was replaced with a Scorpion XXL controller and provided unregulated voltage to the drive system.

{| border="1" cellpadding="1" cellspacing="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| RS-550
|-
| Drive Motor Controllers 
| Scorpion XXL
|-
| Weapon Motor 
| Scorpion HKIII-4025-550KV
|-
| Weapon Motor Controllers
| Toro TS 150a
|-
| Reciever
| Hobbyking
|-
| Remote Control
| Hobbyking
|-
| Battery
| Turnigy Nanotech 6S 2650mAh
|}

== Notes: ==
[[Category:Pages with broken file links]] [[Category:BattleBots]] [[Category:FeatherWeights]]

Cathi

2017-03-03T02:05:06Z

Jma: /* Cathi V2.2 */

{| class="wikitable" align="right"
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Cathi
|-
! scope="row" colspan="2" |
|-
! scope="row" style="text-align:left" | Year Of Creation
| {{{year|2013-2014}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Versions
|-
! scope="row" style="text-align:left" | Current Version
| {{{currver|2.1}}}
|-
! scope="row" style="text-align:left" | Update Year
| {{{updyr|2014-2015}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Information and Statistics
|-
! scope="row" style="text-align:left" | Weight Class
| {{{wc|FeatherWeight}}}
|-
! scope="row" style="text-align:left" | Weapon Class
| {{{weapc|Ring Spinner}}}
|-
! scope="row" style="text-align:left" | Wins/Losses
| {{{winloss|0/5}}}
|-
! scope="row" style="text-align:left" | ("Temporary")
| {{{TBA|("Temporary")}}}
|-
! scope="row" style="text-align:left" | ("Temporary")
| {{{TBA|("Temporary")}}}
|}

Cathii is a 30 pound invertable ring spinner robot.  A ring spinner design was chosen because it allows and offense on every side of the robot, while still being invertable.  The ring design allows weight normally dedicated to the armor of the robot to be dedicated to the weapon, thus increased the power of the weapon.  Her ring is approximetly 15 pounds and spins around 2500 rpm at top speed.  Cathii has be undergoing continual improvements every year since her first competition in 2014.

== Competitions ==

=== Motorama 2014 ===

*Results:
**Bracket Style:
***[http://youtu.be/HrBQlkcsCsE?list=PLa4DDbMiSUTW8V-dy5on2g5KvAXro05Za Loss vs Pitter Patter]
***[http://youtu.be/UoEmcIyIQaQ?list=PLa4DDbMiSUTW8V-dy5on2g5KvAXro05Za Loss vs Candy Paint and Gold Teeth]

=== [[Motorama_2015|Motorama 2015]] ===

*Results:
**Bracket Style:
***[http://youtu.be/HrBQlkcsCsE?list=PLa4DDbMiSUTW8V-dy5on2g5KvAXro05Za Loss vs Pitter Patter]
***[http://youtu.be/UoEmcIyIQaQ?list=PLa4DDbMiSUTW8V-dy5on2g5KvAXro05Za Loss vs Candy Paint and Gold Teeth]
*Results:
**Bracket Style:
***[https://www.youtube.com/watch?v=nQ0EcZ4UvJg&index=7&list=PLElIOq0YqguswjV-Bftne-QkNToZ3p9Fi Loss vs Drum Thing Else]
***[https://www.youtube.com/watch?v=qwzfQ44UKHI&index=15&list=PLElIOq0YqguswjV-Bftne-QkNToZ3p9Fi Loss vs Triggo]
**[https://www.youtube.com/watch?v=e9lHdjj1454&index=17&list=PLElIOq0YqguswjV-Bftne-QkNToZ3p9Fi Loss in Featherweight Rumble] 

=== [[Motorama_2016|Motorama 2016]] ===

*Results:
**Bracket Style:
***[https://www.youtube.com/watch?v=CVMc3VlrNUs Loss vs megatRON]
***[https://www.youtube.com/watch?v=7lreUldRKR8 Loss vs The Robot Formerly Known as Drumthing]
***[https://www.youtube.com/watch?v=gg38rxzOTnA Win vs Gracious Pipefessionalism]

== Version ==

=== Cathi V1.0 ===

Desgined By: Max Carlson[[File:Cathii.jpg|frameless|right|480x360px|Mega-Smitti]]

Cathi was first designed and built during the 2013-2014 school year.  

{| border="1" cellpadding="1" cellspacing="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| RS-545
|-
| Drive Motor Controllers 
| Ragebridge 1.0
|-
| Weapon Motor 
| NTM 5050
|-
| Weapon Motor Controllers
| TURNIGY K-Force 120A-HV OPTO 
|-
| Reciever
| Turnigy
|-
| Remote Control
| Turnigy
|-
| Battery
| Turnigy Nanotech 8s 5000mAh
|}

==== Problems:   ====

*Drive Motors are over volted
*Weapon ESCs burned up
*Weapon Belts would bind and stall out the weapon motors
*Overall weight was heavier than the estimated weight(weapon aluminum inserts were removed to account for this)

==== Future Changes/Improvements: ====

*Decrease the main robot voltage
*Look into new weapon ESCs
*Redesign weapon motor system
*Use more powerful drive motors

=== Cathi V1.1 ===

Very little changes occured in this second iteration.  The majority of parts were reused, with some being altered.

{| border="1" cellpadding="1" cellspacing="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| RS 550
|-
| Drive Motor Controllers 
| RageBridge 1.0
|-
| Weapon Motor 
| NTM 5050
|-
| Weapon Motor Controllers
| TURNIGY K-Force 120A-HV OPTO 
|-
| Reciever
| Turnigy
|-
| Remote Control
| Turnigy
|-
| Battery
| Turnigy Nanotech 6s 5000mAh 
|}

==== Problems: ====

*The RS-550s performed better than the RS-545s, but still burnt up
*The Weapon motor controllers continued to burn up
*The inner pulley diameters were decreased to keep the belts from binding.  This resulted in under tensioned belts which failed to transmit the force of the motors.

==== Future Changes/Improvements: ====

*Program the Ragebridge/Tranmitter to limit the motor voltage
*Use new weapon motor controllers
*Change the weapon motor system
*Change the weapon mount system

=== Cathi V2.1 ===

Designed By: [https://wiki.robojackets.org/w/User:Ebisgaard Ethan Bisgaard]

Cathii was completely redesigned from the ground up.  Some of the design goals were reducing the overall weight and accomplishing that overall weight, redesigning the weapon system, and improving the electronics system.  When fininshed, the entire robot shrunk by approximetly 1" in diameter and was estimated to be 28 pounds.  The actual weight ended up being 29 pounds accomplishing our first goal.  For the weapon system, the weapons mounts were completly redesigned, and we switched to a teardrop wheel drive instead of a beld drive.  The new weapon mounts are a custom built tapered roller mount which increased the load ratings, while eliminating the friction seen in the previous pulley design.  The idea behind the teardrop wheel is similar to a centrifugal clutch; as the weapons spin up, the wheel would expand to contact the inside face of the weapon ring.  Both of these designs accomplished our second goal.  Finally, we changed the electronics of the robot.  For the drive system, we programed the drive controls on the trasmitter for a maximum voltage of 16 volts instead of the max volts of our robot(22 volts).  This kept our drive motors from overvolting and burning up.  We also used a new weapon ESC, the Toro TS 150a.

Cathii accomplished all design goals set out.  All aspects of the robot worked as expected except for the teardrop wheels.

{| border="1" cellpadding="1" cellspacing="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| RS-550
|-
| Drive Motor Controllers 
| RageBridge 1.0
|-
| Weapon Motor 
| NTM 50-50
|-
| Weapon Motor Controllers
| Toro TS 150a
|-
| Reciever
| Hobbyking
|-
| Remote Control
| Hobbyking
|-
| Battery
| Turnigy Nanotech 6s 5000mAh
|}

==== Problems: ====

*Teardrop wheels exploded under their high speeds and high forces
*The weapon motors burned up either due to high lateral forces on the motor, or prolongedhigh current in the motor.

==== Future Changes/Improvements: ====

*Redesign the weapon drive system

=== Cathi V2.2 ===
Designed By: Justin Ma

Cathiii was modified from the remnants of V2.1. The weapon ring and tapered roller mounts were retained, while the weapon drive was converted back to a pulley system with a rubber drive wheel. The robot ended up being 28 pounds. For the weapon drive, the pulley system consisted of a steel pulley, angular contact bearings, and aluminum end caps that bolted into both the top and bottom plates, and were driven by two 1/8" wide polyurethane belts. A neoprene rubber wheel, cut from tubing, was epoxied onto the pulley. The drive system was kept the same save for the electronics. The RageBridge was replaced with a Scorpion XXL controller and provided unregulated voltage to the drive system.

== Notes: ==
[[Category:Pages with broken file links]] [[Category:BattleBots]] [[Category:FeatherWeights]]

Cathi

2017-03-03T01:55:23Z

Jma: /* Version */

{| class="wikitable" align="right"
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Cathi
|-
! scope="row" colspan="2" |
|-
! scope="row" style="text-align:left" | Year Of Creation
| {{{year|2013-2014}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Versions
|-
! scope="row" style="text-align:left" | Current Version
| {{{currver|2.1}}}
|-
! scope="row" style="text-align:left" | Update Year
| {{{updyr|2014-2015}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Information and Statistics
|-
! scope="row" style="text-align:left" | Weight Class
| {{{wc|FeatherWeight}}}
|-
! scope="row" style="text-align:left" | Weapon Class
| {{{weapc|Ring Spinner}}}
|-
! scope="row" style="text-align:left" | Wins/Losses
| {{{winloss|0/5}}}
|-
! scope="row" style="text-align:left" | ("Temporary")
| {{{TBA|("Temporary")}}}
|-
! scope="row" style="text-align:left" | ("Temporary")
| {{{TBA|("Temporary")}}}
|}

Cathii is a 30 pound invertable ring spinner robot.  A ring spinner design was chosen because it allows and offense on every side of the robot, while still being invertable.  The ring design allows weight normally dedicated to the armor of the robot to be dedicated to the weapon, thus increased the power of the weapon.  Her ring is approximetly 15 pounds and spins around 2500 rpm at top speed.  Cathii has be undergoing continual improvements every year since her first competition in 2014.

== Competitions ==

=== Motorama 2014 ===

*Results:
**Bracket Style:
***[http://youtu.be/HrBQlkcsCsE?list=PLa4DDbMiSUTW8V-dy5on2g5KvAXro05Za Loss vs Pitter Patter]
***[http://youtu.be/UoEmcIyIQaQ?list=PLa4DDbMiSUTW8V-dy5on2g5KvAXro05Za Loss vs Candy Paint and Gold Teeth]

=== [[Motorama_2015|Motorama 2015]] ===

*Results:
**Bracket Style:
***[http://youtu.be/HrBQlkcsCsE?list=PLa4DDbMiSUTW8V-dy5on2g5KvAXro05Za Loss vs Pitter Patter]
***[http://youtu.be/UoEmcIyIQaQ?list=PLa4DDbMiSUTW8V-dy5on2g5KvAXro05Za Loss vs Candy Paint and Gold Teeth]
*Results:
**Bracket Style:
***[https://www.youtube.com/watch?v=nQ0EcZ4UvJg&index=7&list=PLElIOq0YqguswjV-Bftne-QkNToZ3p9Fi Loss vs Drum Thing Else]
***[https://www.youtube.com/watch?v=qwzfQ44UKHI&index=15&list=PLElIOq0YqguswjV-Bftne-QkNToZ3p9Fi Loss vs Triggo]
**[https://www.youtube.com/watch?v=e9lHdjj1454&index=17&list=PLElIOq0YqguswjV-Bftne-QkNToZ3p9Fi Loss in Featherweight Rumble] 

=== [[Motorama_2016|Motorama 2016]] ===

*Results:
**Bracket Style:
***[https://www.youtube.com/watch?v=CVMc3VlrNUs Loss vs megatRON]
***[https://www.youtube.com/watch?v=7lreUldRKR8 Loss vs The Robot Formerly Known as Drumthing]
***[https://www.youtube.com/watch?v=gg38rxzOTnA Win vs Gracious Pipefessionalism]

== Version ==

=== Cathi V1.0 ===

Desgined By: Max Carlson[[File:Cathii.jpg|frameless|right|480x360px|Mega-Smitti]]

Cathi was first designed and built during the 2013-2014 school year.  

{| border="1" cellpadding="1" cellspacing="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| RS-545
|-
| Drive Motor Controllers 
| Ragebridge 1.0
|-
| Weapon Motor 
| NTM 5050
|-
| Weapon Motor Controllers
| TURNIGY K-Force 120A-HV OPTO 
|-
| Reciever
| Turnigy
|-
| Remote Control
| Turnigy
|-
| Battery
| Turnigy Nanotech 8s 5000mAh
|}

==== Problems:   ====

*Drive Motors are over volted
*Weapon ESCs burned up
*Weapon Belts would bind and stall out the weapon motors
*Overall weight was heavier than the estimated weight(weapon aluminum inserts were removed to account for this)

==== Future Changes/Improvements: ====

*Decrease the main robot voltage
*Look into new weapon ESCs
*Redesign weapon motor system
*Use more powerful drive motors

=== Cathi V1.1 ===

Very little changes occured in this second iteration.  The majority of parts were reused, with some being altered.

{| border="1" cellpadding="1" cellspacing="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| RS 550
|-
| Drive Motor Controllers 
| RageBridge 1.0
|-
| Weapon Motor 
| NTM 5050
|-
| Weapon Motor Controllers
| TURNIGY K-Force 120A-HV OPTO 
|-
| Reciever
| Turnigy
|-
| Remote Control
| Turnigy
|-
| Battery
| Turnigy Nanotech 6s 5000mAh 
|}

==== Problems: ====

*The RS-550s performed better than the RS-545s, but still burnt up
*The Weapon motor controllers continued to burn up
*The inner pulley diameters were decreased to keep the belts from binding.  This resulted in under tensioned belts which failed to transmit the force of the motors.

==== Future Changes/Improvements: ====

*Program the Ragebridge/Tranmitter to limit the motor voltage
*Use new weapon motor controllers
*Change the weapon motor system
*Change the weapon mount system

=== Cathi V2.1 ===

Designed By: [https://wiki.robojackets.org/w/User:Ebisgaard Ethan Bisgaard]

Cathii was completely redesigned from the ground up.  Some of the design goals were reducing the overall weight and accomplishing that overall weight, redesigning the weapon system, and improving the electronics system.  When fininshed, the entire robot shrunk by approximetly 1" in diameter and was estimated to be 28 pounds.  The actual weight ended up being 29 pounds accomplishing our first goal.  For the weapon system, the weapons mounts were completly redesigned, and we switched to a teardrop wheel drive instead of a beld drive.  The new weapon mounts are a custom built tapered roller mount which increased the load ratings, while eliminating the friction seen in the previous pulley design.  The idea behind the teardrop wheel is similar to a centrifugal clutch; as the weapons spin up, the wheel would expand to contact the inside face of the weapon ring.  Both of these designs accomplished our second goal.  Finally, we changed the electronics of the robot.  For the drive system, we programed the drive controls on the trasmitter for a maximum voltage of 16 volts instead of the max volts of our robot(22 volts).  This kept our drive motors from overvolting and burning up.  We also used a new weapon ESC, the Toro TS 150a.

Cathii accomplished all design goals set out.  All aspects of the robot worked as expected except for the teardrop wheels.

{| border="1" cellpadding="1" cellspacing="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| RS-550
|-
| Drive Motor Controllers 
| RageBridge 1.0
|-
| Weapon Motor 
| NTM 50-50
|-
| Weapon Motor Controllers
| Toro TS 150a
|-
| Reciever
| Hobbyking
|-
| Remote Control
| Hobbyking
|-
| Battery
| Turnigy Nanotech 6s 5000mAh
|}

==== Problems: ====

*Teardrop wheels exploded under their high speeds and high forces
*The weapon motors burned up either due to high lateral forces on the motor, or prolongedhigh current in the motor.

==== Future Changes/Improvements: ====

*Redesign the weapon drive system

=== Cathi V2.2 ===
Designed By: Justin Ma

Cathiii was modified from the remnants of V2.1. The weapon ring and roller mounts were retained, while the weapon drive was converted back to a pulley system with a rubber drive wheel.

== Notes: ==
[[Category:Pages with broken file links]] [[Category:BattleBots]] [[Category:FeatherWeights]]