Team 4907 Presents: Darth Theta

Team 4907 “The ThunderStamps” is proud to present our 2022 robot, “Darth Theta”.

FRC 4907 - 2022 Robot Reveal “Darth Theta” - YouTube

Robot Specs:

  • 4-wheel field-oriented swerve
  • an intake fully inside the frame perimeter
  • two-flywheel upper hub shooter
  • limelight-assisted aiming
  • 5-ball command-based autonomous
  • no pneumatic system
  • “a device that generates a vacuum”
  • optimized for a fast traversal bar climb

Thank you to all of our students, mentors, parents, and sponsors for making this a build season to remember.

We’re looking forward to seeing all our robot friends again. We’ll see you at Waterloo Day 2!

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“optimized for a fast traversal bar climb” yall are so troll :rofl: :rofl: :rofl: :rofl: :rofl: that is insane. Good luck cant wait to see that at competitions

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WHAT!? You actually pulled off the jump climb. Amazing.

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I love it. So much.

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W robot

https://youtu.be/010KyIQjkTk

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Incredible. Watch some other team with a weird feature win Xerox Creativity instead.

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This is super cool. Congrats on pulling it off.

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<3 this robot

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Right back at you. :slight_smile:

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This is some next level stuff. Great work

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This is unbelievably impressive, and creative! Awesome work! I love how teams keep revealing new ways to reach the traversal bar. It would be so interesting to see the concept/design process you went through and to get to this robot.

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The level of understanding here required to avoid both the articulating bumper and custom pneumatics rules is top shelf.

So glad this robot exists.

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I need to know how this works: something… something… energy. something … something… momentum?

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if any inspectors give you a hard time just tell them a bunch of people in the internet said it’s cool enough that they have to pass it

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y’all dropped this kings :crown:

Seriously incredible robot. I love the creativity, and that no other aspect of robot performance was seemingly sacrificed to make this climb work.

Are you guys willing to give any more details about how this climb works outside of the obvious?

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Please explain

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For anyone wondering, several of the mentors do industrial automation for a living, and we approached the safety aspect the same way we do at work: how are we going to control the energy?

We start the match without any energy in the jump system (except the coil springs that drive the two grabber arms out at the top, and they’re not very dangerous). So in the pits and on the way to the match there’s no dangerous stored energy. In fact, the tube is open to atmosphere at that time, so it can’t contain energy.

We only use motors to put the energy into the jump mechanism a few seconds before we jump. To do this we activate a vacuum rated valve that seals off the tube allowing us to pull a vacuum. The robot must be enabled for this valve to seal.

After a successful jump, the energy is only in two places: battery and gravitational potential energy. All of the jump mechanism energy is dissipated. This is no different than any other traversal bar climber. We have to get it down from the rung, and we have a good procedure to do that.

The release mechanism needs power to release, so it won’t activate when the robot is disabled, but we still need to consider the stored energy.

In the event of having charged the mechanism but ending the match without jumping, the vacuum valve automatically opens when it loses power when the robot is disabled. This opens the tube to atmosphere and air fills the tube to equalize the pressure, which dissipates the energy in a nice controlled way, similar to the way you’d use a high resistance resistor to dissipate energy in a large capacitor bank. We have a separate procedure that we’ve drilled the team on for approaching the robot when it hasn’t jumped. A vacuum gauge displays the status, and we just have to wait while the pressure equalizes before we touch it. A significant amount of energy is already gone during the 30 seconds it takes the gates to open, and it doesn’t take very long to dissipate the rest. We’ve colour coded the gauge so it’s easy to see when it’s safe.

In the event of a failure of the vacuum valve (if it doesn’t open) and the pressure isn’t equalizing to atmosphere, we’ve considered that and there’s an easily accessible hose we can cut with a pair of wire cutters to do it manually.

Obviously we expect the RI and LRI to have a lot of questions (we would be concerned if they didn’t) and we’re prepared to answer them.

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This is incredible! Usually robots with crazy endgame mechanisms can only do that but it looks like you guys are a great scorer as well

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