Ground Intake

We are excited to continue to use Rev Robotic's 3in MaxSwerve Modules. Each one takes a Neo and a Neo 550, with a total of 8 Spark Maxs for the whole drive train. We are using aluminum wheels this year with black neoprene tread. We are using these, rather than plastic which we used at the start of last year, because of how quickly the plastic wheels got worn down.

Drive Train

Initially, when designing the ground intake, the CAD team went for an over the bumper intake but, we realized that this would not be best for our robot design. The reason for that is if the notes are going under the bumper, we don't need to add a system to pivot the intake, and we wouldn't risk the possibility of getting hit from the side. The intake has six VEX VersaRoller axles. Two of those axles are live axles, while the other four are dead axles. On one of the dead axles, we have VEX Straight Flex 1" Round Bore Wheels. This is all held together by polycarbonate plates and PLA 3D printed parts. The system is powered by 2 NEO motors.

Arm

When designing the shooter, the ability to score in the SPEAKER and AMP was our top priority. In order to do this we made a mechanism that could pivot around a solid aluminum dead axel, surrounded by a piece of MaxSpline. On both ends of the MaxSpline, there is a custom 30 tooth sprocket that is used to rotate the shooter. The shooter, held together with custom gussets, is powered by 2 NEO motors using a 35 sized chain. With the high torque comes the ability to use the shooter as the climber. The intake for the shooter consists of three thunderHex shafts that have 2" thrifty complaint wheels on each shaft. The intake is powered by a NEO motor which, in using a belt system, intakes the NOTE. In order to keep the NOTE in the shooter thee is a polycarbonate sheet of four solid 4" urethane wheels that are powered by 2 NEO Vortex motors. Both motors power separate sides so both cam ne set at different speeds. The reason for different speeds is to create a frisbee effect on the NOTE to ensure that the NOTE does not change course when being airborne.

Vision Systems

This year we have four global cameras each performing their own task. The cameras on the front, left, and right all work to "auto align" the robot. When an AprilTag is seen by a camera, the robot then be able to follow a path that's calculated at a preset position. It also uses the information to figure out where it is on the field. The camera in the back helps the robot to find NOTES. By using a database of images to recognize and identify NOTES, the camera will search the field to find, pick up and guild the robot toward them. We have 4 Orange Pis powering these cameras.