116 has a slew of unique features on our '07 bot.
I'll start with our control systems. We have the latest iteration of our "control box" design, which serves several purposes, including protecting our control components, cooling the components, and allowing easy access to them between matches (
see 2005 thread).
You may notice that on top of the RC is a circuit panel with an LCD. It is mounted in a clear polycarb case, with a "D-Pad" and selection button, and allows for us to change autonomous plays, and check basic diagnostics on the fly. We are working on getting the kinks out of the ability to actually write new autonomous plays from the LCD as well.
Our arm is simple compared to many that we have competed against. It has a shoulder joint powered by two globe motors, and pneumatic actuated wrist and claw (both rotate on the same axle). The arm is comprised of two pieces of aluminum box channel, one segment is 1.5"x1.5" and another is 1"x1". The 1x1 can fit withing the 1.5x1.5 at the start of the match, allowing for the length of the arm to fit in the starting size requirements. A piece of surgical tubing is attached to an eye bolt which is attached to the inner tubing (and fits through a channel milled in the outer tubing) at one end, and the outer tubing at the other. The eye bolt fits behind a bar in our shoulder joint at the beginning of the match, holding it in the retracted position. When the arm is raised, the surgical tubing pulls the inner channel outwards, extending the arm (where it can score on all 3 levels and pick up off the floor). The eye-bolt then locks in the extended position.
