FRC 5727 Omegabytes 2023 Build Thread

Update to omegabytes 5727 2023 week 1 recap.
The team has been in full swing since kickoff and really trying to dive in and understand the gameplay and what is critical for a winning alliance both at a district level state and world’s level.

A couple of items that we noticed off the bat were.

  1. A total of four game pieces that are not on the robot are on the field for autonomous and the three on robots would be critical to be placed during auto allowing for max auto points of 7 for game pieces placed.
  2. The cube-to-cone ratio is 66% cones and 33% cubes. Looking at the mid and high nodes.
  3. Size of the robot would dictate the number of robots able to dock and engage in end games.

We started by reviewing the videos several times along with each field element video and then breaking up into four groups to break down the game. We had a points group, rules group, fouls group, and field group.

This allowed everybody to participate with each group roughly consisting of 5 to 10 students. After giving ourselves about 45 minutes time to go through everything we then all came back together as a group and talked about what everybody found out with their respective groups.
A lot of time was devoted to understanding the difference between nodes and links, auto-point bonuses, and in-game points.

Also an emphasis on how you can get ranking points and conversations about being able to solo ranking points.

Into the middle half of the week, the scouting team had determined items that we would be scouting and working on our scouting this year.

Also about this time we sat down as a team and talked about creating our I WILL list for this year’s Robot Strat, shown below. A couple of key points are the idea of designing with repairability and being very cautious of our center of gravity with how far the arm has to reach when placing a game piece in the high node.

END OF WEEK 1
The design team started designing the robot utilizing the different concepts and prototypes seen by RI3D and in the bay for use on our 2023 Alpha robot.

FIELD PIECES
we have worked with our partners and sent off CADs for the grid station and working on getting a fully aluminum charge station from another partner.

Also like other teams, we have been dealing with items being back-ordered and Shipping delays.

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Omegabytes mid build season update:

Below we’ll outline what we’ve done over the last several weeks along with a couple things that we focused on at our week zero practice day with Yeti robotics.

So, after our initial update, we did receive all of our field pieces back from our partners specifically, Touchstone Fine Cabinetry, and they cut out a full grid station for us which the team took a Saturday and built the grid station and charge station.
We ran into some issues with ordering the hinges from Andy Mark as they took over 12 days to ship and deliver to us but we did get those attached eventually.



Utilizing OnShape we made several different prototypes for the robot and spent a lot of time looking at minimum in maximum heights and trying to be able to play within the rules for extension. Ultimately, we’ve using a double DOF arm ran on chains and have decided that weight savings would be a top priority so that our robot would have as low CG as possible.

A couple of things to note on the chain, we utilize 25 chain for the upper arm, 25 chain for the lower arm, and then 35 chain for the pivot on the lower arm. We also are utilizing a virtual four bar which is currently ran on 25 chain. We’re looking at potentially upgrading that to belts for the virtual four bar as it would save us a large amount of weight. https://youtube.com/shorts/Qg1SYLyYUZI

INTAKE
In regards to the intakes we looked at a lot of different designs, specifically the Ri3D teams with pneumatic auto leveling of the cone. Also, we looked into a double-wheeled intake that would use mechanum wheels when grabbing a cone that would always put it to a middle position showN in the CAD picture below, it’s not something that we’ve prototyped in real life due to the weight of the wheels and the accuracy needed for lining up vertically.



We have cut out seven different versions of the intake below and have found that to be extremely consistent and allowed for a wider range of errors lining up vertically. This is something we’re going to continue to test and cut out more prototypes We have been using our CNC router to cut out 1/8" polycarbonate intake pieces.

In regards to actuating the intake we are utilizing a style very similar to everybody, where we’re using one Neo 550 to move the middle bar which will then be using a sewing machine belt twisted to reverse that direction on the upper bar we’ve also determined, out of testing, that for picking up the cubes only one wheel was necessary, as it really did a good job.


One thing to note was with the triple wheels (two rolling in and one rolling out with the twisted sewing machin belt) if you put your intake too close to the ground it would cause it to skip up and down due to the wheels catching on the carpet.

We’ve started building our competition robot and received all the parts back from the powder coating facility. We sent out to one of our partners, WestRock, and had them cut out a belly pan out of 3/16 steel and had that powder coated as well.

Something to note, items that are powder coated green have been fabricated and powder coated by our partner WestRock and items that are powder coated black are fabricated in house in sent out to be powder coated.









Back on the competition robot, we got everything put together and just to have get the electrical wired up.

One thing we’re doing different this year from other years is having a weighted belly pan to keep our center of gravity extra low. So this year’s belly pan weighs about 15 and a half pounds.

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Asheville and Mecklenburg: A Robotics Team’s Journey

Hello everyone! In this blog post, I want to share with you our experience of participating in two district events: UNC Asheville and Mecklenburg. I will go over the actual events, what went right, what went wrong, some strategies we observed, and things that we saw happen or went wrong with our robot. Then we’ll go through some items we upgraded or wanted to improve on between our week one event, before our week three event at Mecklenburg, how Mecklenburg went and things that happened that prevented us from performing at our best in the final two matches.

Asheville: A Successful Start

We headed to Asheville with three main autonomous modes we planned on running. Just roll a piece into the low level, another one that would roll a piece, go over the charge station for mobility and then come back for close to level using purely odometry and no gyro for getting level, and another that would place a piece in low and leave for mobility.

We had very few swerve drive problems that occurred during Asheville. We only had an issue with the CAN coder where one wire got unplugged and we had to replug it. We were using XT30 connectors and did not have micro zip ties holding them together.

Through the event, we had an average of 65.91 points per game, with each game we played in setting a new event high score. Before qualification match 24 we realized that our CANcoder was not reading right and we were throwing major CAN bus errors. It took us two matches to figure out where the can issue was coming from. We found a CAN wire in the upper arm which got hit against the wall during match 21. After we figured out which CAN coder needed to be replaced, we then had to find a team that had a spare CAN coder as our spare CAN coder did not come in time. We appreciate team 6502 Dark Side and Team 900 as they both were able to provide a CAN coder for us to make sure it worked. Then we realized after getting it replaced, we had to recalibrate the positions for the arm for all 8 positions.

After we got the arm calibration fixed, we were able to play a couple more qualification matches for the day.

Sunday was a nerve-wracking day as we headed into alliance selections. We had performed well in the qualifying matches that we were able to be in, but we knew we needed a strong partner to advance to the finals. We were hoping to catch the eye of Terrorbytes, who were ranked second and had impressed us with their skills and strategies. To our delight, they approached us and asked if we would join their alliance. We accepted and were so thankful to them for choosing us.

We quickly got to work on planning our game plan for the playoffs. We discussed our strengths and weaknesses. The playoffs were intense and exciting as we faced some tough opponents who challenged us in each round. We stuck to our strategy and trusted each other and we won two matches, lost two matches, and tied one match.

Our team was honored to receive the Industrial Design Award sponsored by General Motors. This prestigious award recognizes exceptional design work with the industrial design of our robot, and we were thrilled to have our efforts acknowledged in this way. Receiving this award has motivated us to continue pushing the boundaries of industrial design and to strive for even greater innovation in the future. We are grateful to General Motors for sponsoring this award and for their support of the design community as a whole.

We’d like to give a huge thank you the FIRST NC organizers, judges, volunteers, sponsors, mentors, coaches, parents, and friends who made this event possible.
Also, special shoutout to Trelleborg for their partnership and making this weekend possible for our team!

Items needed for improvement for Mecklenburg

Our team wanted to improve our robot’s performance by enhancing its intake, autonomy, and accuracy. We achieved this by:

  • Updating the intake to 16" over the 10" intake we had at Asheville

  • Using a smart dashboard that allowed us to select different auto positions

  • Optimizing path planner and utilizing multiple route routines, resulting in over 640 selectable auto routines

  • Upgrading our upper arm from one to two 1x2 36-inch long arms and an additional chain for more stability and reliability

These upgrades enabled us to run nine different auto routines at Mecklenburg with high success rates.


Mecklenburg: Perfect Quals and Crazy Playoffs

Heading into the Mecklenburg event, we tested all of our robot abilities and made sure they did what we expected multiple times. We felt confident that our robot was ready to compete.

Once we got to the event, we were able to set up our pit, set up the robot, get to the practice field and verify everything was still functional after the hour-and-a-half drive from Rutherfordton to the Charlotte Convention Center. Friday evening was relatively uneventful as we did a little bit of pit scouting and talking to other teams, seeing where we could help and what robots we would be competing with. We also were able to help with field set up and pump air in the cubes


Saturday morning, things started with a bang as our first practice match was a four-ranking point match, allowing us to show that we could do four links and engage at the end of the game. This ultimately became our team’s goal for each match we went into: trying to create a strategy that would allow us to get the four ranking points each match to secure a first-place rank at the event.

Our first qualification match was also another amazing start with 122 points and three ranking points. And our second qualification matches playing with 1533 and 3459 being a four ranking point match in qualifications. We ultimately were able to complete four ranking point matches four times through the event, Allowing us to secure a first-place rank at the event with an average of 3.08 ranking points.

Crazy playoffs

Going into the Playoffs and Finals undefeated was a first for the team.
Statbotics Finals 1
Statbotics Finals 2
We entered the finals going against alliance 2, knowing (through our scouting data) that they could put up high scores as their last two matches were 124 and 116 points respectively.

Match 1
During our first match everything was going as we planned till about 40 seconds when our intake turned down and would not intake game pieces we then had to try pushing game pieces in the lower node as well as not being able to get the triple climb at the end of the game allowing the blue alliance to win by 1 point.

Match 2
Things did not go as planned from the start. In auto mode, our arm did not move at all. We realized we needed to become a defense bot as we could not move it in teleop mode either. As we tried to play defense, our battery voltage dropped very low and we discovered we were driving with just three swerve modules. With what is probably the luckiest field fault of the decade, 1533 ripped off the ramp to their charge station.

Match 3
Things were not looking great for us as we had to quickly fix our arm to be able to move but did not have time to get the fourth swerve module back up and working. When match 3 started, our auto mode did not work 100% and we could not move as fast or accurately during auto and teleop modes. We managed to complete a triple climb in the end game but alliance 2 ultimately won.

We were extatic to be awarded the Impact Award at the NC Mecklenberg District event. We are incredibly proud of our team for earning this recognition and for the dedication, hard work, and community service that went into it. This award is a testament to the impact that our team has made both on and off the field, and we look forward to continuing to make a difference in the lives of those around us.

We are so proud of our team’s performance and grateful for all the support from our mentors, partners, parents, and friends. We also want to congratulate all the other teams who participated in this exciting competition and thank FIRST NC for hosting this district’s qualifying event in Charlotte. And a huge thank you to the head ref, refs, judges, and amazing volunteers! We can’t wait for the State Championship at ECU in April!

Lessons Learned and Future Plans

As we prepare for the upcoming State Competition, we want to share some of our plans for improving our autos and making them more accurate. Our autos are designed to place multiple game pieces on low nodes, which can earn us valuable points and give us an edge over our opponents. Along with this, we know that there is always room for improvement and refinement.

One of our main goals is to spend more time on arm movement and refinement. This will allow us to pick up and place pieces faster and more precisely, reducing the risk of dropping or missing them. We also want to have some wire management and refinement as well as hot-swappable CAN coders. We are confident that these improvements will help us achieve better performance and results at the state championship. We are proud of our autos and the hard work we’ve put into them so far. We hope you are excited to see more of them in action soon!

Despite the challenges of our events so far, we’ve learned a lot from these events and are proud of what we achieved so far. We also received valuable feedback from other teams and judges who complimented and critiqued us on our robot design, strategy, and teamwork.

Some of the lessons learned are:

  • Check our motors’ temperature regularly during competitions

  • Always have spare parts ready for any possible failures

  • Always test our autonomous modes thoroughly before each match

  • Always communicate clearly with our alliance partners before each match

  • Always stay positive and supportive of each other no matter what happens

Stats and data

FNC District UNC Asheville Event

Asheville statbotic

Week 1

Rank: 13 of 29

Record: 8-8-1

Auto: 9.3

Teleop: 15.3

Endgame: 4.4

Total: 29.0

FNC District Mecklenburg County Event

Mecklenburg statbotics

Week 3

Rank: 1 of 27

Record: 15-2-0

Auto: 15.0

Teleop: 24.2

Endgame: 8.5

Total: 47.7

FNC District UNC Asheville Event

March 3 to March 5, 2023 Week 1

Team 5727 was Rank 13 with a record of 8-8-1 and won the following awards:

Industrial Design Award sponsored by General Motors

District Points Earned

Category Points

Qual Points 14

Alliance Points 15

Playoff Points 13

Award Points 5

Total Points 47

FNC District Mecklenburg County Event

March 17 to March 19, 2023 Week 3

Team 5727 was Rank 1 with a record of 15-2-0 and won the following awards:

District FIRST Impact Award

District Event Finalist

District Points Earned

Category Points

Qual Points 22

Alliance Points 16

Playoff Points 20

Award Points 10

Total Points 68

WORLDS!!!

Hello everyone, I have been working on this thread update since NCCMP; we got a wee bit busy and then worlds happened…

States: a roller coaster

NCCMP (North Carolina Championship) was somethin…
We came in with a 3 piece auto that was somewhat consistent (not as consistent as what it would be at worlds, but we will get to that later, gotta build to the climax). At a previous event Mecklenburg District Event, we had a 3 piece low. That 3 piece was the first in NC, but not the maximum potential wasn’t reached yet. The states 3 Piece auto consisted of one low, one mid, and one high. All Cubes.


Learning what happened at Mecklenburg, we put 2 20lbs gas struts on our upper arm to help stabilize it. Which made our arm movement smoother and faster. Making us better cycle times, and a better competitor overall. Our team was impressed with the difference such a small modification could make, and we were motivated to continue experimenting and finding ways to improve our robot’s performance consistently.

We were averaging 9+ cycles a match, with an EPA ranking of 8th at the NCCMP, and an overall RP wise ranked 8th going 8-7-1. With some crazy qualifications, such as qual 56 (with the clean state high score). Despite some challenges and close matches, our team was able to maintain a high level of performance throughout the competition.

Alliance selections came and we were the first pick of alliance 3, with our captain 4561 Terrorbytes (for the 2nd time this season?), and 6894 Iced Java. We lost at match 12, with our CANivore freaking out. Like a literal solar flare came down and struck our robot at just the right time. We covered this in a different CD post you can read here. Despite the loss, we were proud of what we accomplished as a team and grateful for the opportunity to work with such talented and dedicated individuals. We knew we had given it our all and were already looking forward to the next competition.

We did win Impact (previously Chairman’s) at the state level for the 2nd year in a row, which has never been done before in the NC district. Winning the award was a testament to our team’s commitment to community outreach and our passion for inspiring others in STEM. We were honored to represent our state at the national level and showcase the impact that FIRST Robotics can have on young people’s lives.

Drive Team Update
We updated how a section of our drive team operates; most teams have an operator / manipulator / 2nd driver. We changed it to 2nd coach. The role of the 2nd coach is for, me (the person writing this post that was in this position) to call out links and just overall match strategy for the alliance. I carried an oversized iPad to track links and call out who places what where. This really worked for this game strategy wise. The regular drive coach called out like where to go, what to play, stuff like that.

And yes, all of our robot controls were on a single regular Voltage Green Xbox Controller, nothing else.

Worlds: Amazing all around.

We were placed on the Curie field, with some pretty heavy hitters, such as: 5940, 3847, 148, 6329, 1756, 8177. All great and amazing teams. Although the competition was tough, we were excited for the opportunity to learn from these experienced teams and showcase our own skills on the field.

We came to worlds with our final version of the 3 piece auto; 1 mid cone + 1 mid cube + 1 high cube. A great auto that according to statbotics, we are in the 99 percentile for autos. We ran this auto every match, and it only missed once. Truly worth all the hours put into just that auto. We were thrilled to see it perform so consistently and effectively throughout the competition. The success of this routine was a testament to the hard work and attention to detail that our team put into every aspect of our robot’s design and programming.

We upgraded our arm with 2 20lbs gas struts on the lower arm, making it even more fast and smooth. With these upgrades we averaged 11+ cycles a match. We never missed a high cone. We came to compete harder than ever. Some other stats include:

  • 5th in EPA on our field - 57.8EPA - Statbotics
  • 3rd in overall total pieces - 9.5 - Statbotics
  • 3rd in Links - 3.1 - Statbotics
  • 4th in Grid Points - 50 - Statbotics
  • 3rd in Auto Pieces - 2.2 - Statbotics
  • 4th in OPR - 70.23 OPR - TBA
  • 2nd in Total Game Piece Count - 11.07 - TBA
  • 5th in total cones scored - 6.27 - TBA
  • 5th in total cubes scored - 4.62 - TBA
  • 2nd in Auto Game Piece Count - 2.85 - TBA
  • 3rd in link points - 18.61 - TBA
  • 4th in Auto Points - 17.44 - TBA
  • 0 Fouls Committed

Qualifications
In the Curie Qualification matches, we went 8-6-0, earning 11th place RP wise. There was some insane quals, such as our last qual, Match 119

2 Supercharged pieces, an insane match for the Curie field.

Playoff Time
We were the first pick of the 4th alliance: Captain: 8046 Lakerbots, 2nd pick: 5687 The Outliers, 3rd Pick: 4766 Team SCREAM Jr.

Match 2
We were against alliance 5, we won 160 - 149. Our captain took a huge hit and their arm broke mid match; the next match, we subbed in 4766 Team SCREAM Jr. to replace our captain for the next elimination match.

Match 7
We were against alliance 1 (consisting of 5940 BREAD, 649 MSET Fish, and 1756 Argos), we won going 184-181. Close playoffs all around.

Match 11
We then got knocked out of the upper bracket in match 11 by alliance 2 consisting of 6329 The Bucks’ Wrath, 148 Robowranglers, 818 The Steel Armadillos. Going 193 - 168.

Match 13
We faced alliance 1 yet again in the lower bracket, and lost going 205-170.

Good and bad times. We enjoyed the fun along the way. And we will see you all on OA and Worlds next year! Have a Great Offseason!

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