Thanks for the compliments.
To add to the original post and the video itself, We wanted to share some of the robot's specs:
Drivetrain:- 8 x 6" WCP Pneumatic tires (Diamond tread) with a 4mm (~5/32") center drop
- 2/3 CIM Custom 2 stage single speed gearbox (Currently sporting 2 CIMs) with a total reduction of 9:1
- One Wheel direct driven by the gearbox and the others are driven using #35 chain
- Theoretical top speed of 15.4ft/s (4.7m/s)
- Front angled wedge to allow for easier traversing of defenses
Intake + Defense Manipulator:- Front horizontal roller with 6 x 2" AM stealth wheels for initial acquisition of boulders
- 4 Vertical rollers with 2" AM stealth wheels used to center and push boulders through the bumper opening
- Each driven by one AM-9015 motor through a 12:1 versaplanetary
- Omni wheel on each side of the mechanism to prevent friction with the ground
- Snowblower motor through a 4.5:1 reduction used to raise and lower the mechanism
- Doubles as a manipulator for both the Portcullis and Cheval De Frise
Shooter:- Shooter arm actuated using a 6" stroke DART actuator powered by a CIM motor
- 2 sets of 2 x 4" AM stealth wheels driven by a single MiniCIM using timing belts
- Bottom wheels spin 1.8 times faster than the top ones to generate backspin for improved accuracy
- A mechanism that we named 'The Spoon' is used to keep the boulder in place while picking up or driving around, pull it away from the shooting wheels to allow them to accelerate and push it into the shooter at the right speed
- The Spoon is driven up and down using a Snowblower motor
Controls:- Each side of the drivetrain has a AMT103-V encoder
- A potentiometer is used to control the angle of the intake mechanism and another on the DART the control the shooter angle
- An AMT103-V encoder is used to determine and monitor shooter speeds
- Two micro-switches are used to create 3 set positions for the spoon (Lowbar, Boulder tangent to shooting wheels, accelerating shooter)
- A camera is mounted on the shooter arm and used for vision processing to accurately align the robot to goal in the X axis and to control the shooter speed
- An Analog Devices Accelerometer & Gyro is mounted on the Roborio to allow us to fix any misalignment caused by traversing the defenses in autonomous
Hanging(?):- A mechanism was designed using a tape measure and a winch and was sent to manufacturing today. It will be assembled on our practice bot and hopefully - if it works, will be fitted on the competition robot in the Israeli regional in a couple of weeks (stay tuned to see how this thing comes along)
Our whole design is focused around the idea of both being able to go under the lowbar and shooting high from the outerworks line, while releasing the boulder from as high and as far back in the robot as possible. This should essentially make us unblockable from this position because by the time the boulder exits our perimeter it is already higher than a defending robot's maximum height.
I'm also adding a little example of a quick pickup and shoot practice we had earlier today (8/8 shooting in this small snippet):
http://youtu.be/PWZr92l8abI