2025 Robot

Sublime

2025

SubLime, our 2025 three-time regional winning robot, competed in the REEFSCAPE games presented by Haas. It was able to intake both corals and algae, as well as score on all four levels of the reef using the elevator and end effector. Additionally, SubLime was able to climb a deep cage with ease, and score in both the processor and net using the algae intake and the algae side of the end effector.

scoring

This year's full-width four-bar intake intakes coral from the ground in all orientations. The coral moves up a polycarbonate ramp at the bottom of the intake, which also functions as part of the funnel system—along with the indexer—to consistently reorient the coral into the coral side of the end effector. Two 2" compliance wheels grip the coral from the inside. To pick up algae from the ground or to score it into the processor, the algae intake—mounted on the opposite end of the coral intake—pivots out and intakes the algae into the algae side of the end effector. For scoring of either algae or coral, the end effector pivots on a dead axle tube mounted to the carriage of a two-stage continuous elevator. To complete the endgame, the climber engages one of the deep cage bars using two spinning compliance wheels and a latch system. The climber pulls the cage back and down towards the center of the robot, lifting the robot off the ground.

drivetrain

Sublime's drivetrain is 26" by 26" and uses the WCP X2ts. Electronics are mounted on top of the 1/16" pocketed bellypan, and are easily accessible through removing only a few bolts that attach the indexer to the drivetrain. A 5/16" pocketed 7075 support plate, which plays the role of the elevator hardstop, is bolted to the drivetrain tubes underneath the elevator. Bumpers are mounted to the drivetrain using WCP's cone bumper mounts.

operating interface

Similar to previous seasons, we run a single driver setup with xbox-style controllers. The driver uses one controller to control all normal robot functions. Joysticks are used for drivetrain control, and the 12 available buttons are used to trigger intake and scoring sequences. In order to fit the many functions of our robot onto one controller, we implement a dual-mode system, so that the driver can use the same buttons for different actions depending on which gamepiece is involved. We also map several scoring functions to rear buttons accessible while operating the drivetrain, ensuring that are driver can maintain control of the sticks throughout the match. In order to communicate robot states to the driver, we use LEDs on the robot to show score and intake targeting, and an Elastic dashboard to show more specific information.

electrical

This year, our electrical systems were comprised of a combination of old components and new ones. We began using Kraken x44 motors, as well as two Limelight 4 vision systems. We also used the new PDP 2.0 to power our components. There were a total of 18 motors on this robot, including 2 of which being used to power the elevator pulley system, 2 used for the climber, and a total of 6 motors across both intakes and the end effector.