The team 1156 Under Control is thrilled to release the CAD model of our 2024 robot - Viper!
Onshape link: Onshape
You can find more in our Behind the Bumpers video! - https://www.youtube.com/watch?v=wmg1ZA6KJ8g
Please feel free to ask any questions/comments to this thread.
This robot is very beautiful and has vibrant colors 
; the architecture really resembles your 2023 robot! I just have a few questions:
Are you using any detection sensors for Notes in the Intake/Shooter? If so, which sensor did you use?
Is there a specific reason you opted for smaller wheels for the shooter, considering most teams use 4" wheels?
And what is the final gear reduction used for the shooter’s arm?
Good morning, the answer of your questions is:
We used 2 infrared sensor at the end of the shooter to identify the notes and close the robot as soon the note is identified.
We tested a lot with 4 inches wheels, but we chose to use smaller wheels beacuse 1. We wanted to have the less height as possible in our shooter, 2. Smaller wheels allowed us to score more consintetly and quicker at the amp and 3. The geometry that we wanted in the shooter to store the note.
And the reduction in our arm was: 36:1 in a maxplanetary, to a 3,14…:1 in the sprockets. So the total reduction was aproximatly 113,14:1.
Adding a bit on point number 2. It comes mostly from our strategic decision to focus a lot on the amp and try to be one of the best bots at amping. Because of this we decided to go with a design that would compromise long distance shooting a bit but bring some improvements for the amp design.
Another advantage that was not mentioned was reducing the mass of the moving shooter so it did not destabilize the robot when moving fast as much as a heavier shooter would. In general we were very mindful of the mass we had in that mechanism as a whole to keep the robot stable during quick movements.
