Features
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Drive Base
Our robot has a compact 24-inch square frame that allows us to balance on the charge station with two other teams with room to spare. This small size also simplifies maneuvering around and avoiding obstacles on the field. The drive base also features a 3/8-inch thick steel belly pan to lower the center of gravity and increase wheel traction.
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Swerve Drive
Our robot uses four modified West Coast Products SwerveX modules to achieve a target speed of 20 feet per second in any direction.
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Software
Our robot utilizes custom C++ swerve drive kinematics. Custom command-based autonomous code and the utilization of a graphing user interface tool to allow for quick and predictable autonomous development. Additionally, we have developed individual C++ classes for each autonomous state, allowing for the modular development of our autonomous modes.
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Arm
Our robot features a modified four-stage West Coast Products GreyT telescope, which is cascade rigged, with extension and retraction powered by a Falcon 500 on a 10.29:1 reduction. It is mounted on a split dead axle pivot to increase stage length while reducing telescope size.
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Intake
Our intake can quickly capture game pieces in the human player station while also being capable of ground pickup. The intake claw utilizes compliant wheels and a pneumatic cylinder to maintain pressure on acquired game pieces. The ability to drop game pieces using the pneumatic cylinder significantly reduces alignment time on cone nodes.
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Wrist
Our 180-degree rotation wrist lets us keep our intaking position optimal for game piece collection regardless of arm angle. Rotating our claw 180 degrees also allow us to flip ground intake cones, reducing alignment time when intaking.
Wiring
Electrical connections are standardized and modular to allow easy maintenance and troubleshooting, with hand-crimped and uniform wires to ensure quality connections and flexibility in replacement.
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Division of CAN
Our robot uses three distinct CAN buses (2 CANivores, 1 RoboRIO) dedicated to major subsystems allowing for rapid diagnosis and isolation and improved maintainability.
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Under the robot
To accommodate and provide additional clearance for the arm, 80% of the electronics for the superstructure is mounted beneath the drive base and contains a recessed battery box for a low center of gravity.
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Arm and Intake
Superstructure electrical connections are routed through the Igus chain and a Delrin tube (attached with an Onyx 3D printed mount) to ensure reliable and consistent extension and retraction of the arm while also providing a balance of rigidity and compliance.
Quick Stats
- Average time to score in seconds
- 10
- 2023 Record
- 33-13-0
- Average game pieces scored in a match
- 12
- Autonomous modes
- 5