This is Nutjob, who has competed in the Southington, Hartford, and Pine Tree districts, New England district championship, and the FRC Championship (Archimedes) in St. Louis.
Nutjob fires the ball through a catapult/rat-trap hybrid; a winch pulls down a catapult which is rigged to four springs. When the winch pulls down the catapult, tension is put on these springs. A pneumatic piston adjacent to the winch is then activated to release the shooter. The pickup is brought inside and out via a pneumatic piston. The catapult is then brought back down by the winch and readied again.
The ball is taken in through a robustly-built window frame, with metal framework filled by solid wood, much like aircraft are built. A motorized set of wheels are utilized to take in the ball through the window frame. Not only is this pickup durable, it is extremely efficient and never fails to grab the ball quickly and cleanly. This design also prevents the ball from being dislodged and does it’s job very well.
Our drivetrain utilizes 6 CIM motors rigged to 2-gear ball shifters which allow shifting between a higher speed gear and a high torque, low speed gear. Not only does this allow great speed, but allows Nutjob to push around any opposition without much hassle. We use 2 Omni wheels up front and 4 kit wheels in the rear.
Nutjob is programmed in LabVIEW and features vision (hot goal) tracking that allows for an extremely reliable autonomous period and 3525’s signature SwapDrive (which can be downloaded here (Free Code!) FRC 3525's "Swap Drive" - NI LabVIEW - Chief Delphi) that allows for hot swapping between an arcade and tank drivetrain. An ultrasonic sensor is also mounted, allowing for us to detect distance from our dashboard.
In short, components are:
-6 CIMs, 1 mini-CIM, 1 RS775 motor
-6 Talon SR and 2 Jaguar motor controllers
-1 compressor
-3 double solenoids
-1 ultrasonic sensor
-1 gyroscope/accelerometer (unused)
-1 Axis camera (for vision tracking and driver control), 1 GoPro camera (for match footage)
-1 Spike relay (for compressor)
Total weight: 105lbs (without bumpers)
Height: Roughly 3’6