Our team had a lot of firsts this year.
- We were able to successfully implement a slide drive with only 1 wheel in the back.
- We developed a strong drivebase with 0.050 Aluminum (2024-T3)
- We drove with belts for the first time
- We used live axle for the first time
- Used built an elevator for the first time (Thanks Adam Heard and the guys from 971 for posting CAD and providing some inspiration for our elevator. R3 bearings were great [until the broke after a couple competitions])
- First scissor mechanism on the robot (still not sure I was a fan of it)
- Designed and built our first (and second) gearboxes.
- Successfully implemented some 3D printed parts (Camera mount, pneumatic tank mount, constant force sprint spindle)
- Were able to not have a single inch of chain on the robot for the first time. (only belt, pneumatic and lead screw)
- Were able to build an extremely low profile drivebase (everything within 2.75 inches from the carpet).
On the other hand, there are some things we need to do better.
- Build faster and better prototypes
- Not overload machines as much as we are (rely more on COTS parts)
- Finish design faster
- Get back to using PDM (No PDM this year was a disaster)
- Finish mechanical build quicker so software team can get more time to do things like control loop tuning and autonomous
- Build certain parts to a tighter tolerance. We had to rebuild some axles because they were too short.
- Too much reliance on snap rings to stop axial movement. We designed the drive so the bearings so their flanges were on the outside and retained by a snap ring. Unfortunately, snap rings came off and we had to resort to drilling/tapping and putting a bolt with a washer on to keep the bearing retained. Ideally we would have swapped the way the bearings were inserted into the drive, but we were too far along in our build and didn't have enough room in the wheel channel to allow for the extra 1/8 from the flanges of 2 bearings.