Our most recent robot is Hyde, which competes in the 2017 game, FIRST Steamworks!
Hyde is our team’s foray into swerve drive. We are using AndyMark’s Swerve & Steer modules to achieve a fast, maneuverable unicorn swerve system. Each wheel is powered by a CIM and turned by a 775. Additionally, the programming team has made multiple different ways to drive Hyde, including both “field-centric” driving and a system that designates the gear-side of Hyde as the “front”.
Hyde’s climber features 2 CIMs for an amazing amount of torque. This system grabs onto a rope using hooks, then uses a ratcheting winch system driven through three stages of chained reductions to pull itself up more than 5 feet in no more than 6 seconds.
Hyde’s fuel intake is a poly cord system wrapped around solid aluminum rollers with custom pulleys hand lathed into them. This intake feeds into a large hopper that can hold around 40 balls and output them efficiently using a Brachistochrone.
Last year, we build Genghis to play the 2016 challenge, FIRST Stronghold.
Genghis was our first experience running a West Coast Drive-esque drivetrain. Our major changes involved overlapping the wheels so we could use larger wheels and supporting the drive axles on both sides to ensure Genghis could withstand the game’s many obstacles.
Using two wheels as both an intake and a dual-wheeled flywheel shooter, we were able to pick up and shoot foam balls into the high goal.
Jenga was built to compete in the 2015 FRC Challenge: Recycle Rush.
Jenga’s drivetrain features two omni wheels in the front and two traction wheels in the back. Two VEXPro double-reduction gearboxes power one omni and one traction wheel each, with a single CIM per side.
We created the lift using a steel lead screw, powered by two CIMS. It has five pre-programmed set points that allow us to send it to different levels. Jenga’s manipulator is two flaps designed to fit over Recycle Rush’s totes and hook it’s cans. We can eject totes onto the step using pneumatics.
We programmed Jenga in Java. Jenga has two cameras and four ultrasonic sensors to allow it to complete multiple autonomous routines. We use Talon SRXs to control our motors.