ausTIN CANs 2158 | 2023 Build Blog

Day 35, Ready to Charge Up

Charge Station

It is finally done! Phew, that was a lot of work. It took double my initial estimated number of weeks. We learned a ton of stuff along the way and got to put our new fiber laser to use. It was our team’s first big project made out of bent metal. The charge station even has a tiny First Charge Up logo in the center, it is easily my favorite part.



Just look at that little logo! Thanks Thrifty Bot for the sticker!

Charge Station Testing

With a complete charge station we set right off to driving stuff up it to see what happens. With bumpers and mki4’s we were easily able to drive up the charge station at surprisingly slow speeds.

Coming Through

The robot did manage to get beached twice. Once while driving up with a heavier partner and once while trying to drive off.

My people need me, I must go.

The robot in the tests is incredibly light. It is maybe around 60lbs with bumper and battery. It’ll be interesting to see how the dynamic of the charge station with robot already on it changes when our robot is at the full weight. It’ll also be great fun to see what happens when we try our buddy carry on the real thing!



The CAD team pushed really hard today and manage to get the first version of CAD completed. They even managed to get all of the part drawings made and uploaded to Trello. Currently manufacturing has 76 unique parts in to do, or in progress on Trello. A good number of those parts are router, laser or 3D printed parts so hopefully it doesn’t take too long to get them all made.


The arm has two joints, the base joint is powered by the “choochoo” (cranker rocker mechanism). The elbow joint is powered out by a winch and pulley combination. The inwards motion is passively powered down by gravity and possibly a constant force spring. By powering our arm’s joints in this combination we were able to keep all of the motors and gears for the arm low in our robot, improving our center of gravity.


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Choochoo(Left), Winch(Right)


The cone intake is a flange grabber style. The first version of the intake will only be doing cones, CAD will be working to make a cube add on in the up coming week. The intake is powered by two Neo 550s each on an ultra planetary(5:1 reduction).


Buddy Carry

The buddy carry’s biggest change from last time is the change from .5″ aluminum plate to 2 x 1 and .25″ plate to the carbon fiber forks. This change makes it easier and cheaper to manufacture, additionally we can now iterate on the individual parts if needed.

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There was some rework done to the mounting of servo release mechanism, the servo now has a plate that mounts to the gear box instead of the entire thing built into the main gear box.


Robot V1


So there it is, our first version of this year’s robot. It’ll be a mad rush to manufacture everything next week. Hopefully we’ll be able to assemble it quickly and jump into testing code, refining autonomous and driver practice.


Day 36

Today was an optional meeting. So we did the most productive thing we could think of. We put LEDs on the charge station! We put one strip on each side. Great use of time. Next we decided to double check the angles of the charge station in all of its positions. We are within half a degree on all measurements!


We didn’t just put LED’s on the charge station today, some manufacturing students got a head start and finished a few parts. The drive team spent a lot of time doing driver practice. We used our 2022 robot to play zone defense while the driver tried to cycle. Adding a defense bot slowed down our driver’s 6 game piece cycle time by ~20 seconds at the start and only ~10 by the end as they adjusted to play against defense.


Quick break from our build season posts

We’re proud to announce that we have released the first episode of our new podcast, “CAN We Talk”!
Akin to the CANTalks of the previous years, we revived the platform and gave it a facelift to keep up and compete with modern media styles. Instead of a TED-Talk like lecture, we have real conversation, discussing and learning the status of STEM and the fields within, with every little intricate piece of clockwork analyzed and discussed. For now, however, we’d like to focus on interviewing our team mentors and describing what they do here at 2158 and how they affect the team.
This episode features business team member Gavin Sticker interviewing the self-proclaimed “Cat Herder”, Andrew Iverson, who is our team’s Lead Technical Mentor"
We hope you enjoy!
Episode 1 | "CAN We Talk" | Gavin Sticker & Andrew Iverson - YouTube


Day 38


At the end of the day on Saturday there were 72 different parts released to manufacturing to make. We had an optional meeting Sunday, before the start of today’s meeting we had already completed 32 of the parts. A large portion of the completed parts were 3D printed, laser cut, or router parts.

Currently there are 8 router parts, 2 Haas parts, and 11 lathe parts in to do or work in progress. All of the manual mill parts have been completed. We are aiming to have all of the parts completed before Saturday’s meeting. Saturday will hopefully be filled with assembly.

Assembly started on the dual over head roller intake. The only thing left to do is attach the ultra planetary gear boxes. That got stalled out tonight because we don’t have the correct length bolts.


First version of the robot is released but the CAD work doesn’t stop. The CAD team today created assembly cards for each sub system in Trello. An assembly card to us has 3 important pieces, the first is using Trello’s attachment feature to link to each unique part’s Trello card. This allows us to check the manufacturing status of every part in the subsystem from one place(the assembly card). The second piece is a list of all commercial off the shelf parts that we need.

The final piece is pictures from the CAD that shows how to assemble the mechanism. We like to have a few different angles and possibly an exploded view to see how it fits together. We find these extremely helpful during assembly, we can print them off and don’t have to grab a computer to reference CAD all of the time.

Example Assembly Card

In the above example assembly card all of the linked Trello cards are archived(we archive the done column at the start of every week) and in the Done column. That means that we should have all of the parts manufactured and are ready to start assembly.

CAD also started working on a few improvements that we know we are missing. We are adding handles to the robot so we can easily lift it. The buddy carry’s cam is getting a metal version of it made, same geometry we just have to make a few modifications so we can easily manufacture it. The intake is also still getting a few modifications that will allow us to handle cubes and have a resting spot inside the robot.


Day 39

Short update today, parts are continuing to be made. Three lathe parts and two router parts were finished yesterday. This leaves 6 router parts, 8 lathe parts and 1 mill part.

Assembly started and mostly finished on the arm’s winch gear box today. The only missing piece is the 3D printed spool, we expect to have that on Thursday.


The competition bot had some maintenance done to it. We replaced some old spark max can cables with the V2 versions. The bumper dove tail mounts also got replaced with a version that has more outer lines and higher infill. We’ve been having some odd issues with field oriented drive on both swerve drives that we are working on diagnosing.


Day 40

Our manufacturing sub team has been blazing through the parts to make. They ended the day with 7 unique parts left to make. Two router parts, one mill part, and four lathe parts. Of the lathe parts two of them were missed on the initial release and just got Trello cards created at the end of the meeting. Another lathe part is stronger bumper pins which won’t hold up assembly or testing.

The intake assembly continued today, making good progress until we discovered the center to center distance doesn’t match any standard belt or pulley combinations. We managed to find a combination that is only slightly off and needs a custom 14T pulley 3D printed. This should work for testing and we’ve added a to do item to fix the center to center distance on the next intake iteration.

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The arm assembly got the “choochoo” gear box assembled and mounted to the robot. This gear box iteration ditches the belt and adds a second reduction. There is one router part for the arm that is still in progress, this part is for the second joint of the arm. So we can still assemble the majority of the arm while the missing part gets finished on Saturday.


We figured out the issues we were having with our swerve drive. Below is what was happening when we tried to move in a circle and rotate at the same time. It was unable to be driven in field oriented mode.

The root cause of the issue was a mismatch between real life and what WPI lib expects. The Navx was reading the heading’s clockwise rotation as positive and ChassisSpeed fromFieldRelativeSpeeds expects the heading’s clockwise rotation as negative.

So how did this end up affecting us right now? We’ve been using the same release of code for the past two months and have been driving just fine. Why did it break?

The Navx has a re-calibration feature, this calibrates the gyro and it also has the ability to reorient axis’s to handle situations where you can’t mount your Navx parallel to the earth and facing upwards. By default the Navx’s heading rotation is clockwise positive. Our Navx is mounted upside down so this inverts it and clockwise is now negative matching what fromFieldRelativeSpeed expects.

While we were driving over the field the re-calibration button on the Navx must have gotten accidentally pressed. This re-calibrated and reoriented the Navx to the upside down position and suddenly clockwise rotation is positive again. Re calibrating the Navx with the robot upside resolved the issue.

This seems slightly unlikely, but our second Navx we had on the robot is now missing the re-calibration and reset buttons they have been ripped off… The dangers of driving around with out your brain pan covered. Lesson learned, always wear your helmet.


Day 42

With the majority of the parts manufactured the team started assembling the arm on the competition robot. The few missing parts were quickly turned out and the arm was completely assembled. We didn’t run into any problems during assembly which is great.

After assembly the first thing we did was head over to the scale, the robot with the arm and intake weighs in at 79.4 lbs. Plenty of weight left for the buddy carry. After the scale we turned the robot over to programming to start testing their code.

While the arm was being worked on the buddy carry gearboxes were also being assembled. We are missing some metal double wide pulleys so we used 3D printed ones for initial assembly. 3D printed pulleys are great for low torque applications, but our buddy carry doesn’t exactly fit that, we’ll end up replacing these when the metal ones get in.

With the gearboxes ready to go Tomorrow we’ll mount the rest of the buddy carry to the practice robot and start testing with it.

With all the parts complete for one robot we have started releasing the next set of parts, everything required to put an intake and arm on the practice bot. There is one small improvement for the arm, we are extending a hex shaft on the “choochoo” gearbox we we can drive it with a 1/2″ wrench. This would allow us to easily reset after a match. The intake has a two big things we want to add to it, cubes and a time of flight sensor. We are waiting for those modifications before we release the intake to make again.

Work in Progress Cube Modifications


Day 45

The buddy carry is slowly getting assembled. We’ve been finding a small thing wrong, releasing a fix and finding the next thing to fix. The 40 upgraded metal cam plates all got cut tonight and just need to be de burred. During assembly we found out the 3D printed mount for the gas shock wasn’t strong enough. This will need another revision to fix.

We are using broken hockey sticks which we recycle from an ice rink for the forks on the buddy carry. Tonight these were cut down to size and hot glued into the aluminum brackets. Each fork weighs in a 0.8lbs.

Our programming team has been in the shop every day since Saturday when we turned the robot over to them to program the arm. We’ve fixed the inverse kinematics that is used for positioning the arm. Next we are working on moving to a profiled PID controller which will help the arm move more smoothly. The below gif is one of the first tests of the arm running on simple closed loop control.

After moving to profiled PID controller we have to make commands that move the arm to the intake, mid scoring, high scoring, substation shelf and stowed positions. Then the real driver testing can start.

Once we were able to hold the arm in a position we tested the intake while mounted on the arm. The intake didn’t seem to loose any of the performance from our prototype testing. In the next few days we’ll test the intake a bunch more.

We spent the final part of the meeting driving around with our intake and arm in the stowed position. We drove over the cable protector and the charge station at different speeds. Our center of gravity is low and the robot is very stable while traversing the field.


Love the build blog! Do you guys plan to have the intake modification for cubes on by Waco? Very excited to play with and against y’all next week.

Day 46

On the programming side of things we switched the arm over to a profiled PID controllers. The has made the arm move significantly smoother. We still have to spend more time increasing the speed and tuning PID values.

The base joint movement is the slow part of the process right now and eventually we can speed it up a lot more but the gear box is slowly self destructing right now. The arm is a really long lever and the choochoo linkage and wheel take all of the upward and downward force straight into the gear box.

The choochoo gearbox is currently supported by 6 stand offs, 3 on each side. The point where the plates and standoffs connect is slowly deforming and bending. As a result the choochoo gear box has developed a bit of a slant.

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For a quick temporary fix we’ll be adding double the number of stand offs along the bottom. I expect this will buy us a day or two of testing at most. Tomorrow night CAD will be redesigning the gearbox to better handle the forces from the arm.

The buddy carry had a big setback today, the belt to the cam shaft has the wrong center to center distance. So that big plate will need to be re cut and everything moved over. The blocks that mount the gas shock had the wrong tap call out so those parts also need to get remade. I’m not sure if the buddy carry will end up on the robot in time for Waco.


The CAD team released the next iteration of the intake tonight. It has a top PVC roller that will be able to intake cubes. The double jointed arm is able to bring the top roller low enough that we’ll be able to intake cubes from the ground. This version also adds two time of flight sensors that we can use to detect if we have a game piece.

The new version of the intake needs 2 shafts, 6 3D printed parts, and 2 plates made. We will easily be able to get this on the robot before Saturday. If testing goes well we should be able to pick up cubes in time for Waco.

@Arakeresurya, Glad you like the blog, we think we should be able to get it on in time for Waco.


Hi friends,

We’ve been watching your build thread pretty carefully here from 6324 - love the choo choo linkage! We developed something very similar in our design meetings and then someone pointed out you were also doing it!

Regarding your bumper attachment - those 3d printed parts. Have you ran these during a season before? How well do they hold up? Can you release an STL?

1 Like

I look forward to seeing ya’lls take on a choochoo mechanism!
We haven’t ran any competitions yet with the bumper mounting system. As of right now I wouldn’t yet recommend it, we are still fine tuning settings for prints and reinforcing the weak points. We’d like it to be a bit more robust.
If you want to play around with it or test it yourself feel free.
Here is the latch and pin assembly
Here is the dove tail and corner pieces
Each bumper latch uses 2 springs with part number 9271K584


Day 47

The gearbox for the arm was reinforced by adding doubling the number of standoffs by the choochoo wheel. This made the gearbox super rigid and it doesn’t flex when the arm extends any more.

That’s the short term fix to buy us more testing and driving time until the real fix is manufactured. The real fix was finished in CAD last night. We are adding a 1″ x 1″ aluminum square tube across the 2″ x 1″ rail and adding a 90 degree bracket to transfer the load into the square tube. We got lucky on the packaging and were able to fit both 1″ x 1″ square tubes with out moving anything.

The arm programming is functionally complete at the moment. We added another state for the high scoring position. While we are approaching but not touching the grid we’ll hold the upper arm at 90 degree angle so we can just move the base to be in the scoring position. This reduces the chance of tipping and makes it less likely to hit the goal with the arm. The below video runs through all of the important positions for the arm.

We will be working to finalize the scoring routine and then trying to increase the speed a bit more on both joints. The buddy carry got the new gear box plates cut and assembly is under way. If all goes well we should be able to test it on Saturday.


Day 49

Its been a busy past few days. The arm movement speed was increased on both joints, its at a good spot right now. But faster is always better? If we get really good at cycling and lining up in the next few days we might try to increase the speed of the arm again. Right now the arm movement isn’t the slow part of cycling.

Our driver got some great driver practice today. It was probably an hour of driving the robot around. Tomorrow we should be able to get a few more hours of driving in. Below is a video of one of our cycling runs, we are still learning how the robot behaves and the controls so our cycles are a little slow at the moment.

Overall I’m thrilled with how well the intake is working when on a full arm and robot. The arm is also scoring pretty well and we might be able to increase the speed a bit still.

Today we got a chance to run our first full autonomous routine. We’ve ran plenty of paths but haven’t had the chance to combine paths with the arm and intake until now.

So the good news is the arm and intake work in auto, but the balance command seems to have broken when we added more weight to the robot. Tomorrow we’ll work on fixing the balance and adding a few more autonomous modes.

The buddy carry finally got fully assembled and was wired up to the practice robot today. It should be ready for programming first thing tomorrow morning. The assembly of the second robot started today with the intake V2(cubes) and the arm starting assembly. We also had a few students work on arts and crafts for stand props.




Day 50

The next iteration of intake went on the robot today. There was a clearance issue with the motor and the sweeper plate that had to get fixed by hand but everything else fit together. Below are two gifs, our first time intaking a cube and the first time scoring it into a high node.

We immediately noticed it is now harder to intake cones near a wall because of the added length on the intake. It also makes it slightly hard to fit inside frame perimeter while holding a cone. But we’ve already got the next iteration of the intake designed to fix both of those problems. The top roller will move inwards making the whole intake shorter(and lighter).


The programming team has been busy working on autonomous and ironing out the kinks with it. The auto balance is now working, just fine tuning paths and scoring. They’ve also been cramming to get the buddy carry code working. So far they have the CAM rotating and the servos deploying correctly and they might be ready to test it Tuesday.

The new and improved choochoo gear box was assembled fully today and is ready to be placed into the competition robot. It’ll get changed over once we get auto working and take a break from driver practice.

We’ve been having problems controlling the choochoo mechanism. The linkage that moves the arm up and down can rotate infinitely around a circle. For each arm angle there are two different spots the choochoo linkage could be in. Both images below have the same arm angle of ~82 degrees, but very different choochoo wheel positions.



Adding to the problem, positive rotation of the wheel does not always result in positive rotation of the arm. At two spots in the wheel it switches and positive rotation will become negative rotation. Lets call these inversion points.

These two things become problems when we are controlling the arm with PID control, closed on the angle of the arm. The PID controller expects that positive rotation of the motor will result in positive angle change. This isn’t true once the arm moves past an inversion point. So far we’ve been trying to avoid the points of inversion. But that doesn’t always work. If we run the arm into something, it can get past the inversion point and the arm rapidly flies down smashing into things. Below is an example of us accidentally command the arm past the inversion point.

We think we know how to solve it but its a chunk of work that we need to sit down and get done. All before our first event on Thursday.


Day 53

The team leaves tomorrow afternoon for Waco. That means tonight was hectic to say the least. The team was busy packing, fine tuning code, fixing the final remaining problems and finishing documents.

We got 18 lbs of ballast added to the back of the robot, it isn’t that pretty but it was quick and it works great. We used to get tippy with the arm fully extended. The robot is nice and stable with the ballast. The robot was 79 lbs before the ballast so we should land just shy under 100lbs with. Also the handles finally got added to the robot.

The next iteration of the intake works a lot better. It is smaller and grabs the cubes with out shooting them out the backside. Tomorrow we have to finish fine tuning auto with the new weight and fix the problem with the Navx 2 micro disconnecting randomly, then off to Waco!


Waco District Event Recap


Waco is only a short trip(less than 2 hours) from out shop in Austin. This allowed us to spend the morning in the shop making last minute adjustments to autonomous and arm control logic.

There were two small problems that happened in the above video, unknown to us they’ll happen again. The robot was loaded on the trailer and the team departed for Waco.

Inspection went very quickly, the robot weighed in at 104.9 lbs. There were three things that made the inspection go so smoothly, brain pan, clean wiring and no pneumatic components. With no pneumatic components you get to skip a large chunk of the inspection checklist. I highly recommend it.

After inspection we had some time to perform some deferred maintenance. There was an issue with the intermediate shaft on our MKi4’s. We had this happen a few times in our shop but caught it before any major damage was done. Our replacement shafts arrived very quickly. @PatrickW from SDS handled this amazingly, clear communication, low cost fix, and super quick shipping. Thank you.


We got to take a short break while we sheltered in place and waited for severe storms to pass. Then we finished up replacing the shafts on the remaining swerve modules. Up next on the list was adding a second battery strap, replacing a few broken bumper mounting parts and adding the freshly painted sponsor panels.



Friday was a rough day for our team.

We managed to make it to two practice matches and got to play with some friends. The first two real matches went okay, our auto got stuck on the middle pole in the second match but we managed to recover. By the third match problems started to show. Our auto gets stuck on the middle pole again and the upper joint of the arm ends up in a bad state and becomes uncontrollable. We barely manage to climb on the charge station and wait out the remaining match time.

The next match goes even worse for us. Our auto gets stuck on the middle pole again and right at the end of autonomous our robot loses communication to the field and it doesn’t return. This was a weird one for us, on the diagnostics page we had a green light on the driver station for Robot, FMS and Radio. But the overall communications and robot code remained red.

Our robot sat dead on the field for the entire tele operated period. The FTA’s looked at the logs and couldn’t find anything that looked suspicious(I’ll grab the logs on Tuesday and post them). They suggested turning off domain fire wall(public and private were off) which we did. We had run 5 matches before this point and hadn’t had any communication issues before this. Not a great feeling heading back out to the field not knowing if your robot will communicate with the field.

The next match we ran an auto which doesn’t attempt to score, we managed to stay connected longer this time. Around 20 seconds in we had our battery fall out and quickly got disabled. A first for me in my FRC experience. This was a low point for a lot of the team three back to back failures.

Failure is an important part of the engineering process. Its expected, you can’t dwell you need to learn from failure, adapt and move on. At an FRC event you don’t have your shop, you have a limited amount of materials and you need to quickly make improvements to your robot. Below are some of the quick fixes we made between matches.

We added a poly carbonate plate to the battery that is retained with wing nuts. Also in this picture at the front left and right are two poly carbonate plates that prevent cones from getting stuck if our arm moves bounces too far back while moving.

The next major fix we made was adding a strike plate to the back side of the intake. This prevents us from getting stuck on the middle pole while scoring.

We ended the day with 4 wins and 5 loses and were ranked in the mid 20’s. This made the scouting meeting short, we shared stories and compiled a list of possible 3rd pick robots so we could contribute if we were picked by an alliance.


Our goal for Saturday was simple, score as many game pieces as possible and create some momentum. I find once you have some momentum at an event you can snow ball and increase your teams performance. If we did well enough we might be picked early by teams who are doing last minute scouting.

We had three matches on Saturday and we managed to pick up 2 wins. In match 62 we scored 6 game pieces, and in match 72 and 78 we scored five game pieces. The drive team managed to create some much needed momentum for the team and carried it into play off matches.

The team ended up being picked by 7th seed Alliance captain’s 4610. We lost our first match in the double elimination tournament, won our second and lost the third match. Another Austin team 2881 Lady Cans who knocked us out in the third match went on to win the event! Super excited for them!

Overall double elimination tournament was great, there was plenty of time between matches to fix issues and it was nice having another chance after losing to the second seed Alliance. The one problem was that it was hard to figure out who your next match was against and what color bumpers you needed. I’m sure we’ll figure it out in a few years.

Small Problems

In the first .gif posted there were two problems, you can see the intake slightly bounce off of the middle pole and the battery breaks out of the velcro strap as we go over the cable protector.

The big lesson we learned here is that it is easy to ignore/put off small problems you have while at home. In the final days before our event we were busy focusing on larger problems and didn’t focus on what seemed to be small problems. We did attempt to fix the battery strap problem but didn’t have time to get the fix on and verify it at home.

What seems like a small problem at home can and will become a large problem once you are on the competition field. You don’t get a second chance during a match and they certainly don’t let you pause the match and strap your battery down again. Don’t ignore small problems that you manually fix or reset while testing your robot, you don’t get the chance to do that during an event!


Day 59

Today was the first meeting after the Waco district event, we have a routine that we do after every event. First we start with story time where the team shares funny, unique or surprising moments. Next we do a blameless postmortem where we talk about things that went well and things that went poorly. The blameless part is critical we are not looking to assign blame for failures but looking for ways we can improve our process.

If you read the recap post most of the items mentioned were covered there. Some new items in the went well column are food choices, team spirit, and pit setup quickly. Some new additions to the went poorly list trailer leaks, canman(mascot) needs more ice and robot cart needs new wheels.


The second joint of the arm is getting some rapid fire improvements before our next event. The second joint is currently powered by a winch(upwards) and gravity(downwards). This worked okay at the first event but had a few slight problems. We didn’t enjoy coming to a sudden stop and our arm raising outside of the robot. This got a few G204 fouls. Another problem happens when approaching a game piece the arm can swing out from momentum or be pushed up by the game piece.

This makes it slightly harder than it should be to quickly intake game pieces. So to fix these two problems we are changing the second joint of the arm to be driven by a chain on a dead axle. This also makes the arm slightly easier to control from programming’s perspective. The down side is that this adds more weight(that is decently high up) on the robot. So to balance it out we added a lightening pattern to the first stage arms.

The CAD sub team is also working on adding all of the pit fixes we did at Waco to the robot. We need to add the cone node deflector, top cover, battery strap and add a cube retaining strap to the intake. Thankfully our next event is week 4, we have time but that doesn’t mean we are going to slow down we want to get all these changes made this week to have more time to iterate on the next additions.


Day 61

Its been a bit of a slow week for the team, everyone is recovering from competition at Waco. That hasn’t stopped us from releasing the chain driven iteration of the arm’s second joint.




The new chain powered arm has two idlers at the top so we can route the chain inside of the arm’s poly carbonate covers. This prevents the chain from destroying our sponsor plate. The chain version is .1 seconds slower than our current winch iteration, it is able to rotate 90 degrees in .549 seconds. But it is able to be powered backwards and should be able to lock and hold a positions better.

All of the parts for the chain powered conversion were released to manufacturing late last night. Manufacturing has been busy assembling our second robot so we can increase our iteration speed and give programming(and drive team) more time on the robot. The second robot uses the practice swerve drive base. The choochoo gearbox is mounted to the drive base and the arm was fully assembled last night. All that is left is to finish up the intake and mount them both to the practice bot.



Day 63 and 64

Over the past two days we’ve been working hard to get both robots up and running. The practice bot got its arm and intake attached. Tonight it’s arm ran for the first time. It took longer than desired to get everything working because we had to clean up messy wiring along the way.

The practice robot with the buddy carry attached.

The buddy carry was finally tested today with a the full weight practice bot. Unfortunately a video wasn’t recorded. I’ll try to get one on Tuesday. I heard it didn’t work well and had problems with balance and keeping enough weight on all four swerve modules. It struggled driving up the charge station. It does look cool though.

Today we took the competition robot down for an upgrade. The second joint’s chain conversion had all of the parts manufactured and we were ready to put it on a robot. The chain gear box was assembled and mounted to the arm. The lightened arm rails, top joints and idlers all got put on the competition robot. We’ve still got to re attach the poly carbonate plates and hook up the wiring but we are closer to having the chain upgrade ready to test.

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There are a few changes for the arm’s programming involved with the chain upgrade but if everything goes well we can start testing / using it on Tuesday.