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Emperor pulp-atine2020
2020's robot, Emperor Pulp-atine, was prepared to compete in FIRST's challenge: INFINITE RECHARGE in partnership with Lucasfilm. Our robot was able to collect and store power cells (foam balls) and climb the generator switch with one other robot and stay level.
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scoring |
Emperor Pulp-atine's three-roller actuating power cell ground intake is the first mechanism involved in the scoring of power cells. The indexer, or wheel of doom, spins constantly throughout the match as the robot picks up balls through the turret. A pocket-less design allows for quick settling of power cells so that no time is wasted as the robot lines up for its shots. The whole shooter tower is supported to keep the tower and shooter stable as power cells are shot and features a dual shooter wheel setup. The upper shooter wheel is mounted to an adjustable hood with a telescoping backing. This allows the shot to maintain uniform compression on its way through the shooter, and ensures that the ball hits the smaller roller at the same point of contact relative to the exit point of the ball. The hood rotates around the same active shaft that the larger shooter wheel is mounted to, ensuring a linearly related exit angle-to-shot-angle ratio.
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drivetrain |
Our drivetrain is fitted with two Falcons 500s, and four wheels on either side of the signature West Coast drivetrain provide extreme versatility on the field. With a 17 ft/sec maximum speed, 0.1” dropped 6” colsons in the middle, and 6” pneumatic wheel on the corners, our drivetrain allows for smooth traversal of the rendezvous point and enough traction for accurate autonomous routines and driver control. The pocketed belly pan provides structural support and mounting space for most of the electronic components without compromising on weight savings.
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Operating interface |
Our robot is driven with a wheel and vertical joystick. The wheel controls the angle of the robot’s drive base and point turns, enabling the robot to achieve tight turns while also maneuvering smoothly around defense. We used an Xbox controller for intaking, telling the robot when the balls are settled in the wheel of doom, shooting, and climbing. To tuck the shooter into the robot so it could run through the trench, both drivers had to press their buttons at the same time. Without tucking, the robot wouldn’t fit under the trench. The camera and screen were used to see how many balls we had and when all the balls were settled.
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Electrical |
This year’s robot saw interesting electrical changes from previous seasons. We switched from Mini CIMs and 775 pros to Falcon 500s and NEO 550s. Because of this, we also went from using external speed controllers to the internal controllers in the Falcon 500s. Since we have a shooter with a turret this year, we are using flexible conduit (plastic sheath, in which wires are placed to be protected) to guide wires up through the turret to protect them from excessive twisting. We are using a Limelight 2+ camera to aim the turret and hood of the shooter. Like last year, all robots with a pneumatics system are required to use on-board compressors.
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Achievements |
LA North Regional
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St. Louis Regional
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