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Testing on the cargo ball

Compliance wheel (blue, non-treaded): slight damage to wheel Compliance wheel (blue, treaded): shreds surface of wheel and scuffs cargo ball Hard Wheel: wheel heats up slightly and ball is lightly damaged Green compliance wheel: wheel heats up and ball loses some fuzz Large Omni: ball is scuffed up Mecanum (3D-Printed): wheel is scraped Mecanum (large): wheel gets fuzz tangles in rollers, ball heats up and loses lots of fuzz Chicken Plucker: removes very small amount of fuzz Compliance wheel (red): no damage to either the ball or the wheel Compliance wheel (blue, just spokes): wheel is lightly damaged but ball is untouched Black Chunky wheel (please rename if you know an actual name for this): ball is burned and wheel is slightly damaged Grey Colson: tears through fuzz and ball material


Drive Base

  • 28”x32” tentative dimensions
  • C channel - Order
  • Encoders on alternate position opposed to current position
  • New Swerve modules are being built
    • Only missing the encoders for the new modules, but are backlogged - must keep track of when they’re in stock. (1/28?)
      • Might have to ask around from local teams to see if they have extras?
    • Assembling the tread wheels
    • Determine top speed needed
      • For turning motor, more torque
      • Can NEOs be geared faster than Falcons?
      • Gear turning slower - starting 15:1 and then evaluating
    • Current speed is 14.5ft/sec = ~4.1 seconds across the field
  • Finished Drive base…? Next weekend ish.
  • Ship out any parts possible for fabrication


  • 2 axles
  • Lexan keeps cargo down
  • Test Pivot/frame parameter sizing
  • Going to test moving the drive base and intaking
  • Having an issue with the second roller hitting the balls/storage mechanism
  • Cargo
    • Experimenting with different entry angles
    • 2 stage design
    • Tuning the shooter intake
    • Serializing? Making balls go in a single file line
    • Also could make storage less wide? 11 inches down to 10 inches potentially?


  • Can make a 25 ft shot from initial testing?
  • Driven with 2 CIM
    • Potential slipping of cargo on lexan (going to try tape on hood to reduce)
    • Trying to test feeding the shooter straight up
      • Making sure we can make the launch pad shot
      • Lexan flexes a lot -  adding ribbing or backing for support
      • Takes 7 seconds to get up to full speed
  • Rough dimensions are 10” wide by 14” deep
  • Looking at hooded shooter
    • No t-word
    • Will need servo?
  • Add ons for cargo -  make bal counter/tracking sensor pairing so that auto can know when cargo is intake/outtake
  • Verify servo for hood adjustment if used? Use a different motor?


  • Referenced a lego scale model for the hang
  • LEGO Design - Two arms:
    • Static Arm - After the first climb, static arm is hooked on. Static arm hooks on again. Rinse and repeat.
    • Extending arm - Gets raised first and then pulls the robot up. Extending arm then tips back and hooks on to the next bar. Rinse and repeat.
    • Motion is the same
  • Real Design - Four arms:
    • Similar motion to the LEGO version
    • Learned that there is a lot of swinging/rotating force
      • Then did Stoecklometry to figure out why
    • Allowing arm to swing forward
      • Will not break frame perimeter restrictions
      • Extending hook is the only one that telescopes
      • Static arm will rotate but is stopped at 45 degrees with a hard stop
      • Winch will drive extending arm up, spring resets the hang and the process repeats
    • No motor to control the pivot of the Static Arm, only using springs and hard stops
      • Sprung loaded to line up with the extending arm
    • Maybe cable the arms so they are mechanically coupled: One moves and the other follows suit. Some sort of link. Orrrrr maybe not.
    • Planning on having a brake for the extending arms
    • Has a engage and disengage brake for each bar in case the match ends so we don’t fall
    • Pivots and extends arm back, and then extends. Then retracts until the static arm brings it back. Repeat the cycle.
    • Brake is preventing extension, because it wants to extend because of the CF spring
    • Like the disc brake better because of the on and off compared to the ratchet and pawl
      • Disc brake makes is easier to program, and the braking needs to happen very quickly too
    • If you do pneumatics:
      • 1 motor, 2 pistons
        • 1 piston for engaging and releasing the brake per arm (2 total)
        • 1 piston for pivoting (1 per side?)
      • May use a magnetic sensor
      • Might need to re-evaluate the piston count?
      • How do we get the partial rotation without adding another motor?
    • What’s the plan for driver control?
      • Driver control with programmed assistance
    • Black line will not be helpful because it is black on gray
    • Will need an optical sensor, encoders, work through sensors
    • While driving, is the hang going to sway around or will it stay put?
    • 55-60 inches from the top of the drive base?
      • Current prototype has 55 inches?
    • 30 inches of travel - 2 stage telescoping arms
      • Pneumatics for the extensions? Nope
    • Difficult to do a crossbar for the extending hook
      • Potential crossbar for the stationary hook
    • No potential issues with hitting the shooter?
      • Need to see if shooter and hang can share the crossbar space
  • Tomorrow will be more of a robot real estate meeting, figuring that stuff out
    • Going to have less swing in the hang than the previous version
    • For sure using pneumatics
      • Especially for the brake
    • Maybe use piston to go in?
    • Potential height of the robot: 48 inches?

Whole Robot

  • Cannot do just motors because of a space issue
  • With the Mixed Motors and Pistons:
    • 15 total motors
    • 5 Pistons
  • Stuff to Test:
    • Drive intake and stage 1 of conveyor on same motor
    • Second stage of conveyor and preshooter on same motor
      • Have a sensor in the middle to turn off stage 2
    • Run preshooter and Flywheel on same motor
  • Will we need limelight? Compressor may take up a slot on the PD board
  • Hood actuation might need a servo and/or slot on the PD board


We integrated the storage and intake. The intake and storage work really well with minor to no changes and we started doing a little testing on moving the ball through the robot.