X-SHARC #6838 | Build Blog 2024

Hello Everyone!

Welcome to X-SHARC #6838’s 2023-2024 season build blog. We are really excited to be a featured OA team for this season! I am Mohamad, the team lead for this season, and I will be helping with the blogs this year. We’ll be 6-person crew who will keep the blog up to date.

Mohamad - Team Lead
Berra - Team Lead
Zeynep - Electronics Lead
Ece - Mechanical & CAD Department
Emre - Electronics & Programming Department
Gökalp - Youth Mentor

A Little Bit About Ourselves

Our journey in FRC started in the 2017 off-season, and we have come a long way since then. This year will mark our 8th season competing. We are a school-based (SEV American College) team located in Istanbul, Turkey. We have had a last couple of successful years here in Turkey, and we hope to grow as a team this year as well.

In 2024, we will be competing in:

  • Istanbul Regional | 5-7 March (Week 2)
  • Haliç Regional | 19-21 March (Week 4)

Team Links

What We Have Done So Far:

We decided to build a new off-season robot, however due to unfortunate competition conditions we never got to participate in the offseason, and never actually got around to fully finishing our robot when it comes to the software aspect. You can see a more detailed blog, about our offseason robot right here:

During the off-season, we aimed to teach our new members as much as possible. We held workshops for each department, as the new members got involved in mechanics, PR, CAD, electronics and programming.

Our new members showed great progress in such a short period of time, which we hope will be a large benefit for us during the season.

Crescendo Season General Team Goals

  • Increase in-house manufacturing and make use of the CNC router as much as possible.

  • Produce faster prototypes through the CNC router’s use.

  • Fast outsourced manufacturing.

  • Improving all the skills of our members, especially newer members.

  • Increase the participation of all members during the robot assembly process.

  • Increase social media usage (YouTube, Instagram) and have a stronger outreach.

  • Establish a great workflow that strictly complies with our season calendar.

  • Establish great communication between all members during the robot-making process(One way we plan to do this is by making use of Spectrum’s task manager spreadsheet).

  • Enter the competition with a robot that shows consistent and reliable performance.

  • Consistently iterate through the season, essentially having a very much improved robot compared to the beginning of the season.

  • We are aiming to win both regionals, either as alliance captains or first pick.

  • Therefore we hope to qualify for the Champs and get to Round 2 of the playoffs in our division.

Crescendo Build Season Goals

  • K.I.S.S. - Keep it silly simple

  • Steal from the best, invent the rest

  • Touch & Grab intake

  • Define Design requirements for each subsystem and consistently work towards them through the season.

  • Iterations

    • Consistently iterate throughout the build season for performance gains

    • Follow a fast iteration process

      • CAD iterations if not major should not take anymore than 2 days

      • Review CAD iterations as a whole and bring them to the best state possible

      • The manufacturing process should not take more than 2-3 days.

      • Try to keep iterations as simple as possible to maximize process speed

      • Account for a minimum of 6 days for any iteration.

      • All iteration’s mechanical assembly and program planning must be done before manufacturing

      • Use in-house manufacturing methods to maximize the speed of manufacturing for polycarbonate plates

      • Iterations that require CNC milling machines should be accounted for in a longer time frame

    • Show constant and significant improvement with each event, and drive for simplicity combined with efficiency when doing so

    • Have a modular design

  • Have a robot that consistently achieves the defined design requirements and fix all inconsistencies before competitions

Prototyping

  • Mostly all designs should favor manufacturing by our in-house CNC or any sort of in-house
    manufacturing to maximize speed

  • Make prototypes adjustable to test multiple orientations and degrees of freedom

  • Gather all possible data from prototypes

  • Materials

    • Wood
    • Polycarbonate (3mm) (Only if required)
    • Plexiglass (3mm, 4mm, 5mm)
    • Aluminum (3mm) (Only if required)
    • 20mm x 20mm sigma profiles
    • 3D Printed parts
    • Last year’s protopipe blocks

Manufacturing

Outsourced

Similar to last year, we want to maximize manufacturing speed. This year we have 4 sponsors that will help us with this matter and we aim that our parts will be manufactured within a 3-day span. We are very thankful for our sponsors Nitrocare, Altınay, Ofisline and Koç Otomotiv. Due to their support we will have access to laser cutting, sheet-metal, CNC milling, and lathe parts made out of aluminum, polycarbonate, steel, and wood.

In-House

For in-house manufacturing this year we will be making use of our milling machine, CNC router, drill press, and belt sander machine.

Thankfully this year we could finally get our CNC router up and running. Currently we just plan to use it for prototyping, and intake polycarbonate plates. All of our aluminum plates will still be outsourced from our sponsors as we still don’t have enough machining experience.

We made this bearing jig to test our machining tolerances for ½ inch hex bearings, and find the right size fits for the prototypes we will be making.

Build Season Calendar

This year we tried to make a highly detailed season calendar and have everything pre planned as much as possible to ensure less time loss during the season.

We’ll be updating you soon on our Kick-off! Until then we hope you have a wonderful Kick-off!

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Kickoff

Welcome back, everyone!

We are thrilled about the new theme CRESCENDO!

It’s become a tradition for us to celebrate the beginning of the new season with our team and families. Similar to previous seasons, we invited all of our team members, alumni, friends, and families to our school to learn about the new season’s theme together.

General Team Presentation

For our team, Kick-Off is not just a day, in which we learn the theme of the new season, but also an opportunity to unite as a team completely before the season starts. Other than that, it is one of the rare occasions, that we can meet with our families, and we use this opportunity to explain to them about FRC and what our mission is as a team.

Strategy Presentation

Another important part of our Kick-Off program was the strategy presentation, which was delivered by last year’s team captains. This is something really important for us to draw a guideline and explain the basics of the beginning of the built season, especially to our newer members. We used 1678’s presentation, which is really helpful, and we recommend other teams to also check it out.

Mini Concert

This year, we have decided to make something different and fun! Since this year’s theme is CRESCENDO, a musical term, and we have some musicians on our team, we wanted to give a mini-concert. To be honest, it was really fun to play, especially because it was not something fully planned and very spontaneous 😅.

Kick-Off Needs to Be Fun!

Kick-Off needs to be fun! It is the beginning of another amazing season; however, the season process can be also really time-consuming and stressful. Having a fun and energetic start is important to maintain a healthy season. Because of that, our PR department prepared 2 really fun games for us today, a trivia show and a Kahoot. Especially the trivia game was really entertaining and a great team-bonding activity.

That was all for our kick-off program! It was a great opportunity to bond up as a team and it was a pleasure to host our families. It was also really nice to see some familiar faces, some graduates from our school and old team members!

As X-SHARC #6838 we are really excited for this new season and theme. We have established a great start, and hope to carry on the team spirit throughout the season.

We will make sure to keep you updated concerning our progress during the whole build season.

Please do not hesitate to ask any questions, if you have any.

We wish everyone a great season!

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Strategy Guide

Hello everyone! My name is Berra, and I am one of the team leads. I will be giving you an insight into our strategic plan for CRESCENDO. There is one rule we always pay attention to while making our decisions: Golden Rule 1: “Keep It Silly Simple (K.I.S.S.)”. Also, keep in mind that we haven’t locked in our strategy yet, so it is subject to change.

First, we had all members fill out a copy of 1678’s worksheet to get a better understanding of the game. Later today, we had a discussion with the entire team to brainstorm about different takes on the game, making sure to get everyone’s perspectives.

Following that, in a separate meeting with the department captains, we decided on our robot’s strategy for the autonomous, teleop, and endgame periods under three categories: must-have (things we will definitely do), nice to have (things we will try to add after the basics), and explore (things we will do in the upcoming regionals/process). Here is what it looks like:

For the autonomous period:

  • Must have
    • 1 note scored + leaving the robot starting zone
  • Nice to have
    • 2 notes scored
  • Explore
    • 2+ notes scored with various paths

For the teleop period:

  • Must have
    • Ground pickup
    • Score into the speaker, leaning against the subwoofer
  • Nice to have
    • Shoot from the podium or the stage zone
  • Explore
    • Trap
    • Going over the notes

For the endgame period:

  • Must have
    • Climb
  • Nice to have
    • Harmonize while climbing
    • Being able to climb in less than 10 seconds

Priority List

  1. Dedication and commitment

  2. Maximize match points

  3. Maximize RP points

  4. Minimize cycle times (cycles between HP and speaker)

  5. Be able to score into the speaker (aligning and leaning against the subwoofer whilst shooting)

  6. Be able to pick up game objects from the ground

  7. Be short enough to go under the stage (also long enough to be able to score into the AMP, if attempted)

  8. Get driver practice (to be able to achieve as many effective cycles as possible)

  9. Score 1 game object and leave the starting zone in the autonomous period

  10. Be able to score into the AMP

  11. Be able to climb

  12. Harmonize while climbing

  13. Explore 2+ game objects in autonomous periods with various paths

  14. Explore Trap

There were some debates about certain decisions including; whether we would attempt to shoot into to the AMP when we can shoot into the speaker, from what distance we should attempt the shootings from, so on and so forth. We also decided to explore Trap; since it would steal time from our cycles to climb and push, and also because pushing would require another mechanism in addition to shooting - making the system more complex. Overall, our strategy is pretty much similar to the previous years for now, where we prioritize cycle times and scoring as many game objects as we can over the others.

Once our strategy is locked, we will move on to the prototyping and CAD process, and an exciting process of 8 weeks lies ahead of us. Feel free to ask any questions and good luck!

openalliance

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Are you not planning on scoring into the amp during tele-op? You haven’t mentioned it in any of the 3 categories (must have, nice to have , explore) although you do have it in the priority list

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Our main priority is scoring into the speaker, and scoring into the AMP will vary according to our subsystem’s build. It would be somewhere in between must-have and nice to have, but as it’s unclear where it stands, I didn’t put it on the list

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Strategy Update

Welcome back, everyone! I would like to happily announce that our strategy is now locked in, and we will move forward with this priority list and strategy throughout the season. We made certain changes to our must-have, nice-to-have, and explore sections. Here are the updated categories and priority list:

For the autonomous period:

Must-have Nice-to-have Explore
2 notes scored + leaving the robot starting zone 3 notes scored 3+ game objects with various paths
Side auto (in addition to the main autonomous: 2 game objects & AMP scoring) Shooting on the move

For the teleop period:

Must-have Nice-to-have Explore
Ground pickup Shoot from podium or stage zone Go over notes
Scoring into the speaker (leaning against the subwoofer & from all sides) 1 side intake, 1 side scoring
AMP scoring

For the endgame period:

Must-have Nice-to-have Explore
Being able to climb in less than 5 seconds Climb in under 3 seconds Buddy Climb
Harmony
Trap

Priority List

  1. Dedication

  2. Maximize match points

  3. Maximize RP points (maximize coopertition points)

  4. Minimize cycle times (cycles between HP and speaker: be short enough to go under the stage)

  5. Be able to score into the speaker (aligning and leaning against the subwoofer whilst shooting, from all sides of the subwoofer)

  6. Be able to pick up game objects from the ground

  7. AMP scoring

  8. Get driver practice (To be able to achieve as many effective cycles as possible, get human player practice)

  9. Score 2 game objects and leave the starting zone in the autonomous period

  10. Being able to climb in less than 5 seconds (harmonize while climbing)

  11. Being able to shoot from the stage zone and podium

  12. 3 game objects in autonomous periods with various paths

  13. More than 3 game objects in auto

  14. Trap

Starting from number 4, we decided that we should score from all sides of the subwoofer, and expanded the description rather than just stating to lean against it and shoot from up close. AMP scoring, previously unclear, is now a must-have for us, as we would like to be able to score into the AMP in the autonomous period and gain the amplified 10 seconds from scoring 2 game pieces into the AMP. In addition to including an important aspect which is human player practice, we thought shooting from the stage zone and podium into the speaker was essential in the upcoming process if not an utmost priority. Even though we carried Trap into the nice-to-have category for the endgame period, we are still in agreement with the fact that it is complicated for our robot and its strategy.

In the autonomous period, we are planning to do a 2 game object + leaving the starting zone autonomous. We will be developing with 3 game objects autonomous, exploring 3+ game objects, and shooting on the move. Being able to climb in less than 5 seconds is now a must, as 10 seconds seemed too long for the action.

That is all from us, we will now be delving into the CAD process. Feel free to leave any questions :slight_smile:

openalliance

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Robot Architectures

Welcome back, in the past couple days we have focused on researching all feasible robot architectures. Here are the ideas that stood out most:

Elevator + Fixed Intake

This idea consists of a shooter and intake mounted onto an elevator. The elevator also doubles as a climbing mechanism and the flap at the top allows the robot to shoot from two different set positions(we aren’t aware whether this flap will work, but we’ll be testing this with our prototypes). We probably won’t be going with this architecture as there is an added complexity with making an elevator, and that it limits us to only two positions of scoring.

Pivoting Shooter + UTB Intake

This is 1155’s(SciBorgs) design. We found this design to be quite nice as well as it can easily score into the AMP.

Arm + Conveyor Intake

It consists of a shooter mounted on an arm that is directly fed by an UTB intake at its zero position. It’ll also be able to score into the AMP at the top position. To maximize our ability of grabbing the notes we also added a conveyor that drags the notes under the chassis towards the intake. We’ll be testing the conveyor with our prototypes, to see how effective it’ll actually be. This design’s simplicity is a big reason we are mainly leaning towards it as of right now, we’ve also seen similar OTB designs such as Unqualified Quokkas Ri3D which show the effectiveness of an arm in this year’s game.

Zero position:

AMP Scoring Position:

We’ll be testing our prototypes today and tomorrow, we’ll post our results as soon as possible and keep you updated. Please don’t hesitate to ask any questions or provide feedback!

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I would have a small question, as I understand from the visuals, you use a four-bar intake, would you prefer a small mechanism like a kicker to support it when getting an object, I wanted to ask this because my old team, 7285 sneaky snakes, also used a kicker when using a four-bar intake in 2022, and it made it very easy to get this object

The intake in the first picture is named as a 4-bar in KrayonCAD however we use it here is a fixed non-pivoting intake, we just used this as it would look more similar to the geometry of an OTB intake if we were to do it.

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In-house Manufactuing of Prototypes

Hi, y’all. Today we started with designing 3 prototypes. They are for conveyor, intake, and shooter mechanisms. As we aimed, we wanted to get maximum efficiency from our prototypes. That’s why we put lots of variables to be tried on them.

I am really happy to tell you that these prototypes are the first prototypes we manufacture on our own with a CNC Router :partying_face:. We finished manufacturing the intake plates and shooter. We finished the day by trying the shooter.

Intake

Here are our intake plates. Again we fixed one side of the wheels. We will be changing the compression by using the slots we made. We will be trying them tomorrow.

Shooter

In our shooter prototype plate, we focused on trying out different variables. One side of the wheels is fixed and we changed the compression of the other wheels. Since we did some research on Chief Delphi, we calculated for 4”, 5”, and 6” compressions. Additionally, we can change the center distance of two wheels, which are the front and the back. We used 4” solid roller wheels in our design.

Firstly, the distance of the wheels should be smaller. In the first trial, we made the surface of the wheel which contact to the note is not too much. That’s why the second holes are better. It has a lot more contact than the first one. In the next design, we will consider reducing the center distance of the wheels.

Secondly, we added 4 more 4” compliant wheels on each wheel. We increased the width of the wheel and surface area that made contact with the note. After adding compliant wheels on each side the note followed a more accurate path.

Overall, our compression was better at 5” and 6”, we couldn’t find which one was better yet. We think that several reasons caused this problem. After the note touch in the first wheels, they tend to go upward without touching the second wheels at the front. We are going to put some kind of plate at the top to provide the note a better path. Another thing is that while putting the notes we may cause some errors.

Here are the videos of our trials:

4” Compression

5” Compression

6” Compression

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Hello everyone! I’m Kayra, the former PR Captain of X-SHARC. We’ve started the year strong with a fun kick-off and a long strategy-developing period. As we move on to our prototyping process, we wanted to throw back to the Charged Up season. We’ve uploaded a video of one of our qualification matches during the Halic Regional in which we had a GoPro attached to our robot. So, the video contains both the outside view and the GoPro vision of the match. Our YouTube channel name is Team6838 and here is the link to the video:

https://youtu.be/FhQAaw7jLE4?si=_UfQ3HeE1n3YNjI4

In addition to the team’s YouTube channel, throughout our whole robot-building process in the Crescendo season, we will share our journey on Instagram frequently. You will be able to see what we are doing after school hours and which stage our robot is in from our posts and daily stories. Our Instagram account is xsharc6838 and you can reach us from wherever you want. We’re open to any of your questions regardless of the platform you write to us :slight_smile:

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The Design We Choose

Hello! Through the past couple of days we’ve been testing and discussing robot ideas. Finally, today we decided on a robot that pretty much consists of a roller feeder and shooter mounted on an arm, with a 95 Grasshoppers inspired UTB intake, and two telescopic climbs.

There are multiple reasons we preferred this design. Firstly, it gives us the ability to shoot in the speaker from variable distances as well as scoring in the AMP by using the arms pivot. At the zero position we can score into the speaker from near the subwoofer, which acts as a backup to any arm malfunctions we might encounter. Another factor is the capability of touch & grab with this intake design. Initially not all of us were keen towards UTB intakes but with many new designs that teams came up with it became quite evident for us that it was the path to take for such a design. We really like 95 Grasshopper’s intake concept as it maximizes the width of the intake without requiring any major changes to the chassis. The most appealing part of this robot design is its simplicity, we only have 1 DoF which means our programming department can mostly focus on fine tuning the arm and we’ll hopefully have more time for driver practice as well.

After we defined our overall robot concept we created some design requirements, so we were all on the same page before moving on to any CAD.

Design Requirements

General Drive Train Shooter + Feeder Climb Intake Arm
Drive under stage 62.5cm x 75 cm Feeder mechanism to store notes Easy to fix & maintain Touch & grab Easy to fix and repair
Opposite side intake and shooter MK4i swerves Easy to maintain Locking mechanism UTB floor intaking Stabilization in different positions
Low CG Setting RPM to shoot from variable distances Compact size Centering the notes for the feeder Long enough to score into AMP
Position climbs according to CG Use a roller feeder Prevent slipping on the chain Score into the speaker from the subwoofer in to the zero position
Minimize Weight 1-stage climb Maintain strength while minimizing weight

0.15m from Subwoofer

2.5m from Subwoofer

Scoring into the AMP

We also got a chance to test our intake prototype, and we observed that 4cm of compression between rollers, and a height of 3.5-4cm for the top roller worked best. We didn’t get to try our conveyor prototype as it wasn’t sturdy enough and broke quickly, we probably won’t be trying it as we don’t see any need for a conveyor anymore with the intake we have chosen for our current design.

That’s it from us! We’ll be updating you in the upcoming days regarding our CAD progress, see you soon!

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CAD UPDATE

Hi! As we are nearly getting to the end of the second week of the build season, we are aiming to start the third week with a fully finished robot design. So here is what we have done so far in our CAD!

Chassis

After our other subsystems became clearer, we decided that a bigger chassis would fill our requirements better. With our 62.5 cm x 75 cm chassis, the arm had a really narrow space to fit, and we didn’t have enough space for the battery. Therefore we increased the chassis measurements to 67.5 x 75 cm.

Arm

For the arm, we were highly inspired by team 2910’s 2023 robot. We wanted our arm to be light, and reduce backlash as much as possible to consistently score from set positions. We also want our arm to be modular and easy to repair in an emergency. The shooter mechanism will be mounted at the end of the arm, however, we have yet to decide how we will fully do that.

Intake

We are continuing to improve our intake model. As we have said before, this year, we are planning to use a 95 Grasshoppers inspired UTB intake. We have discussed, that for this intake design, one of the most important things is the note being centered, and we keep looking for ways to achieve this. The assembly of this subsystem is not yet ready, however, we are going to keep you updated.

Shooter + Feeder

In the shooter, we went with two rollers at the sides. We used 4 solid roller wheels on each side of the shooter with 5’ compression. In general, we put a 2mm steel plate at the bottom of the polycarbonate plate to make the shooter more rigid and more durable when we mount it on the arm.

For the feeder part, we put one 775 and a set of 2’ compliant wheels with 10 mm compression.

After our CAD meeting, we decided to make some changes to our shooter design. Actually, this version of the shooter was really good; however, the gears and the plates make it really heavy. In addition, the length and width of the shooter was increasing a lot. That’s why we decided to use the length of the feeder and decrease the roller amount to one (One at the top and one at the bottom). By doing this iteration, we aim to make the shooter much lighter and smaller.


Climb

For this year’s robot, we are planning to use 2 telescopic climbs, which we are familiar with from our 2022 robot. Right now, this subsystem is not yet fully ready because of a few minor errors, however, we are going to keep you updated.

This is it for now. Right now, the baseline of our robot is ready, with a few deficiencies. We are going to continue to share what we are doing, and please do not hesitate to ask any questions.

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What is the thinking behind coupling the two sides together? We recently switched over to that independent side shooter and one of the advantages is that we can add some spin to the note if needed. What wheels are you planning to use? Thanks!

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After some discussion, the main problems caused by this design are the weight and complexity. With the 48t gears on both sides, it adds lots of weight to our shooter. In addition, the amount of pulley will be reduced.

What makes this design complex is the amount of belts, pulleys, and gears connecting too much. For example, the middle shaft at the bottom connects to three parts (the photo below). The first one is the belt coming from NEO. The second one is the connection between the upper right shaft and a belt. Lastly, the connection between the front wheels with a belt.

About giving a spin to the note, it is also a question that we are curious about. However, what we have seen so far from CD and other teams is that it is not really efficient or works well.

Finally, we are planning to use 4’ stealth wheels with a 60A durometer. In our prototypes, we used 4’ solid roller wheels which also worked well.

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Did you test shooting with only a single set of rollers or just run with 2 from the start to impart more force to the note? If you did test only 1 set, did you find that both sets are necessary?

Robot is looking good!

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Thank you so much.

For prototypes we just tried a side roller, here are the photos.

We didn’t get the chance to try for other shooter types. As we saw 2 sets of rollers are increasing the contact to the object. However, as we watched some prototypes single set got along with our strategy more.

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Arm Update

Hello! Welcome back, I’ll be going over the arm design in this post, everything from the thought process up to the almost final product we currently have in CAD.

Thought Process

Our initial thoughts at the beginning of the season were that shooting from the subwoofer would be quite competitive if effectively done. As prototypes came out we realized it might be quite easier than we thought and started thinking about how we could integrate this capability into our design. We eventually came to agreement that we’ll need a pivot of any sort to do this, so we decided a shooter mounted on an arm and an UTB intake would do the job, and meet our goals of still being quite simple. The arm acts is the single DoF in the whole design, we believe this’ll give us more time for driver practice which we think will be a driving factor in the team’s success.

The Design

The arm’s design is very much inspired by 2910’s robot in 2023, it’s tall enough to just reach the AMP, and we can possibly use it for climbing if needed.

  • It runs on a dead-axle with a ratio of about 1:148
  • It’s driven by two falcons
  • Each falcon is placed on different sides and eventually drive the same shaft
  • The chain tensioning system is easily adjustable, and rotates part of the gearbox (2910’s 2023 chain tensioner)
  • Connected to a custom 62T sprocket in the final stage
  • Plan to shim the gears to reduce backlash like 4144

There are some still not fully finished details such as how we will be mounting the shooter on to the arm without adding too much weight, for now we were thinking about making tube plugs however this might be both heavy and hard to manufacture. We also aren’t too sure about where we will mount our limelight, and how we will be able to integrate an encoder. Other than that we originally designed our arm according to 2.5 x 3 x 0.125 inch bearings but due to shipping problems we probably won’t be receiving these in time for someone to bring them from the US. Fortunately, we could find metric versions with similar dimensions to that of the bearing and we changed our design accordingly.

Endgame

While designing our arm we realized that if we made a two stage climb instead of one and angled the robot as much as possible that we might be able to reach into the trap with our shooter, we quickly created a sketch to see if this would actually work, it stays just short of doing so but we never actually planned to score into the trap in the first place and it might be a bit complex, so we won’t be making any changes. We still thought it was a cool idea and wanted to share it as other teams might be able to attempt something similar.

Another question we kept asking was whether it would be worth making two telescopic climbs like we initially planned to. In its current state the arm can be used to climb at the lowest point of the chain but just needs a hook to latch on the chain. This would reduce the general complexity of our robot much more and making packaging easier as we essentially get rid of a subsystem. However, we aren’t sure whether such a trade-off would be worth it as we probably won’t be able to harmonize anymore and as we aren’t planning to attempt the trap anytime soon we think it’ll be quite important for us to harmonize for RP points. We would love to hear your thoughts as well.

A few adjustments and we hopefully will be able to send everything to manufacturing and start the assembly soon. We’ll be posting an update soon on the other subsystems, goodbye!

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CAD Update

We have progressed quite a bit today, we’ll have the final touches on the arm and shooter soon, we are still working on the intake. We are trying to explore mechanisms that’ll let us center the note for the shooter. As you might see by the CAD there are some interferences here and there that we still will be working on.

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Your arm pivot seems to be very low. How are you going to score in the amp?

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