CG located <10” off the ground even with the arm deployed to max height
No Pneumatics - 17 Kraken X60 Motors
Drivetrain:
SDS MK4i L3 modules powered by Kraken X60s
22 lb Steel belly pan designed to ride 0.5” off the ground
Battery installed from below robot to increase usable space above
Intake:
Deploys and stows via two Kraken X60s thru 60:1 REV MAXPlanetaries
Upper rollers and bottom roller individually powered
Integrated beam break to allow for note detection
Auto Stows once a note is indexed
Virtual Double Reverse Four-Bar (VDR4B):
Single DOF arm designed to move the launcher through a carefully chosen range of motion
The VDR4B can allow the launcher to score from the Wing Line to the Subwoofer with an additional preset for Amp/Over-the-Back Subwoofer
Extremely rigid and allows the entire mechanism to stay within FP until it passes through the vertical position
Able to deploy to any position irrespective of intake position, eliminating the need for the intake or the VDR4B to be aware of each other’s current position
Integrated Climber Hooks on the “elbow” of the VDR4B
Launcher:
Top/Bottom Roller design driven by two Kraken X60s 1:1
Typical shot RPM ~4000 with 4” Stealth Wheels
Feeder Roller designed to rapidly accelerate notes into the launcher wheels
Three beam breaks integrated into the launcher to help position the note repeatably for both Speaker scoring and Amp scoring without compromising acquisition speed
Controls:
State Handler observes, reports and sets robot states using various commands
LEDs for indicating current robot state and other telemetry
High levels of automation allow the operator to simply select desired scoring option (Subwoofer, Reverse Subwoofer, Ranged, and Amp) and have the robot perform the correct actions when the driver commands the robot to score
Swerve code generated using Tuner X
All mechanisms are controlled using closed loop control via Motion Magic
Multiple autonomous routines under development using PathPlanner
Some fun updates from over the weekend! We were able to get some practice field time on 103’s full size field which was awesome to get some full-field driver practice as well as test and tune a few new features:
Climbing: We were finally able to install some “static” hooks that the chain snaps into as the arm comes down. After getting some practice from different driver station/Stage side combos we feel pretty happy with the line-up and execution.
Source Feed: (or as we have affectionately termed it: “baby bird”) The goal was to implement an alternative method of note acquisition to reduce dependency on the OTB intake. Though we are confident in our intake’s robustness when deployed we felt that it can’t hurt to have options. As it turns out the newly dubbed “baby bird” position looks like it could be equally as fast as ground intake inside the source zone.
This method of feeding is also very robust against misalignment even with the dividers that are built into the source. One very un-scientific demonstration of that below:
We are super excited to compete at the FMA Allentown District Event this upcoming weekend!
This bot looks awesome! I like the quick movements - so necessary in this game! The ability to load a note directly from the source is, in my opinion, underrated.
Good luck at Allentown!
I’m very new to the field of animated GIF creation but I think I may have something for you:
We’ve made some more updates to Frenzy in preparation for DCMP this week!
New Amp Scoring Method?
This method of tossing the Note into the Amp works well on our home field elements so we hope to dial it in on the full practice field at DCMP and use it as our primary amp scoring method.
Trap Scoring!
We were excited to see 4028 successfully use a jet of air to hold the Trap open to score from the ground. We purchased a Milwaukee blower and took it apart to find it was powered by a 775 motor. The full COTS assembly was too heavy and large to fit on Frenzy so we pulled the turbine and the adapter to fit it to a 775pro and designed our own ducted fan that was significantly smaller.
We built a mock Trap that approximates the critical dimensions of the real thing well enough to generate a rough shot that we plan to tune in on the practice field at DCMP.
New Climb Hooks
We felt that our climber was causing us to leave points on the table in some matches due to difficulty in lining up and engaging the chain. To solve this we have also installed new climber hooks that enable a faster approach and a wider margin for lineup.
After an exciting and hard-fought 3 days at the FMA District Championship, 1923 took home double silver cling-bling with the EI award and as captain of the Finalist Alliance (Alliance 5) along with our partners 1391, The Metal Moose and 4342, Demon Robotics. We were ecstatic to be able to draft our top choices in both rounds of Alliance Selections. We primarily employed a Feeder - Cleanup - Cycler strategy where 1391 would feed 1923 while 4342 would cycle the speaker and find opportunities to steal discs and score in the amp when 1923 was not in the area. Employing this strategy we were able to set what is currently listed as the Highest Teleop Score in the world (total match score was 157, 147 clean, tied for 6th highest).
One of the most recent improvements we made, our take on the fan-assisted trap shot, was instrumental in allowing us to seed high enough to build our ideal playoff alliance. Overall we attempted the shot 6 times in quals and 1 time in a practice match and went 7 for 7. We are incredibly proud and impressed with our drive team who have worked hard to perfect this shot. One example from M49 below:
As we prepare for WCMP, we are excited to continue to improve our Autonomous specifically focusing on flexibility with multiple partners, consistency and speed. We look forward to meeting and working with all the amazing teams in Houston!
