Mechanical

Our BOAT is based off the legend himself, Lightning McQueen. Donning the number 32, instead of four wheel drive, Lightning PIC-queen sports a dual propeller system that allows us to adjust both thrust and yaw based on the each side's rotation amount. Much like it's source material, this propeller system also allowed us to drift in the water, leading to many quick maneuvers in game as we dodged other teams BYTERs. 

These propellers were mounted at a 20 degree angle such that we could keep our motors above the water, with a long angled shaft reaching down. The shafts themselves were purchased as a single item, but include a long sleeve bearing allowing for easier mounting and reduced friction as the shaft must go through the foam. 

For buoyancy, the boat rests atop a layer of 2" pink foam, with a channel in the middle for increased hydrodynamics. A closed cell foam tube (the required bumper) is also attached along the edge for additional flotation, as well protection of the boat. 

The general main body base plate itself was cut out of a layer of acrylic for improved waterproofing, with all the encasing components being made of spray-painted duron and cardstock for a glossy finish. Vinyl printed stickers were also added for increased aesthetic affect. In order to access the internal components of the car, velcro was used so that the hood was removable. In addition to enclosing our entire boat with the body exterior, all electronics are stored inside a tupperware for further water-proofing. 

The BYTER consists of a laser-cut, acrylic lightning bolt attached to a servo that swings down to actuate. To improve balloon popping efficiency, additional small spikes were added along the edge of the lightning bolt. Slots were cut in the body to ensure the range of motion was not impeded. 

They BAYT is mounted atop PIC-Queen's spoiler to reach the 20cm above waterline requirement, using the provided balloon mount that triggers a limit switch upon popping. Underneath the mount also holds the boat's power button, allowing for easy access to turn the boat on and off.

Lastly, upon pairing, and "exhaust" servo flag will be raised indicating connection status with a controller. This flag is likewise lowered upon disconnecting. 

Click here to access BOAT CAD files.

Passive springs are used to center the cone at a neutral position (corresponding to a drive/thrust value of 128). Core electronics for the controller are located within the CHOMPCON, which is connected to the SWYMCON via a 4-foot long cord comprising of 4 lines (power, ground, thrust signal, rotation signal). The construction of the SWYMCON is straight-forward, with a duron frame and 3D printed pieces inside to create the shaft assembly. Click here to access SWYMCON CAD files.

Working in conjunction with the SWYMCON, the CHOMPCON controls the non-locomotive aspects of the BOAT. The knob located atop the CHOMPCON (which is connected to a potentiometer underneath) controls pairing operation, with different regions for each team, as well as a force unpair region. The microphone embedded within the CHOMPCON is used to acutate the BOAT's weapon, with a hearty "KA-CHOW" required for deployment. Weapon status is displayed on the CHOMPCON, with the servo indicating if the weapon is ready for deployment, currently deployed, or in cooldown mode. 

The CHOMPCON has a multi-use button fixed to its right side. When in pairing mode, the button serves as an update address button, with a button press leading to the pairing knob's value being read and pairing target updating. In regular operation, the button must be pressed for a microphone input to be read, making it a part of the KA-CHOWing process. A status LED is located atop the CHOMPCON, with flashing indicating pairing, and a solid light indicating the button is being pressed (for a CHOMP).

Internally the CHOMPCON houses all controller-side electronics, including the XBee radio, PIC32 microcontroller, and battery. Click here to access CHOMPCON CAD files.