Lynbrook Robotics
Team 846 2009 Robot:
"Moonkey"
Video Highlights from the Silicon Valley Regional:
http://www.youtube.com/watch?v=WJiimDm47Kw
Drivetrain
-4 Wheel tank drive with twist joystick
-1 CIM on each side with AndyMark 12.75:1 gearbox
Ball Intake and Belt System
-Uses 1 CIM, 2 RS-545 motors & 1 FP Motor
-ABS rollers with PVC guides
-Wide mouth pickup
-3/16" diameter urethane belts (3% stretch; 3 lb tension)
-Air tubing kickers to keep balls moving
Shooter
-Backspin shooter launches 2 balls at a time
-Range: 0 - 2.5 feet
-Roughtop tread on ABS tubing
-Powered by a CIM motor with 3:1 Banebots Gearbox
-Closed Loop Speed control
Frame
-Angled rear corners allow 63 degree turns with trailer
-Wide layout for >40% turning torque [34" vs 24"]
-Shortened 13-5/8" wheelbase for 24% lower resistance turning
-Low open top hopper for human loading, stores over 15 balls
-4 Handles for safe, easy lifting
Software & Sensors
-Optical Wheel Encoders
-Custom integrating current sensors on drive motors
-Dual accelerometers on left and right to monitor slip conditions
-Gyro for turning stability
-LCD display for on-robot diagnostics with custom Arduino (I2C comm)
-Hall Effect sensor with neodymium magnet for shooter speed control