Using aluminum as a framework the chassis is capable of housing the electronics and drive train while also supporting the lift and manipulators. Currently the perimeter is 30″ by 30″ which is right at the 120 inch limit.
The manipulator mechanism handles the ball and hatch part of the mission. The manipulator may not handle nor store more than one game piece at a time. The ball intake portion of the manipulator has four wheels which are spun inward constantly, drawing in the ball. The opposite side of the manipulator can handle the hatch mechanism by using velcro. The manipulator will lower and pick up the hatch.
The drive train has been designed to prevent opponents from pushing the robot out of alignment during competition, while also providing the capability of forcing opponents out of the way to remove field blockages. Movement speed is not majorly impacted. This is accomplished with two gear boxes and a west coast CAD design.
The lift mechanism is capable of extending to 7 feet within 5 seconds.
This provides the capability to lift the ball to the highest compartment of the rocket, giving us the opportunity to score the most amount of points possible. The lift mechanism can adjust its height to six different preset levels within 5 seconds of a button press. The number of available buttons is limited, as such we will be using button combos. It is not taller than 4 ft (including the chassis) at the beginning of a match.
A ball manipulation mechanism able to deliver cargo. Balls may not be shot out. The manipulator delivers the cargo without crossing the plane entry. This is all to maintain control and order during the match. If the ball were to be shot it could launch out into the crowd.
The robot must have sensors capable of detecting the alignment lines on the play field surfaces. One of our sensors will be two cameras that will operated during the sandstorm. Limit switches will stop our bot in the case that we collide with anything.
The robot must be able to self align itself with field markings using sensor data, within 3-4 seconds of a button press, or fail.
Constrained to “ideal case” where alignment can be fixed with just slight rotation around z axis.
Auto alignment and lift height adjustments is able to manipulated. The initial auto adjustments are done by an encoder. While the lift height is done the same way it has to be constantly monitored.
The robot has cameras that transmit a medium quality, non-laggy, 180 degree, views of the play field back to a control panel laptop to enable driving during the Sandstorm period.
There are limitations on wireless communications with the robot. The communication is not much of an issue as our system works well within its bounds. The only faults that we currently risk are a shutdown of the wireless connection. However, as we have not had that issue, we doubt it will be a problem in the future.