This is our robot! There are a few things that we still want to work on, but this is what we have as of now.
First, we chose our drivetrain. We decided to build a Gobilda drivetrain with Mecanum wheels.
After that, we built our launching mechanism. For the intake, we used green wheels that suck the rings onto a ramp. Then, the wheels move through the ramp, and get launched by wheels moving at high speed. The speed will vary depending on what height we want the rings to get to (High goal or Power shots).
First we built the Launching Mechanism:
Then we built the Intake Mechanism
We also built a side arm, for picking up and dropping the wobble goal. We use a regular motor to move this arm, and servo motors to clamp around the wobble goal.
We think that our robot turned out pretty well! There are a few improvements we can make, but it performs all the tasks it is supposed to, and we are all really proud of the work we've put into it.
This is our control award submission for this year (2021-22). It highlights our Robot's control algorithms