e-lime-o-nator

2013
Our 2013 competition robot was named “The E-lime-o-nator.” The E-lime-o-nator had the ability to intake Frisbee discs from the ground, shoot them into the high goal as hang from the pyramid for 10 bonus points at the end of the match.
​

Drivetrain
The E-lime-o-nator had a custom machined six wheel drop center tank drive (for ease while turning) powered by four CIM motors connected to two Vex Pro ball shifter gearboxes. This drivetrain was the team’s first to be CNC machined and features the improved speed and agility versus those of previous years.

scoring

Pyramid   Hanging   Mechanism

Control/ Electrical   System

operator   interface

achievements
The E-lime-o-nator’s final revision (as seen at 2013 World Championships) scoring mechanism used a partially curved shooter with a single, high-speed rubber wheel to accelerate Frisbee discs from the shooter. Grip on one side of the Frisbee combined with the fast spinning shooter wheel caused the Frisbee to spin upon exit for maximum accuracy. A previous incarnation of this system (as seen at Central Valley Regional 2013) had no curve and used two spinning Banebots wheels (at different speeds) to accelerate the Frisbee. This system was retired and switched for the system mentioned above which proved to be more consistent and reliable.
The final revision of the E-lime-o-nator used two hooks (made from modified rock climbing carabiners) mounted on top of pneumatic pistons which pull the robot off of the ground shortly before the end of the match.
A previous version of the system did not use pistons and instead was completely passive using only a sloped piece of plywood. This system was removed after it proved too difficult to properly align and therefore unreliable.
​
The E-lime-o-nator’s control system used Wi-Fi communications and a National Instruments cRIO, implemented by FIRST in 2009. Motors were controlled by Victor speed controllers, pneumatics were controlled by Vex Pro Spike relays and solenoids. Encoders on the drivetrain were used to move accurately in autonomous mode, winning three awards over the course of the 2013 season.
The E-lime-o-nator was controlled by two joystick controllers and a gamepad. The drive system used a simple tank drive, meaning that one joystick controls one side of the drive train. The driver also controlled the majority of the functions including running the intake, hopper, and shooter mechanisms. The manipulator (using a gamepad) controlled the intake and hopper pneumatics (essentially “folding” the robot to fit inside of it’s frame perimeter). They also controlled the hanging mechanism and stopped the shooter wheel (after the driver had finished shooting).
Central Valley RegionalFIRST Championship
  • Curie Division Winner