Marvin III

Spring 2010

Mountaineer Area RoboticS (MARS) - FRC 2614

As a member of MARS I had the opportunity to work on Marvin III which was designed to compete in the 2010 FIRST Robotics Competition (FRC) game: Breakaway. I worked primarily on the software, control board, and as Marvin's co-pilot.

Game Description

Breakaway is played with two alliances of three teams each competing on a 27' x 54' field divided by two sets of bumps. Each alliance attempts to earn points by collecting soccer balls in their goals. Additional bonus points are earned during the end game for each robot not touching the ground at the end of the match.

Technical Details

Four Mecanum wheels.
Capable of climbing the bumps and traveling through the tunnels.
Two-power level kicker using pneumatics and springs.
Front roller for ball control.
A scissor lift is used to place a hook on the tower. A winch is then used to lift Marvin off of the bump.
A PID control loop keeps Marvin stabilized on top of the bump while deploying the hook.
Sixteen different autonomous modes are available.
Capable of goal auto-targeting using the camera.

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