This year we used GoBilda's Strafer Chassis kit. We used four Planetary Gear Motors to power 96mm
in diameter Mecanum wheels. Our robot has a REV Robotics Control Hub and Expansion Hub to
control the robot. We use Logitech C270 USB Camera for computer vision and machine learning.
Ring Intake Mechanism:
Robot intake mechanism consists of a ramp and a carousel. Surgical rubes pull the Ring and push
them over the ramp. For the ramp we used a chain drive with a single DC motor to power two shafts
having surgical tubes to push the Ring over the ramp. We threaded the chain through two gears
connected to the different shafts.
The robot's carousel mechanism allowed us to turn the Ring 180 degrees, so we can shoot the Rings
while driving the robot without turning the robot. Carousel's central shaft is powered by a single DC
motor. The central shaft spun surgical tubes to turn the Ring around in the semi-circle closed enclosure.
Ring Shooter Mechanism:
The shooter mechanism allows the robot to shoot the Rings to the desired height. The shooter
mechanism consists of a smaller ramp and a 4 inches compliant wheel to shoot Rings. We used a high
RPM DC motor to power the shooter wheel. We used projectile Motion formula to calculate the desired
shooting ramp angle.
Wobble Goal Mechanism:
The wobble goal mechanism enables the robot to grab and lift the wobble goal. It consists of a Servo
motor to hold the wobble goal and a DC motor to lift the wobble goal using the arm and place it outside
of the field.
During the autonomous period, our program uses the webcam image to identify the number of Rings
placed on the field and place the wobble goal to the right square. Our program uses Vuforia and Tensor
flow APIs to identify the number of rings.