Trap

Scoring on the trap allows our robot to only require one of our alliance partners to get on stage in order to achieve the ranking point. By combining our elevator with a trap scoring mechanism we can achieve this without a great deal of complexity.

We are currently on our tenth revision of the geometry. Adding bearings to reduce friction as the elevator pushed against the stage and modifying the angle of the rollers was crucial. We also changed to 1" rollers allowing us to move it up.

One change after Newmarket was to add some belting material to help ensure the note gets pushed in.

Elevator

The elevator is modular allowing us to ensure our shooter/intake had higher priority for assembly - we could assemble the elevator off robot then simply bolt in place with a cable to wire it. Three stages allow it to nestle under our shooter and PID control allows us to automate positioning so we can feed a note from the shooter to deliver it to the trap.

Trap mechanism

Multiple vesrions of the plate were attempted as the geometry was challenging - it needed to easily receive a not from the

Prototyping

Here is a video of our initial prototype concept. We simply used our intake prototype to determine if this concept was feasible.

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