Our Robot

Horizontal Extension

Our horizontal extension represents a very unique of aspect of our robot. While most people tend to think it only helps us reach out into the submersible to intake samples, it also allows us to push samples in autonomous using radial velocity rather than just physical using the robot to move it. Additionally, with the PID controllers that have been integrated into the motors of the extension, TeleOp movements are very accurate and super speedy.

Vertical Extension

Our vertical extension has many purposes in our robot. First, it has the capability to take samples from the field and put it into the high basket. We maximized the length of the extension allowing us to reach that height. Secondly, our vertical extension is used to take specimen from our human player and hang it on the high chamber. Our claw is attached to the vertical extension so that it all works together as a system. Lastly, our vertical extension is used to hang our robot for a Level 2 Ascent. This gives 15 extra points for pulling our robot and hanging through the use of the extending vertically.

Transfer Mechanism

Our transfer mechanism essentially transfers the sample from the intake to the basket, which later gets dumped into the high basket. After our intake picks up the sample, we have a servo that swiftly swivels back towards the basket and as we outtake, the sample gets thrown into the basket. One cool aspect about this is that we can choose not to transfer such as when we want to give our sample to the human player. This is useful because we can seamlessly alternate between going to the high basket and specimen.

Claw

Our claw was specially engineered to pick up specimen from the wall with its harsh grip. It works uses a gear system that runs internally within the enclosure of the guard walls of the claw. It is directly connected to the torque servo we use to provide the claw with it's perfect grip features. Additionally, the claw was designed to have wide grip to even adjust awkwardly positioned samples.

Intake

Our intake mechanism, designed with a set of intake wheel, made to easily grab samples in a matter of seconds. Powered by a GoBilda torque servo and housing a gear ratio that gives us the perfect balance of speed and torque. It is mounted on a servo that can quickly swivel back, leading our intake to our outtake bucket. With a simple reversal of the servo, the sample will be placed into the basket and ready to be scored.

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