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ROBOT NAME
In this competition, there are many ways to score. However, there are only a few strategies that can be employed to score the maximum number of points. The game is comprised of two sections: Autonomous, where the robot performs a series of tasks without human intervention, and Driver-controlled, where a human player controls the robot. The best strategy for the game can be broken down into these two sections. For Autonomous, there are three possible starting configurations: A, B, and C. The starting configurations alter the number of rings on the playing field. Points can be scored by launching the rings a targets. Additionally, the robot always starts this phase with three rings and a moveable object (wobble goal), that can be pushed forward for points. The optimal strategy is to first push the wobble goal forward (20 points), then shoot rings at the highest scoring targets (power shots) which score 15 points each. If there are remaking rings, they should be shot at the high goal for 12 points each.
If the robot moves fast enough, the scoring potential is:
65 points for configuration A
77 points for configuration B
113 points for configuration C
The Driver Controlled period consists of two phases: the first 90 seconds and the last 30 seconds. During the first phase the robot can only score by shooting into one of three goals: the low, mid, or high goal. The optimal strategy is to only shoot at the high goal for 6 points each ring. During the last 30 seconds, power shot targets are available for scoring. The optimal strategy here is to only shoot at the power shot targets for 15 points each, resetting the targets when necessary. The robot could earn 138 points if it takes 5 seconds to pick up and shoot a ring on average. If the robot moves extremely fast, it could score more than 200 points in this part of the competition.
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The success of the robot largely depends on its ability to pick up and launch rings accurately and quickly, either by itself or with a human driver. At the beginning of the competition, the robot must move a wobble goal, so it must have 3 key functions:
1. Picking up/releasing wobble goal
2. Picking up and storing rings
3. Shooting rings
The wobble goal can be moved with a simple gripper on a short linear slide. To pick up rings, an intake system composed of three sets of wheels is sufficient to quickly load them into the shooting mechanism. This mechanism uses a flywheel rotating at high speed in conjunction with a small arm that is connected to a servo. When the rings are loaded into the shooting mechanism, the arm pushes them into the flywheel, ejecting them from the robot quickly and accurately. The robot cannot stack rings on the wobble goal or move the wobble goal over high obstacles. These capabilities are not required because the above methods of scoring are inefficient and will not be pursued.
GRIPPER
The Gripper serves to grip the wobble goal, move it forward, and drop it for 20 points in autonomous. The component uses a basic linear slide combined with a gripper. The gripper will hold on to the goal and is activated by a servo, whereas the linear slide is powered by a motor to lift the goal. The linear slide will then set the goal down gently, released by the gripper. Going forward enhancing the gripper could reduce the likelihood of dragging the wobble goal or dropping it prematurely. Overall a self-assessment of the ease of access & ability to perform for this component would be 8/10.
INTAKE MECHANISM
The component moves rings from the ground into the shooting mechanism. It consists of three separate parts: two sets of large wheels and one set of small wheels. The large wheels are mounted behind the robot at an angle and are connected by sprockets and a chain-driven by a motor. The small wheels are positioned underneath the robot, close to the ground, are driven separately by another motor. In front of the first set of large wheels, there is a small funnel guiding rings in when the robot backs up over a ring on the ground. The first set of large wheels moves the ring from the ground to the top of the small wheels. The second set of large wheels then push the ring over the small wheels and into the shooting mechanism. There is a possibility of a small variation in the design that produces improved results for the speed and reliability of the mechanism. Moving forward, applying another set of wheels could increase loading accuracy and speed. Including guides for the ring, like ramps and additional funnels, could also lead to improvement. The ease of access and ability to perform maintenance is rated 6 out of 10.
SHOOTING MECHANISM
This component receives rings from the intake, stores, and then launches them toward goals. Three rings sit in a stack on a broad platform which is angled upward, behind the rings is an arm connected to the servo. Underneath and to either side of the rings sits two wheels. One of which is a flywheel connected to a motor, the other is not driven. When the flywheel rotates at an extremely fast speed, the arm behind the rings pushes the lowest ring in between the flywheel and the undriven wheel. The flywheel ejects the ring from the robot. The next two rings drop down, and the process repeats. When there are no more rings, the intake mechanism supplies them. Moving forward, adding brackets to either side of the shooting mechanism could work to increase its accuracy. The addition of brackets to hold the rings in place before they are ejected could also reduce the chance of them falling off the chassis. Overall a self-assessment of the ease of access & ability to perform for this component would be 4/10.
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