The Power system consisted of two 7.5V batteries connected in series, a fuse, a buck converter, and ground/power rails. We installed batteries on top so they could be easily accessible for replacement (Which became important when we needed a last-second recharge right before the competition). The power system also had an interrupting toggle switch, which allowed us to easily power the whole system on and off and reset our arduinos for testing.

Driving PHINeas consisted of 4 wheels with DC motors connected through 2 H bridges and connected to Arduino Uno. We opted for the simplest and most straightforward system that we could set up immediately.

Pros:

• our robot was the first driving around lab

• we could power motors from a single battery (7.5V)

Cons:

• turning was way more complicated and unreliable compared to teams with holonomic wheels

• both the wheels and motor shafts got worn during testing, robot started drifting randomly and unpredictably

The robot had a total of 4 ultrasonic sensors (2 left, 1 right, 1 back) and one tape sensor at the bottom front under ramp. The ultrasonic sensors were used to figure out position relative to walls based on distance and difference between readings (computing angle).

Pros: very easy setup, little need for calibration of sensors

Cons: inconsistent readings especially as robot turns

The shooting system had a single electrical compoent being a DC motor (+driver) which would turn for a set amount of time to make all 3 pucks shoot down the ramp. We had some issues with our robot not properly dispensing our third puck due to the conveyor sagging. We resolved this issue by elevating the back of the conveyor so that the final puck could crest the edge even with sag from the belt.