Team 3476: Code Orange 2019 “Cloudbreak” Robot Reveal

Meet Cloudbreak: Code Orange’s 2019 robot!

Thank you to our students, mentors, parents, and generous sponsors for making our 9th creation possible.

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Elevator on a turret and best of all … Kanye in the reveal. :orange_heart:

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Love it!

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That last shot has to be my favorite clip from any reveal video ever. The flex is too good, I love it. Great job Code Orange!

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:ocean:

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Can I expect to see a spray-painted robot this Friday at LA?

That’s the only thing that determines robot quality.

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What’s the “true” range of motion on that elevator? I don’t see any wiring at all (awesome) but that’s usually the limiting factor on 360° elevators.

That’s a great looking robot. I look forward to seeing it in Houston!

We limit the rotation to around 400° in match, but by hand we can spin it by nearly 720°.

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Did you guys use some sort of electrically conductive elastic???

We couldn’t find any conductive elastic that had a reasonable lead time. Instead, our tether is wired through the center of the turret and coils beneath it. This allows for the range we have. We will have a nice little viewing window on the bottom of our robot, so feel free to swing by ours pits and check it out!

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Definitely another favorite robot from a favorite team. Incredible work, Code Orange!! I am always impressed by what you guys come up with year to year!

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Looks great guys. Can’t wait to see it on Saturday!

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Not gonna lie, the last shot of that video was one of the coolest things I have ever seen in FRC

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How did you reduce the backlash on the turret? The Behind the Bumpers segment wasn’t entirely clear on how that worked, it seems interesting.

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Any insight you can provide regarding how you minimized gyro drift? Seems like the turret consistently reached the right spot every time. Is there a re-initializing or zeroing process thwt you used to make the gyro a little more accurate?

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(Not from 3476) but a common method is using the NavX magnetometer calibration feature. It’s annoying to calibrate but results in a very usable amount of drift over a match, certainly good enough for field-oriented turret control. The placement of the navX when using the magnetometer (ex. near motors/high current wires/any large emf source) will affect its usage.

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We use the WCP Spartan Board, which includes a good gryo (ADXRS453) onboard that we communicate with through SPI using the ADXRS450_Gyro class in WPILIB. On the WCP website, it lists the drift as between 0.25 and 2 degrees per 2 minutes, which we have seen to be true. At code start we tell the gyro to calibrate using the provided function.

You can see how we use it in our 2018 code here. Our 2019 code will be going public soon, so you can see how we use it there.

If I didn’t answer all of your questions, please ask.


We are using a custom-made roller pinion drive that basically consists of a pinion with rollers arranged in a circle and a large internal ring gear. The rollers are on bearings and rotate freely instead of sliding against the gear teeth, so it has very low friction. Due to the nature of the design, there is practically no backlash if it can be manufactured accurately. We made the ring gear on a CNC router and CNC milled the bearing holes on the pinion.

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Here is our whole technical binder for this year’s robot:
Technical Documentation.pdf (2.2 MB)

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Beautiful tech binder for a beautiful robot.

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