2025 Robot

Mako

Drive Train

Drive Train Base length  = 29 in

Robo Rio Can ID = 0

Swerve Drive  = Swerve Drive Specialties MK4 x 4 Falcon 500/L1/Colson Wheel

Power Distribution =  REV Power Distribution Hub  Can ID  = 9 

Gyroscope= CTRE Pigeon 2  = 11

Swerve Drive Modules

Front Left

Drive  Can ID = 1

Angle Can ID =2

Front Right

Drive Can ID = 3

Angle Can ID = 4

Back Left

Drive Can ID = 5

Angle Can ID = 6

Back Right

Drive Can ID = 7

Angle Can ID = 8

Subsystems

Subsystem 1:

Algae Arm= 2 REV motors with 12:1 gear box attached on each side with 1 REV absolute encoder on the Right side Motor shaft

Controlled with SparkMax Motor Controllers, Can ID = 12

Algae Accumulator = 1 REV motor with a 3:1 gear box attached to a pulley system

Controlled with SparkMax Motor Controllers 

AlgaeArmRMotor CAN ID = 13

AlgaeArmLMotor CAN ID  = 14

Subsystem 2:

Coral Arm = 1 REV motor with 12:1 gear box attached with 1 REV absolute encoder 

Controlled with SparkMax Motor Controllers = CAN ID 15

Coral Accumulator = 1 REV motor with a 3:1 gear box attached to a pulley system

Controlled with SparkMax Motor Controllers = CAN ID 16

Subsystem 3:

Elevator

1 Rev Motor with a 12:1 Gear Box attached with 1 REV absolute encoder.  

Controlled with SparkMax Motor Controllers = CAN ID 17

Programming-Java

Programmed using YAGSL for the swerve drive

Field Oriented driving

PID control on the Algae Arm

PID control on the Coral Arm

Manual control on the Elevator