Goals & Reflections
As a rookie team, we entered the season with a steep learning curve. Our initial robot was basic, lacking advanced intake systems, but it provided a solid foundation. We recognized significant room for improvement, particularly in our autonomous consistency.
Challenges & Accomplishments
Overcoming Hurdles
- Rookie Learning Curve: We learned everything from scratch in just one month, often requiring overtime meetings.
- Stick Drift: Solved by implementing a software "deadband" to ignore minor analog inputs.
- Strafing Speed: Our initial mecanum strafing was sluggish. We fixed this by adding a custom power multiplier in the code.
Key Wins
- Working Robot: Successfully fielded a functional robot despite time constraints.
- Mecanum Success: Successfully integrated complex omnidirectional movement.
Bot Overview
Key Features
- 🔹 Shooting Plate: Custom addition to the launcher to direct balls consistently.
- 🔹 Metal Front Plate: Enhanced structural durability for collisions.
- 🔹 Mecanum Wheels: Multi-directional movement capabilities.
Drive Train Evolution
Our V1 chassis used plastic chains that frequently slipped and broke. V2 upgraded to a direct-driven All-Wheel Drive system with 4x 312 KV motors (3744 RPM), solving traction issues.
Launcher System
We utilized the GoBilda starter kit as a base but engineered a custom Back Plate behind the ramp. This modification significantly improved shot consistency by stabilizing the game element before launch.
Autonomous Evolution
V1: Simple Shooter
Static shooting of 3 balls. Inconsistent due to alignment sensitivity.
V2: Dynamic Movement
Implemented "Turn & Move" strategy instead of risky strafing. The robot now reliably exits the zone for parking points.
Software Note
We use standard mecanum kinematics for movement:
FrontLeft = forward + strafe + rotate