FRC 1923, The MidKnight Inventors, are proud to present our 15th year robot: Singularity
- Jam-Free full width intake and indexer
- 540 degree rotation turret with automated vision tracking
- High rate of fire shooter powered by 3 Falcon 500s
- Easy to service upside down electronic panel
Primary Design Constraints:
- Intake and index balls at maximum possible speed without jams
- Shoot effectively and quickly from anywhere in the front court without being blocked and from behind the control panel.
- Be able to intake any of the pre-placed field balls in autonomous, including the ones behind our control panel.
- Climb next to any partners in every match.
- Eight-wheel west coast drive. 6” wheels. Four omnis, Four AndyMark Performance wheels with Pebbletop Tread.
- Custom single speed gearbox. Three Falcon 500s per side arranged in a low profile configuration. 14fps Adjusted Speed. Pocketed gears.
- Top and Bottom powered roller intake with carbon fiber rollers to minimize weight.
- Entire ball path uses polycord to ensure that there are no dead spots.
- Powered by a custom gearbox with a single Neo550 and an infinity loop of polycord to reverse direction for the bottom roller.
- Intake geometry optimized to reach 12” outside of frame perimeter to grab balls under the control panel.
- Intake stowed and deployed using 2 pneumatic cylinders assisted by short stroke gas springs.
Indexer & Ball Tower:
- Full intake width indexer to serialize balls without jams.
- Indexer wings powered by a single Neo550 in a custom gearbox which transmits power to both wings such that the wings roll in the same direction (i.e. both to the left, both to the right)
- Indexer rollers coupled to the gearbox via a timing belt through a one way bearing such that torque is only transmitted to the rollers when the rollers on each respective side are rolling inward (i.e. left roller rolls in while right roller idles and vice versa). This allows us to use one motor and still drive each roller one at a time by oscillating the direction of the motor.
- Indexer is fast enough to receive 5 balls as fast as the intake can deliver them and still serialize them jam-free
- Ball tower uses one Neo550 in a custom gearbox to store 5 balls and pass them to the shooter quickly.
- Ball tower has a combination of polycord and polybelt optimized to reduce jams.
- Intake, Indexer, Ball Tower are automated for “hands-free” operation as follows:
- Operator enables indexing function. Rollers start to oscillate. Driver intakes one or more balls up to five. As the intake feeds the balls into the indexer the indexer pushes one ball into the center. A photo reflective sensor detects the ball and stops the oscillation as the center polycord run advances the ball into the robot until a second sensor detects it. This process repeats until commanded to stop manually or the robot detects 5 balls.
Turret & Shooter:
- Turret is powered by a Neo550 through a VersaPlanetary Lite gearbox. Turret features a custom laser cut 120 tooth delrin sprocket.
- Turret is geared to rotate 540 degrees in under 1.5 seconds
- Turret is zeroed with a magnetic limit switch and uses PID control in conjunction with a Limelight 2+ for targeting. PID features compensation for shooting on the move as well as use of the robot’s IMU to help “remember” last known target location while not locked on.
- Turret service loop is designed to be unplugged at both ends for easy replacement.
- Shooter is powered by 3 Falcon 500s on a 1.33:1 upduction. Features a 60 Durometer WCP Shooter Wheel and a custom steel inertial wheel.
- Shooter side plates are made out of delrin for weight savings.
- Climber is inspired by 2056’s 2016 climber. It features a dual 3 stage telescoping tube setup sprung upward by constant force springs held in custom 3D printed spools and retracted by a winch rigged through the inside of each tube.
- Powered by one Falcon 500 through a custom delrin gearbox. Winches on each tube are linked across the robot by a hex shaft.
- 3D printed ratchet gear with custom pawl actuated via a rotary pneumatic serves as the brake.
- Hook assemblies are made out of laser cut delrin.
Control Panel Mechanism:
- Single 3D printed piece that holds Neo550 through a VersaPlanetary Lite as well as the REV Color Sensor. 3” flex wheel is geared to spin fast enough to spin the control panel at close to the max of 60 RPM.
- Did not make the final robot due to weight although it could have been added on at a later event.
Technical Binder including Behind the Design, Behind the Controls, and Full Robot CAD coming soon!