FRC 3926 The MPArors - 2024 Open Alliance Build Thread

[team3926]

Welcome to Team 3926, the MPArors (pronounced as in emperor penguin, our team mascot) 2024 Open Alliance build thread! We are a team from Mounds Park Academy (where the MPA in the team name comes from) based out of St. Paul, Minnesota! We had an awesome time as an Open Alliance team last year, and can’t wait to be one again this year. Last year, we were Finalists at the Northern Light’s Regional, and tied for Fifth place at the Minnesota North Star @ La Crosse Regional, and ranked 18th at our State Championships. We also won our first ever blue banner when are incredible coach, Mr. Shapiro won the Woodie Flower’s Finalist Award.

This year, we will be seen around the Minnesota FRC community in many ways, with the team supporting and leading the Twin Cities Team Captains Network, partnering to distribute Minnesota Rainbow Robotics Inclusivity Alliance buttons at competitions, as well as participating in the #SwiftFRC Initiative.

We can’t wait to see everyone at the Great Northern Regional (Week 2) and the Minnesota 10,000 Lakes Regional (Week 6 - and our first ever regional without “north” in the name) this year!

Links:

Onshape
Github
Instagram

[Alex_Jurek]

Can’t wait to see what you folks put together! Good look and Happy New Year!

[iz_en_zi]

Hi, I’m Ian, the overall captain of team 3926 for the 2023-24 season! This is a new role we are currently developing that focuses on team culture, organization, and basically all of the other random leadership tasks that need completing. While previously, I was responsible for these tasks as well as the Code Subteam, this year I have moved to strictly focusing on the overall team, which should (hopefully) allow me to take a step back from how many responsibilities I have. With how it is being built out, this role does not have any additional power compared to other captains positions, rather more “big picture” responsibilities.

Additionally writing this update is Evelyn, one our operations subteam captains, and Khushi, who captains both Build and Controls (Electrical + Pneumatics), as well as is our lead for our Diversity, Equity, and Inclusivity Initiative.

Our team has seven captains this season, two more than we have historically had:

Ian – Overall Captain

Evelyn – Operations Captain (Focusing primarily on organization, fundraising, etc)

Piper – Operations Captain (Focusing primarily on PR and Outreach)

Lucy – Build Captain

Finn – Controls Captain

Khushi – Build and Controls Captain, DEI Lead

Alex – CAD/CNC Captain

This year, our team has 28 members, amounting to 11.2% of our high school’s population. In addition, this is our first year with 50% of our team being underrepresented gender identities in STEM. This is the result of hard work within our DEI initiative to make robotics a more welcoming place for all.

Summer Outreach:

Over the summer, we participated in 16 separate outreach initiatives across 26 events. In total, members contributed over 700 hours of volunteering for the outreach events. Here are a few of our most impactful initiatives:

Closing the STEM Equity Gap:

This year, continuing with our DEI initiative, we wanted to focus some of our outreach on closing the STEM Equity Gap. To do this, we formed connections with The Tony Sanneh Foundation, a recreational enrichment center aimed towards lower income and BIPOC families, to help build out their recently formed STEM program. Weekly, we mentored their Minnesota STEM Partnership Lego Sumo Robotics students, leading to a first place finish, as well as providing a demo during their STEM Week in July.

We also worked with Breakthrough, a summer program that aims to lower the barriers to college for lower income Middle and High School students. We demonstrated our competition bot, provided lab tours, and connected 8th graders to FRC teams in their upcoming High Schools.

Finally, we began our partnership with the Innovation Science and Technology Academy, a charter school aiming to offer high quality STEM education to BIPOC families. Working with the school, we developed a curriculum using LEGO EV3 robots that we plan to implement this coming year.

Summer Camp: This year, we held our second annual middle school robotics summer camp, to great success. We had 12 campers this year, filling capacity. It was a lot of fun and we can’t wait to do it again next year! The camp also served towards recruiting for our rookie FTC team.

(Pictured is our final challenge, candy grab)

(Results from a pre-camp and post-camp survey.)

FTC: This year we started and mentored our school’s first ever FTC team, team 24836, Gentoo (as in the penguin – as well as a play on words for the 2nd MPA robotics team – “gen two”). They will be competing on January 14th in Burnsville. We can’t wait to see how they do!

Community Festivals:

This August, we went to both Woodbury Days and The State Fair, our first year doing both, and our first year back at Woodbury Days since COVID-19. It was a super fun time, and allowed us to work with and get to know our nearby teams better!

Offseason Competitions:

Minnesota Robotics Invitational:

We once again competed at MRI this year. Unlike previous years, in which we brought our competition robot, this year we brought our Swerve base, to test out the new drive base. While it did not have a significant manipulator, we learned many things about the drive train, including ironing out a bug that caused the robot to start Teleop with the field oriented code backwards, as the auto code ended facing towards our driver station. We also got experience of driving swerve on a crowded field, which was more challenging than we had expected. Thanks to team 2846 The FireBears for hosting!

MinneTrials:

This was our second year back at MinneTrials (formerly Turtle Trials and the T.E.S.T.), a mock offseason competition like OCCRA or Bunnybots. Like last year, it was a super informative process that helped onboard new team members. In this year’s game Corn Conundrum, teams had to shuttle corn cobs into silos to score points. We ended up approaching the game by using a pneumatic piston connected to a rope to dump cobs into the silo, rather than utilizing a floor intake. Unfortunately, we didn’t make playoffs. In our post-mortem, we determined this was a combination of multiple factors including an untested code change that prevented the robot from driving properly in the first two matches, as well as a lack of drive practice, having only completed the robot the night before the competition. While much of this was due to only spending 8 days on MinneTrials (kickoff was on October 1st, we did not begin until October 26th, due to MRI and MEA break), it highlighted and reinforced our need to emphasize deadlines and drive practice. Thank you to team 2239 The Technocrats for hosting the event! The CAD for the robot can be found here.

Goal Setting for 2023-24:

This year, at our team retreat we held a goal setting workshop, in which both the full team, and individual subteams created goals for themselves. When setting the goals, we aimed for them to both be achievable, while also pushing the team.

We started by reflecting on our previous years goals, which were to qualify for the State Championships, as well as win an award at both events. Both of these goals were achieved, winning our team’s first award since 2014 through the Judges Award at Northern Lights, as well as winning our first ever blue banner through the Woodie Flowers Finalist Award at the North Star @ La Crosse Regional.

This year, our goal was set to qualify for the World Championships, either through the Engineering Inspiration Award, or through winning a competition. This year is the strongest team 3926 has been since COVID-19, with many experienced seniors as well as a large group of mentors. To meet this goal, we have several sub-goals, including better use of in-lab time, increased drive practice starting at the beginning of the season, and an alpha robot created by the end of week 3, to allow for programmers and drivers to get more time with the robot. We are also increasing our fundraising goals, raising an extra $10,000 for a Championships fund in the event we qualify at our week 6 regional.

We can’t wait until kickoff and the Crescendo season! Good luck to all teams!

[Tyler_S]

@iz_en_zi

ironing out a bug that caused the robot to start Teleop with the field oriented code backwards

Turns out we had the same bug in our swerve for all of MRI and EMCC! I only was reminded of it at the EMCC mentor match when the robot drove backwards for me.

@iz_en_zi

Thanks to team 2846 The FireBears for hosting!

[iz_en_zi]

Build Season Update 1/8/24:

On Saturday, we hosted our kickoff event. This included a wonderful potluck organized by team parents, a close reading of the rules, and of course, our annual mock game using rolly-chairs. After we did that, we analyzed what types of strategies were and were not successful for the game.

In our analysis, we believed that AMP robots will be crucial to scoring significant amounts of points, as well as timing of amplifications will be critical. We did note, however, that an alliance with two robots that could only score in the AMP was unable to produce a meaningful number of points. We also saw that, while important for ranking points, scoring in the TRAP did not meaningfully swing match scores. Instead, the autonomous seemed to make a very large difference, with each ring being worth 5 points (as much as a trap). Spending time to have a three ring, compared to a one ring auto, for example, would score 10 extra points, compared to five for scoring in the trap (two tasks we determined were equal complexity). We also assigned each student an OA build blog and Ri3D team to keep tabs on, to gain inspiration for when we begin prototyping.

On Sunday, I hosted Team 2052’s weekly Minnesota Roundtable Meeting, in which multiple potential gameplay strategies were discussed. Those who attended the call were able to bring the insights gained back to the team. Community notes on the meeting can be found here.

This led us to Monday, in which we went through the process of strategic design to determine our musts, wants, and nice-to-haves. Following team 111/112’s process, we first listed everything we think a robot could do or be, followed by ranking them between must, want, and nice-to-have, in service of our goal to win a Minnesota Regional. This was our original list of things the robot could do/be:

In the end, this was what we determined would be our final priorities (ranked in order in each section):

After much debate, we decided to not actively pursue the TRAP as we determined it’s value in the playoffs was not worth the trade-offs brought by devoting significant time to it. If it fits in with the robot design we go with, we will attempt it, but otherwise, we want to focus on a fast, effective robot first. This will give us more time for high scoring autos, and driver practice, which is what we determined would be more important to win matches. Of course, this sacrifices many opportunities for the HARMONY ranking point, so in exchange, we want to be able to obtain the MELODY ranking point as much as possible, as well as be able to double climb with a consistent human player to still get the HARMONY ranking point in 33-50% of matches. This will hopefully allow us to rank high in qualifications, and by focusing on actions that win matches, allow us to be sucessful in playoffs.

The next time we meet will be on Wednesday, in which we will start to prototype. See y’all then!

[iz_en_zi]

Cycling Analysis: Last Night, our team created a spreadsheet to determine how fast our robot will need to be geared to hit cycling goals. While the speed of the robot calculated is obviously an oversimplification (discounting weight, acceleration, defense, etc), it provides a good start for determining what are cycles will need to look like. The spreadsheet can be found here.

[bmurr24]

On Wednesday, the team researched potential shooter prototypes to pursue. We discovered two options we were interested in prototyping: a design using an intake which feeds into a linear shooter, and an “intooter” (as dubbed by cd). This is an intake that also acts as a shooter by placing acceleration on the tops and bottoms of notes. Team members liked this design because it seemed to only require one dual-use mechanism, allowing for variable angle speaker shooting, and amp scoring (a good “intooter” example is ri3d team unqualified quokkas). We discussed potentially prototyping an internal intake; however, we tabled this discussion until we were further down the line in prototyping our shooting mechanisms.

On Thursday, the team began assembling the two shooter designs. For the linear shooter, the team first experimented with a single motor powering two wheels on one side of the shooter (leaving free-spinning wheels on the other side) and compared it with powered wheels on both sides of the shooter. After seeing that having only one powered side tends to spin the notes off course, the team decided that it would be the best option going forward.
The team also began cutting out parts for the “intooter” using the school’s Glowforge and trained younger members in its operation.
The operations team also was at work throughout the week finding new potential sponsors and making bracelets for the #SwiftFRC Initiative!

On Friday, the team moved forward with prototyping and motorized both shooter designs in preparation for further testing on Saturday. This process involved adding motors to each prototype and giving younger members good lessons in motors, chains, and belts.

We set up the practice field with almost all completed field elements, so that team members interested in driving could spend time with the new swerve drive base (the team had assembled this before the season started). In turn, they learned more about drive strategy and cycle times for the upcoming season.

The team covered substantial ground during our Saturday lab hours. After retrofitting the prototypes on Friday, the early afternoon was spent notes into the speaker at varying angles and distances. Drive team began further practice during this testing period.

Later in the afternoon, the team began preliminary work on various climber designs including utilizing climber-in-a-box or rope and pulley systems. The research was done by younger students and supported by mentors.
-Revisiting the early discussions about internal intakes- Members of the team provided a CAD assembly showing what a robot could look like using the intooter as an intake and the linear shooter as a… shooter. The team will further discuss options for robot layout early next week.
Finally, after completing the work the team needed to finish, we looked at our new FTC team’s robot and saw it in action. They had their qualifying tournament yesterday and ranked 9th as a rookie team. We are so proud of them!

[iz_en_zi]

Mini-1:00AM Update 1/22/24:

Our Cadders (willingly) worked long into the night to meet our deadline of a full robot CAD before our first day meeting in Week 3 (tomorrow). @Finn3926 will give a more detailed write up tomorrow (for now, we’ll let him sleep), but as far as I’m concerned, the most important feature of the robot is the MAGNIFICENT GOOGLY EYES. Just look at the little robot eating up all the notes (notes are their favorite snack). This onboard googly-vision feature is our secret plan to win on Einstein this year. As always, our Onshape file can be found here.

[Finn3926]

Build Season Update 1/25/24:

I’m Finn, the CAD lead on team 3926 this year, and here is the long anticipated CAD update for last week.

Just over two weeks ago, the team decided to adapt an external arm “intooter” design into a split internal intake, “indooter” (index/shooter) design. The big first step we took was borrowing Grasshopper 95’s and Spectrums’s undertaker intake design. Compared to our early ideas, this intake promised to take up little space, allowing us to keep our wheelbase wide to reduce tipping.

After plenty of tinkering, we were able to fit the motors, belts, gears, and spacers into a small area, which now doubles as a funnel for the note.

The drive base was then designed keeping the low intake in mind, taking more inspiration from Grasshopper 95.

The arm came next. We started with its pivot, and came up with a quick-release arm plate, ideal for doing big repairs or replacements on the arm in a pinch.

Those 64 tooth sprockets will be chained to these neos with their own 16 tooth sprockets. Including the gearboxes, the gear reduction will end up at around 200:1. These two neos will share a hexshaft in a later iteration of the CAD.

The issue now was building a light shooter to lower our center of gravity. The best way to do this is to lower the motors down the arm, and belt their output back up to the shooter. So, that’s what we did. (No, the bearing brackets don’t line up yet, that comes later with custom parts).

This design earns both style and functionality points, keeping the sensitive belts (kinda) out of sight, and out of harms way.

Finally, we get to the shooter. The intake end lines up with the drive base’s intake, (hopefully) allowing for a smooth transfer of notes. (The revolute mate broke, so no pictures for this yet. Pictures from a previous iteration can be seen in the prior post).

Using polybelt, the note is taken to the end of the indexer, where it waits for the shooter wheels to spin up before sending it off.

The angled shooter wheels allow the robot to shoot into the speaker without needing to move from intake position, as well as create a downward force for dispensing into the amp (also no pictures).

Our climbing mechanism will come later in the form of two climber in a boxes mounted on either side of the robot.

With parts coming soon, build is excited to get started on the robot, and I’m excited to return to a normal sleep schedule. See you next week!

[iz_en_zi]

@Finn3926

and I’m excited to return to a normal sleep schedule

ok, but did you ever really have one

[iz_en_zi]

Update 2/3/24: Build Week!
This week has been full of fabrication of the robot. We’ve had a few hiccups with getting supplies, but now that everything’s here, we are full speed ahead. Below are some progress photos from our subsystems:

Drivebase:

We switched two of our modules today to Neo Vortexes. We are getting the rest of the vortexes Tuesday which is when we plan to do the other modules. (We had shaft runout caused by our other two vortexes, and needed to get them replaced by REV – overall however, we have been in love with the vortexes when they work, with their incredible flexibilty)

We then began drive train assembly, ending the week with the intake mounted to it. (seen in second picture)

Intake:

After seeing Team 95’s and Team 3847’s attempts to help center notes with the intake style, we have a few plans to move forward to prevent note jams:
First, we will using the Team 95 Augurs to help move notes to the center. In testing videos, these seemed to have a notable effect, but did not go all the way that was needed.

The second thing we will be using, is 3D printed guides inspired from Team 3947. We will be adding low friction tape to help the notes glide across it. We have still yet to test these in combination, and hope to do so this week.

Shindexer (Shooter/Indexer):

The shindexer build is coming along nicely. We have cut out the plates, and added all of the rollers (sadly, i forgot to take a picture today, I’ll add one on monday). Here’s a picture of us learning to weld polybelt – we’re still pretty new to it and would love any and all tips for maintenance and use.

Climber:
We assembled our Climber in a Box today with custom hooks. After testing them, we discovered the hooks need to be longer to reduce precision needed to climb, although the concept seems to work and not slide in the chain.

Overall Status: Right now, we are a bit further behind than we would like – this is primarily due to missing some key supplies – currently two 36T gears and more # 25 chain – which we did not anticipate needing as much supply for as we do. We hope to get them into the shop as soon as possible, and that we can build and test other things while waiting. We can’t wait for the rest of the season and are excited to finally have a robot coming together!

[iz_en_zi]

It’s Alive!!! More to come later, it’s been a longggg week to get this thing running.

[Finn3926]

Build Season Week 6 Update: 2/18/24
The robot has been making lots of progress over the last couple days, and we’re excited to share our latest progress!

As you’ll see in the following video, the shooter has spot-on accuracy and shoots notes exactly where we want them to go (when people are involved). When it comes to speakers however, we have seen spotty accuracy, and we’ll be looking into improving our shooters’ consistency.

FRC 3926 The MPArors - 2024 Shooter Testing | 1

FRC 3926 The MPArors - 2024 Shooter Testing | 2

These tests have shown us the true power of the shooter, opening up the possibility of shooting from the wing.

FRC 3926 The MPArors - 2024 Shooter Testing | 3

FRC 3926 The MPArors - 2024 Shooter Testing | 4

FRC 3926 The MPArors - 2024 Shooter Testing | 5

This video here shows a bit of our intake and handoff working just as intended.

FRC 3926 The MPArors - 2024 Shooter Testing | 6

This final video showcases our amp scoring. From this clip, we have decided that reducing the shooter’s motor will be a big help in scoring amp.

FRC 3926 The MPArors - 2024 Shooter Testing | 7

This next week we will be focusing on getting our intake polished, and its centering mechanism much smoother.

Following the mounting of our climbers, electronics will be working on beautifying our current mess of a bellypan (ignore the battery holder).

With our first week zero event happening in just 7 days, we want to complete and finalize as much of the robot beforehand to make sure we gain meaningful testing data to guide our following iterations. Stay tuned for more videos!