FRC 6328 Mechanical Advantage 2020-2021 Build Thread

Running multiple instances of the widget shouldn’t be an issue. It behaves the same as other widgets (choosers, text boxes, etc.) in that it’s just a stylized display for a table in NetworkTables. If there are multiple tables for alert data, each can have its own widget. While we didn’t support it initially, the robot-side class now supports handling multiple groups of alerts via an optional constructor argument.

Note that this system is mostly designed to handle errors in user code, where we might previously use DriverStation.reportError or DriverStation.reportWarning. It doesn’t detect any other errors that are sent to the driver station by WPILib or vendor libraries, so CAN issues need to be handled in user code for this system to display them.


Currently trying to focus on some trainings to get the team back up to speed before kickoff, but we’ll likely finish up the intake we’ve been working on for any other events that happen. Nothing crazy, hopefully next year we can get back to building fun off-season robots!


Hey, I’m AJ, I’m the media lead in 6328. We had a lot of fun at Battlecry, so I decided to make a wrap video. Here it is!


Hey ya’ll, it’s been a while and we’d like to update you on what’s been going on with 6328. Training has been in full swing across software, scouting, CAD, and manufacturing to be sure students new and old will be ready for next season. We’ve also got some new toys and made some robot upgrades that we would like to share with you.

Some New Equipment!

Over the course of the next few years, we’re looking to expand our manufacturing resources to improve our ability to reliably have students produce in-house parts and to ensure the team’s long term sustainable growth.

As a part of this effort, we’ve recently acquired a X8-2200L-USB Omio Router and two Prusa i3 MK3S+!

Our first Omio parts (intake plates) and Prusa parts (HYPEBlocks):

New Intake

We’ve been thinking about upgrading our intake for a very long time and have finally gotten the bandwidth to finish the project. Our old intake served us well but had some shortcomings which we wanted to solve in the new revision. These problems were a lack of centering limiting how wide we could collect, getting balls stalled against the NEO 550 motor, and getting balls stuck in between the posts used to hold balls in the hopper. With those things in mind here is our new design which aims to solve as many of the shortcomings as possible.

After assembling and tuning for a bit we noticed a few simple improvements which could be done. These were to add more vectored intake wheels on the top shaft and to add a polycarbonate “lid” above the intake wheels to prevent the wheels from launching balls out of the hopper.

Early Test Video

6 Ball Auto with New Intake

Nitty Gritty CAD Details

For those interested, here are some of the more low level details about how we went about designing this new intake. We started out by sketching out the geometry of the drivetrain with bumpers and the path the balls would take over the bumper.

Next we sketched out the geometry of the intake itself. This follows the somewhat standard practice we use for top level mechanism sketches.

  1. Set the position of the 3 wheels at the desired compression level following the sketch shown above
  2. Set where the pivots are located relative to the wheel positions and the drivetrain
  3. Create a second copy of this pivot geometry mounted to the same pivot points on the drivetrain. Make all this geometry equal to the real version in the extended configuration. Dimension this in the position desired for retraction (in this case right inside of frame perimeter)
  4. Define where the pistons need to mount to reach these two positions. This is done by defining the same geometry set equal to each other on both the extended and retracted front bar. Then we create lines representing the piston in both the extended and retracted position going back to the same point, which will be our pivot.
  5. [Optional] Define the outside geometry of the plate to be extruded. In this case we did this step in the main sketch, but normally it is probably cleaner to do it in another step which simply references points within this sketch.

The rest of the mounting points can be referenced off of this sketch for creating the pivot and piston mounts.

If people are interested in a more detailed walkthrough of how we do this process let us know and we can do a write up here (or on onshape4FRC).

Chezy Champs

Those paying close attention to the team list will already have noticed, but for those who haven’t seen we will be attending Chezy Champs in California at the end of the month! We’re super excited to make the trip out there with our NE friends 2168 and hopefully make some new ones along the way.

As always don’t hesitate to reach out to us with any questions you may have!