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Adrian2016
Our 2016, three-time regional winning robot was named Adrian. The FIRST stronghold winner was equipped with nine air tanks, was able to shoot balls about 11 feet, and drove at a speed of 10 mph. Adrian was also able to move over, through and around all of the field defenses, including the low bar, moat, cheval de frise, and portcullis.
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Drivetrain
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With 10 wheels, three pneumatic and two colson wheels on each side, the robot was able to cross all of the defenses without being hung up. Each side was driven by a two CIM, two-speed gearbox.
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Scoring |
Adrian has a complex utility arm to score into the high tower. The boulder intake consisted of a front roller and belting, in addition to a set of mecanum wheels to funnel the ball to the center of robot. After the ball was acquired, the arm lifted into shooting position. The shooting wheels on Adrian spun up to a speed of 6,000 RPM in order to shoot the boulder accurately. The robot used its vision guidance system to locate the reflective tape on the opposing team’s tower in order to reliably line up each shot. Adrian was also one of the few robots this season able to run a two-ball autonomous routine under the low bar. The visioning system allowed Adrian to acquire the tower target and shoot accurately in autonomous mode. Adrian also used an elevator on the utility arm to quickly scale the tower and lift the robot above the low goal.
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operating interface
Electrical
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Adrian was operated with a wheel joystick for driving, a regular joystick for speed control, and an Xbox gamepad to control the pre-set positions the robot would move to, including shooting positions, boulder intake positions, and climbing.
Adrian featured not only eight Victor SP speed controllers but also an additional Talon SRX speed controller, which increased driving and maneuvering sensitivity. Custom circuits provide power to sensors, as well as converting the signals back down to five volts, and a roboRIO from FIRST® makes downloading programs and real-time processing a far quicker operation. This is assisted also by the power distribution panel, which is designed to work with roboRIO FIRST ® Robotics Competition control system.
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