Team 1241 2017 FRC Robot: Spitfire

FIRST Robot Showcase
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Team 1241 proudly presents our 2017 FRC Robot: Spitfire

Details:

Drive:
-6 Wheel West Coast drive with 4” Dia Colson Wheels
-4 CIM Single speed geared for 12 ft/sec
-Controlled using Mag Encoders and Gyro during autonomous routines

Intake:
-2 7/8” Dia Banebot wheels powered by 2 775 Pro
-Runs at approximately 22ft/sec
-Bevel gears used to power side rollers to pickup 4 balls at once, funneled through 2 ball wide opening

Conveyor/Feeder:
-Feeder is powered by 1 775 Pro and 2” wide polyurethane belt
-Conveyor features two HTD belts powered using 2 775 Pros
-Conveyor controlled by Mag encoder for consistent feeding to shooter

Hopper/Gear Mech:
-Lexan structure to hold approximately 30 balls, and funnels them into conveyor
-Pneumatically actuated to expand during game play
-Static gear mechanism pouch riveted to front

Shooter:
-4” Urethane wheel powered using 2 775 Pros
-Static Hood with Lexan backing
-Features actuated bear claw mechanism to prevent balls from going into shooter wheel prematurely
-Shoots approximately 3 balls/sec
-RPM is controlled using PID and Optical Sensor

Hanger:
-Powered by 2 CIMs through versa planetary gearboxes
-Holds position using 2 ratchets
-Stabilizer drops down to align with rope, and latches on using bearing mechanism to keep robot upright during climb
-Climb speed approximately 2 seconds

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I take it the surgical tubing on the backside leads to the “stabilizer”? I’d be interested in some pictures or video of that.

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I was expecting to see a lot of literal boxes on wheels this year. Glad to see some more creative and unique designs. The intake looks solid, I think a lot of teams underestimated how easy it would be to collect a significant number of balls quickly when they aren’t all in a straight line, this design seems to address that issue. Can’t wait to see it in action!