2023 Robot | Citrus Circuits

tangerine tumbler

2023

Our 2023 robot, Tangerine Tumbler, competed in the 2023 CHARGED UP competitions. Tangerine Tumbler used a rolling mechanism to collect cones and cubes, and effectively placed them in their designated places. Assisted by the LED rods we implemented, Tangerine Tumbler could dock quickly and was capable of completing this task in the final seconds of each match.

scoring

The continuous three-stage elevator allows the Tangerine Tumbler to score cones and cubes on all three rows, MAXTube and WCP bearing blocks provide the sliding structure of the elevator. Intake is made up of three polycarbonate rollers with layered silicone. The back roller allows the cube to be snugly kept in place at the bottom of the intake, and its front two rollers pick up upright cones.

Drivetrain

Agility being a main focus, and within a 26" x 26" frame, the drivetrain includes a set of Mk4i swerve modules and the covers. It has an unpocketed belly pan design reaching across the top and bottom of the rails, as well as a battery mount towards the back of the robot to maintain a low center of gravity and keep the weight as close to the pivot point of the arm as possible.

operating interface

The robot drives and operates using xbox controllers. The Controller's joystick controls the robot's rotation, and the Operator's controls the robot's movement, letting us aim towards the goal. Our operator is able to use the Dpad to indicate which node to score a game piece in, and our scoring goal position will automatically update to prepare to score there. We also use LEDs to communicate whether we want a cone or cube with the human player, so that we can get in and out of the loading zone as soon as possible.

Electrical

The electrical layout of our robot this year was focused around keeping a low center of gravity, with all of our Falcon 500 motors kept near the bellypan, with exception to the end effector's wrist and rollers. We utilized ziptie castle mounts to keep routing smooth and simple, and used wire sheathing to protect the most sensitive and exposed portions of our wiring.