Team 1511 is happy to share their build thread again on Chief Delphi this year!
History
Team 1511 is located in Penfield NY. We have been competing in FIRST since the 2005 season. We have actually been an open source team since 2009 when we started to document our design process on our Wiki, or as we like to call it our Wookiee. It serves as our engineering notebook and a way for our build subteams to coordinate efforts.
2024 Season Goals
- Keep it simple - This is a goal every year but an important one. There are lots of benefits to having a simple and effective design. It is usually more efficient, easier to control, and involves less maintenance.
- Improve Integration and Communication amongst groups
- Improve attention to detail- We had lots of issues at competition last year, and almost always it had to do with something that could have been avoided with more attention to detail. To take the time to do the task correctly the first time.
- Have a fully functional robot for Rochester Rally our week 0 event on February 25th.
Competitions
We will be attending the following competitions.
- Finger Lakes Regional
- Tech Valley Regional
- World Championships (pending qualification)
Team Links
Team Wiki (engineering notebook)
Code Repositories
We are excited to share our experiences for the 2024 season!
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Kickoff Weekend
Hello everyone! I’m so amped up for this years game! Here is our update for what we were able to accomplish during kickoff weekend.
After watching the game reveal video, we went right into reading and analyzing the game rules. Once everyone had read the rules, we came together as a group to discuss interesting rules we saw, different ways to earn points, ways to receive a foul, and other things we thought we should take note of. Then we split up into design and strategy groups to further break down and analyze the game.
Strategy
- We first started off by doing a brain dump of all the things we saw with the game. We did not go through section by section of the game to start, we just wanted to get some information written down.
- We started going through different aspects of the game, beginning with the field setup. We analyzed different traffic patterns, locations of safe zones, and looked over how fouls and tech fouls worked for the game.
- Went through all the different ways to score points and created a list of all the ways to get the ensemble ranking point. We decided that getting ranking points was going to be a big priority for our team this year.
- For auto, we went over where we thought the beginning starting positions would be and decided that the ones that seemed best were (when looking at a picture of the field from above) above the subwoofer, in front of the subwoofer, and two below the subwoofer.
- For teleop, we discussed different ways to score pieces. Being able to communicate with human players was going to be super important for this part of the game, especially when doing coopertition and amplifying the speaker.
- We discussed different pathways on the field and the areas we thought would have the most cross traffic or prominent defense played. We also discussed how there could be traffic in front of the subwoofer or source when scoring or picking up game pieces, and how we would need to communicate with our alliance to ensure we aren’t getting in each others way.
- We created a Mind Map and ranked different items in it based on what we considered a must have, a nice to have, and a look into. This helps design to create a mechanism that aligns with the priorities for the robot that strategy came up with.
- We also brought up the fact that it would be great for our robot to be able to unstick the Trap if our game piece gets stuck, and emphasized this to design. Being able to score in the Trap will be extremely helpful with getting the ensemble ranking point.
Design
- Divided design into different groups, each having a different focus. We had KitBot, hang, intake, and Trap groups to start prototyping during Kickoff weekend.
- KitBot group was able to complete the drive base and most of the launcher. They need to finish cutting some parts, as well as the electrical and programming parts of the robot, and then it will be complete.
- The hang group was inspired by chain hooks used for towing for the hook design.
- We had two prototypes for the hook mechanism, one with straighter edges and one with rounder edges. The rounder edges allow the chain to slide on smoother and make it easier to remove the robot from the chain.
- We used a bucket full of dried concrete to simulate a robot hanging on the chain. The prototype was able to successfully hold the bucket (the bucket weighs around 110 pounds).
- The intake group created a design that has two rows of wheels spinning to intake the game piece. One row of wheels is slightly further forward than the second row, which helped bring the note directly into the robot.
- The design works well for ground pickup, which was one of our priorities this year, and we will continue to research other ways to expand upon this design.
Here is a link to a video of our intake prototype: Kickoff 2024 - rollingthunder
- We also began looking into scoring for the Trap. We need to do more research for this mechanism. We believe that we could use the same mechanism to score in the Amp and the Trap.
Human Robot Game
- Once we had the field taped out, we decided to further look at pathways by playing our human robot game.
- We have six volunteers who wear a cardboard frame perimeter and pretend they are robots playing the game (three for blue alliance and three for red). It’s a super helpful way of visualizing pathways and seeing where there could be a lot of traffic.
- We were able to discover that the middle of the field received the most traffic, specifically the side that was closest to the sources. This section of the field could also become a big defense area as robots try to acquire game pieces and take them back to their alliance to score.
- We played this game with the entire team so everyone could understand different pathways and take note of anything interesting that they saw.
Kickoff was super exciting for us and I can’t wait to see how we progress through build season!
Morgan, Student Event Coordinator
Week 1 and 2 Update
Hello everyone! These first two weeks have flown by for us! Here’s a look at what we have been up to:
Drive Base
- We decided on a 27.25" x 27.25" drive base, the top is 3.75" off the floor, and the bottom is 0.5" from the floor.
- We will have swerve drive.
- The location of the battery tray is still being finalized, there could be interference with the other mechanisms where it is in CAD, so we are reevaluating the location so there’s no interference.
- Assembled and painted the frame and added swerve modules.
Game Piece
- Our intake/shooter design is inspired by the Unqualified Quokkas 2024 (Ri3D) robot reveal video. We are making changes based on what works best for our team, but the overall idea of it was inspired by them.
- The game piece is stored between two sets of wheels.
- We put the Stage, Amp, and Source in CAD to see how we could score from different positions.
- Debated about having a wrist or an extension so we could score in the Trap and Amp better, but so far have decided against it. We are trying to keep our design simple and a wrist or extension would make it much more complicated.
- The robot is at the correct height to pick up from the Source. We can pick up directly from the Source, however it is difficult.
- Decided that the intake would use a NEO 550 and the shooter would use 2 NEO’s. We need to finalize what motor we need for the arm.
- We finished the prototype of the intake/shooter and it was successful!
- Need to reevaluate the design of the arm- there isn’t much wiggle room from the edge of the sprocket to the edge of the drive base.
- There is 0.25" between the edge of the sprocket and the outside of the drive base, which doesn’t give us space to put a sponsor panel on. We are currently modifying the design to use pulleys instead of sprockets to save space.
- The current arm length is around 27" and we have a steeper angle of the intake than the reference design so we can do the Amp and (hopefully) the Trap.
- When we do ground pickup, the intake mechanism hits the ground. We might add something to the edges so it doesn’t snag on the carpet, or have it slightly above the ground.
- There have been debates about using pneumatics for the arm, but we need to do more research before we make a decision about it.
Hang
- Our design was inspired by a mix of our 2022 hang design and the PRi3D of the North 2024 hang design.
- The hook moves within the arm instead of being on top, and we kept the slot open all the way to the top of the arm so we can change out the hook when necessary.
- We started by having an inner and outer channel with the hook attached to the inner channel, but when we started adding bearing blocks we learned that there was not enough space, so we decided to connect the bearing blocks directly to the hook.
- Need to make the ratchet and pawl design more compact than our 2022 design.
- The height of each arm is 36.5"
- Need 2 NEO motors for our hang design (one for each side).
- To try and avoid the issues we had with the ratchet and pawl in the past, we decided to try a new revised design. In the past we used a servo to actuate the pawl, with a spring coupler between them to allow for minor variance. This was problematic because it was hard to install and lacked consistency. If the servo burned out, then there were problems with replacing it because the old device’s motion isn’t easy to replicate without “recalibrating” for the new one, which is time consuming and error prone.
- The new design (see image below) drives the pawl with a low power electric solenoid. It’s spring loaded in the “up” position when no electrical current is present. When it is time to climb, the solenoid will be energized, pulling the solenoid arm downward against the spring, and lifting the pawl off the ratchet wheel. We will also add a leaf switch sensor to tell the pawl when the lift is done. This is a positive signal indicating that it is safe to proceed winding the ratchet wheel in the clockwise direction.
Robot Controls/Programming
- The controls will look like a speaker to go with the theme of the game and will be smaller than our 2023 design.
- We purchased a separate laptop to be used ONLY for controls.
- Completed the laptop holder and the controls box in CAD.
- In the process of completing competition batteries and swerve code.
- Programmed the prototype shooter to test different shooting speeds and out-taking the notes.
Overall, we have been able to accomplish a lot over the past two weeks! I can’t wait to see how next week goes!
Morgan, Student Events Coordinator
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Week 3 Update
Hello everyone! Week 3 flew by for us! Here’s a look at what we did:
Drive Base
- Finished CAD models for the swerve dust covers and bed pan spacers and updated it in the drive base CAD.
- Electrical wired the drive base and started letting Robot Control Systems run calibrations on it.
- The drive base with electrical weighed 42.75 lbs.
- Need to finalize design of our sponsor panels- the panels need to be able to cover everything since the game pieces like to shed and we don’t want anything to break because small pieces of the game piece were interfering.
- Looking into redesigning the swerve dust covers so they fully cover the gears and provide a mount for the motors (inspired by the design from team 5561).
- Need to finalize the placement of the battery.
Here is the link for the motor covers that we were inspired by:
https://www.printables.com/model/643155-frc-motor-controller-mount-for-mk4-sds-swerve/files
Game Piece
- Continued to test the prototype of the shooter/intake at different angles and speeds, and recorded the success rate of each.
- Started connecting the intake/shooter assembly and arm assembly into one big assembly.
- Revised the arm design again and discussed ways to make it more accessible for maintenance.
- Decided on 2 NEOs for the shooter, 1 NEO 550 for the intake, 1 NEO for arm movement, and 1 NEO 550 for the arm brake.
- Decided on a brake mechanism that is driven by a worm gear box and involves bicycle brake calipers to stop the rotation of a brake disc on the axle that pivots the arm, stopping the arm movement.
- Created new mounting plates to strengthen the support of the arm superstructure that mounts to the drive base, and made the angled arm braces smaller. We also added holes to the mount plates connecting the vertical braces to the angle braces.
- Placement of the arm/intake/shooter is not final yet because we want everything to be easily accessible- we will be finalizing it this weekend.
The support and brake for the arm mechanism.
Hang
- Decided to create an entirely new design for our hang mechanism based on the Chameleon Climber from team 4087.
- The design that we were previously going with took up too much space, was too heavy, interfered with the intake/shooter mechanism, and had many other design and strategy issues.
- Made a list of pros and cons and ultimately decided that it would be better to go with an entirely new design. If we went with the old design we would have had to redesign much of it anyway and the new design would be much more reliable for us.
- The climb is a 1/16" thick carbon fiber tube that can extend up to 6 feet.
- Noticed that if the carbon fiber tube bends, it will have a weak point at the bend and cannot be easily fixed, however it does take a lot of effort to bend.
- Each side should be able to hold at least 66 pounds- this was measured with a plastic hook on top and since our hooks are metal we should (hopefully) be able to life more weight.
- Using the same ratchet and pawl design that we have been working on since the start.
- Trying to get a finalized hang design complete by the end of the day today or tomorrow morning so we can start ordering the parts we need and give the pieces enough time to arrive.
- Updated the hook design so there are slots on both sides of the hook so the drivers have more wiggle room when lining up before climbing.
List of pros and cons for the new and old hang design.
We will be working on finalizing our designs this week so we can get to building soon!
Morgan, Student Events Coordinator
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Week 4 Update
Hello everyone and happy end of week 4! Here’s our update from this week:
Drive Base
- The modified swerve covers have been designed and are ready to begin 3D printing.
- Made the bracket for the battery and determined the placement of it in the robot.
- Need to disassemble the control board that is on the drive base so we can mount the belly pan.
Game Piece
- Sensors have been assigned.
- Worked on modifying the arm so it is easy to access for maintenance.
- Double checked that the arm is within the one-foot range when it rotates fully and that we don’t interfere with hang.
- Finalized the arm placement.
- There are conflicts with the placement of the worm gear box, so we are going to update the gear box and work with different groups to finalize the location so it doesn’t interfere with any other mechanisms and is easy to access.
- The game piece prototype is ready to receive power and get tested.
- Went through the robot and listed what parts need to be ordered.
- Goal is to start fabricating the rest of the game piece parts today.
Hang
- Working on finalizing sensor assignments and how to mount them.
- Finished the mirrored assembly and put both sides in the final robot assembly CAD.
- Double checked the distance the edge of the motor is from the outside of the robot so if we get hit the motor doesn’t get affected in any way.
- L3Harris is making the plates for the sides of the winch and is making the ratchet for the ratchet and pawl.
Robot Control Systems
- Electrical components have been placed in CAD, and are in the process of being finalized.
- Need to complete sensor assignments by today.
Final Robot Assembly CAD
- Had each mechanical sub team give an estimate of its weight- currently the estimated robot weight is 96.5 pounds but is subject to change.
- The only things missing from the final robot assembly are sponsor panels and any updates from the mechanisms.
We are working on fabricating parts today so we can begin the robot assembly this week. Our original goal was to have the robot built on Saturday of next week so we have enough time to program and test. Hopefully we will be able to reach that goal or get close to it!
Morgan, Student Events Coordinator
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Week 5 Update
Hello everyone! Happy week 5! Here’s our update from this week:
Drive Base:
- Drive base has been fully wired.
- Updated the design for the motor covers and will be printing them soon.
- Sponsor panels for the drive base are still being finalized.
Game Piece:
- Finished testing the new prototype of the arm and decided that we liked this design better than the one we originally made in CAD (the designs are similar with some slight changes).
- We are currently working on updating the arm design in CAD to match the one we have been prototyping with.
- Noticed that the width of the head (what we are calling the piece that intakes, stores, and shoots the game pieces) was slightly too wide in the middle causing the game pieces to sometimes be shot at different angles, so we will be bringing the sides of the head in slightly to fix that.
- Decided to make the head out of Lexan instead of metal because it is much lighter and will cause less problems.
- Working towards finishing the fabrication of parts for the arm and intake/shooter structures so we can complete the assembly soon.
Hang:
- Decided to only paint the outside of the hooks because the paint would interfere with the sensors we are planning on using and cause them not to work properly.
- Decided to use a retroreflective sensor on the tube.
- Completed our design in CAD and are working on assembling the mechanism.
- Decided the maximum height our hang mechanism will extend is the maximum height the rules allow (4 feet).
Robot Control Systems (Programming/Electrical):
- Finished programming the drive base.
- Working on the code for the hang and game piece mechanisms.
- Need to complete the placement of electronics in CAD.
Full Robot:
- Whole robot has been colored in CAD so we can paint each part the correct color.
- Received most of our parts from L3Harris.
- Our estimated robot weight was 135.6 pounds on Tuesday. We were able to get it to 129.5 pounds today, but we still need to cut weight.
- Our braille signs are being worked on by each of the sub teams- we will hopefully begin 3D printing these soon.
Week 5 has been a blast and we can’t wait for week 6 to come!
Morgan, Student Events Coordinator
Week 6 Update
Hi all! It’s “let’s get it done” week, and we’ve made a ton of progress! Here’s our update for the week:
Drive Base:
- Sponsor panel superstructure has been finalized – we plan to use churro tubes bolted to the frame to hold up our panels.
- Dust covers for our swerve modules are designed and queued up to be 3D printed.
Game Piece:
- Finalized our CAD.
- Mounted the Arm Support Structure.
- Finished fabrication of all parts.
- Installed the Arm, its Neo 550, and the Disc Brake.
- Added a limit switch to sense when the Arm is down.
- Added a pool noodle to the arm support crossbar to temporarily act as a hard stop for the arm (will be replaced by a TPU 3D printed part later).
- Reevaluated where to place the Worm Gearbox on the robot (it will now be
- Designed Shamptake (shooter/amp/intake) MKII in CAD.
- Assembled the Shamptake.
- Placed the Shamptake on our Arm.
- Discovered that the Disc Brake for our Arm doesn’t work, so we’re now looking for a replacement.
Hang:
- Redesigned the Winch Drum Inserts to better fit nylocks and bolts.
- Made 3 new iterations of our Hook to reduce weight and material.
- 3D printed the inserts and retroreflective sensor brackets (waiting on new inserts, our Carbon Fiber Hook (V5), and new CF tube funnels)
- Assembled everything!

- Placed everything into the robot.
Robot Control Systems (Programming/Electrical):
- Wired all components.
- Cleaned up wiring in the bellypan of the robot, shifted all of the electrical under the hang assembly towards the front of the robot to improve accessibility.
- Tested the majority of sensors.
- Adjusted hang’s retroreflective sensors so that they register the hook at its lowest operable point.
- Checked that the sponsor panels don’t trip the retroreflective sensors (they do, unless you cover them in a matte black material i.e. Velcro, Gaff tape).
Full Robot:
We built a robot!
We’re looking forward to our Week 0 Rochester Rally and seeing all of the teams here!
Nadia, Team Captain