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Our subsystems
bai cai edited this page Feb 11, 2023
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- Uses rack and pinion to actuate scissor joint
- Claw ends are on bearings that allow game pieces to align through gravity
- Link to GGC showcase slideshow:
- This will be updated as the design evolves
- Control for a single motor (falcon/neo)
- Moves the rack and pinion
- Indexing system
- Two wheels with wheel treads that rotate in opposite directions, which orientates the game piece (cone in particular)
- The wheels (located at the front of the robot) rotate into the index system and spin the game pieces into the chassis
- Wheel speed must be proportional to the speed of the drivetrain (directly proportional such that interactions with game pieces will be consistent)
- Wheels push the game pieces along guide rails to a specific location
- Control for a single motor
- Spins the wheel treads
- A fishhook that allows cones to hang on it
- A motor attached to the fishhook that allows it to rotate in order to drop or hold a cone
- A single motor that rotates the hook
- Intake and Index system
- Intakes the game piece and indexes it for manipulation
- Two counterrotating shafts that pick up the game piece
- Connected motor to Power Distribution Panel
- Set the CAN_ID to 5
- Pneumatics deployment
- To deploy and retract
- Control for one motor (falcon)
- Rotates a belt
- Repurposed launcher code from Rapid React
- Created a command for the motor to spin
- We assigned the command to the Y button on the Xbox controller
- Tested code successfully
- Extends/retracts
- Rotates
- Control for two motors
- One for rotating (left joystick)
- One for extending (right joystick)
- Pivot is between 0 degrees (straight down) and 110 degrees (away from the robot)
- There are limit switches
- Upon startup, arm will always slowly rotate to bottom limit and then set encoder units to zero
- Extension motor is incomplete