2020:Robot Design Details
Overall Robot Dimensional Restraints
- Robot Perimeter = 28" x 31 3/4" (119.5 total length)
- Top of Drive Base: 4.6" (1.6" clearance)
- Top of bumpers = 6.5" (1.5" clearance) - note 6.375 (1.0375) is better for intake if it does not cause problems clearing rendezvous (1.0625" high steel tube).
- Extension of Intake = Approximately 10"
- Clearance at front of robot for intake = 3"
Hang mechanism in starting position is below shooter wheel- Please allow minimum .5" to edge of frame perimeter unless design actualy requires less to work/fit.
Weight of the Robot as of 1/29/2020
Overall robot (including battery, but not electrical)-105.354
Drivebase and Battery-37.134
Telescoping Arm-9.798
Winch-6.975
Intake-11.726
Storage-8.971
Shooter-25.074
WoF and Superstructure-5.515
Actuators
Motors (Preliminary pass for quantity check 1/8/2020)
| Mechanism | Action | Minimum Breaker Size | Motor Model # | Quantity | Notes |
| Drive Base | moves the robot on the field | Neo Brushless | 4 | 11:80 gear ratio | |
| Hang | runs the winch to pull the robot up | Neo Brushless | 1 |
(2) 4:1 (16:1) Versaplanetary 1 Winch, 2 arms now 16:1 | |
| Intake | Pivots intake in and out of the robot | Neo Brushless 550 | 1 |
(2) 10:1 VersaPlanetary + 2:1 belt pullys 18T: 36T | |
| Intake | Spins the "beater bar(s)" | NEO Brushless 550 | 1 | 7:1 Versaplanetary | |
| Storage | Agitates the balls and moves them up to the shooter | NEO Brushless 550 | 1 |
5:1 + 5:1 (25:1) Veraplanetary | |
| Storage transition wheel | Feeds balls into shooter | NEO Brushless 550 | 1 | 7:1 Versaplanetary | |
| Shooter | Spins the primer wheel | NEO Brushless 550 | 1 |
3:1 + 4:1 (12:1) Versaplanetary | |
| Shooter | Spins the shooting wheel axle | Neo Brushless | 2 |
2:1 Pulley | |
| Shooter | Future Turret | Neo Brushless 550 | 1 | (2) 7:1 Versaplanetary, 18:178 belt | |
| Wheel of Fortune | Spins the wheel to turn the colored wheel | NEO Brushless 550 | 1 | (2) 4:1 VersaPlanetary gearbox | |
| 14 |
Pneumatics (NOT USED)
| Mechanism | Action - Say what extend and retract do! | Number of Cylinders | Cylinder |
Extend Powered?
|
Extend Exhaust to Atmosphere?
|
Retract Powered?
|
Retract Exhaust to Atmosphere?
|
Working Pressure | Estimated Firings per Match Cycles (Sum of all powered directions!) |
Notes |
| Powerful Puncher! | Extend = extends puncher to punch the wall Retract = pull puncher back in |
1 |
3" Bore, 8" Stroke |
Yes | Yes | Yes | Yes |
95 PSI |
36 |
Sensor Chart
|
Mechanism |
Sensor Type | Function | Attachment Point | Notes |
|---|---|---|---|---|
|
Intake |
Banner Beam Break | Senses incoming power cells | Intake of helix/storage |
Keeps intake and helix running until 5 cells counted. Does this start up the helix agitator when first ball is sensed? Helix can not turn on whenever intake is on or we will force balls into the shooter. Does this turn off the helix agitator? Yes Turns off/lifts/reverses intake and turns off helix agitator when 5 Power Cells are counted or beam stays broken for a fixed period of time Location critical if it is sensing gaps between balls. |
| Storage | Banner Beam Break | Sense balls when ready to shoot | Top of Helix/ Intake of shooter |
Senses balls before they hit the shooter intake roller to prevent multiple balls from entering the shooter at once. Count outgoing balls? |
|
Storage/Shooter |
Banner Beam Break | Senses presence of ready-to-shoot power cells | Inside shooter |
Sense when a ball that is inside the shooter so we can stop the intake of the shooter to let the shooter flywheel get back to speed after shooting ball. |
|
Shooter |
Integrated NEO Encoder | Shooter wheel speed | ||
|
Hang |
Integrated NEO Encoder |
Tells arms how high to raise, how far to retract, deploys hooks |
Need to figure out how to zero it 22 degrees rotation to be able to release pawl | |
|
Wheel of Fortune |
Color Sensor | Reads color on wheel | Bracket attatched on spinner gear box | Stops motor when correct color is read. Counts segments for rotation control. |
|
Drive Base |
Encoder | Measures center of drive base | hex axle on the center wheel | |
|
Intake (Rotation) |
Integrated NEO Encoder |
Limits how far intake comes into the robot frame | Will need hard stop back up | |
| Intake (Rotation) | Omron EE-SPY415 Sensor | Zeros the encoder | On the left intake mounting bracket. Sensor bracket pending approval. | Tested on test board, works at identifying smoked lexan. The range is low enough so that it won't sense the helix which is ~8in ahead of it. |
| Shooter | Limelight 2 | Aim assist | Behind hood on shooter | Needs ethernet connection to robot as well as power (either 12v PoE or 5A PDP connection) |
| General purpose | Microsoft Lifecam HD-3000 | Driver aid | On top of helix on shooter base plate | Needs USB connection. Can be connected to Limelight or rio |
| Drive Train | Gyroscope | Autonomous turning | Near center of rotation | |
| Shooter | Flashlight | Aim assist | Next to limelight |
