2949 PWNAGE: 2012 Robot

[pwnageNick]

On behalf of FIRST Team 2949 PWNAGE, I would like to present our 2012 Robot.
http://www.youtube.com/watch?v=h55bFVPQbj8



Robot Specifications:

Drive Train-
-Switches between 4 wheel 8" Pneumatic Tires/6WD with 6" Colsons in middle
-2 Speed Custom Gearbox (4fps/12.5fps), actuated with pneumatics
-4 CIM motors
-Encoder on each side
-Ultrasonic Sensor mounted on frame to read the distance from the alliance wall
- Wheel is up for going over the bump and when shooting (better stability)
-Wheel is down for general movement (better maneuverability) and when on bridge (if hanging over-will still have 4 wheels on bridge)

Intake-
-3 Stage Intake System
-1st Stage: 21" wide conveyor belts powered by fisher price motor with custom worm gearbox
-2nd Stage: Plastic bar with surgical tubing powered by window motor (takes it up curved part of scoop)
-3rd Stage: One sided vertical conveyor belt powered by window motor
-At the entrance and in the middle of every stage, there is a pair of photo-eye sensors: will suck balls in only when present and stage them correctly in the robot automatically: no driver input needed.

Turret-
-Custom Plastic base plate with pins pressed in vertically all around the outer diameter. Gates belt wrapped around.
-Powered by window motor
-Laser mounted on pole above shooter- can sense the reflective tape while the turret does a sweep starting from the left
-Pententiometer used to move turret certain amount of degrees past where the laser sees the reflective tape, depending on where we are on the field.

Shooter-
-Belt Shooter (uses Conidrive belts and pulleys)
-2 775 Banebot motors on each side, custom gearbox (like a CIMple)
-Encoders on each side, can change speed for distance, backspin, etc. based on RPM using a PID controller
-Camera mounted on front to be able to see balls under/blocked by bridge, helps with manual override shooting, etc.

Bridge Manipulator-
-Slanted front (flips down, then drives at bridge)
-Flip down powered by pneumatic rotary actuator
-Locked once flipped down by a pneumatic cylinder

Auto-Shooting System-
-Drives to either left, center, or right of key. Just has to be somewhat close.
-2nd Driver presses either L, C, or R button and the trigger to fire
-Based off of an ultrasonic reading, drive train will automatically correct its positioning
-Turret then turns all the way to the right, then sweeps left until laser sees the reflective tape
-Pententiometer turns correct amount of degrees
-During this, Belts rev up to correct RPM values
-Robot Shoots however many balls it has

Can Shoot from-
-Left side key
-Center key
-Right side key
-Basket side of field
-Bridge

Thanks to our sponsors for all of their support:
Genesis Automation (Sponsor, Mentor, facility), ACE Metal (Sponsor, Donated sheet-metal for both robots), NASA (sponsor), 4-H (Sponsor, Partner), JC Penneys (Sponsor), MSOE (Sponsor), Lista (Donated Workbench), Mari Manufacturing (Sponsor)

Questions and comments always very welcome!

*Note: Picture missing Bridge manipulator, updated 3rd stage intake, camera

-Nick