Team 341 presents Miss Daisy XI
Our 13th robot, and 11th to bear the name Miss Daisy. After a long and interesting build season, we are VERY happy with how she turned out.
CHASSIS
- 119.8 lbs
- 27.5" x 37" x 53"
- Wide drive base for ease of fit on bridges
- Actual Center of Gravity is 4" off the ground - robot must tip MORE than 90 degrees forward or back before not returning to its wheelbase
DRIVE
- 8 Wheel, 4 CIM Drive
- 6" Performance Wheels with Blue Nitrile Tread
- 2 speeds: 5 ft/sec and 12 ft/sec
- Effectively climbs the barrier and bridges
INTAKE
- 37" wide because we really like picking up balls
- Deploys over the bumper to manipulate the bridge
- Powered by AM 9015 motor
- 2 stage funneling system (3->2 in intake, 2->1 in hopper) eliminates jams
SHOOTER
- Fixed shooter on opposite side of intake (I wonder why?)
- Dual 6" Skyway wheels powered by dual FP 0673 motors
- Can make shots anywhere in the offensive zone
SENSORS
- Encoders and dual axis (pitch, yaw) gyro on the drive
- Optical photosensor for accurately measuring shooter wheel speed
- Camera and dual LED rings for detecting the top target
SOFTWARE
- Completely automatic targeting via laptop-based DaisyCV image processing application
- Target detection code can run at more than 200 frames per second; it has no problems performing real-time tracking of the target regardless of lighting or even partial occlusion (such as from the rim/net)
- Camera system outputs are fused with onboard telemetry to perform high-speed positioning and shooter spinup (camera commands azimuth to the gyro and RPMs to the shooter)
- Software-assisted balancing for an easy endgame
- A few different autonomous routines that we hope the crowd will enjoy