24089 Iron Lions | Behind the Bot | Into the Deep

Summary

Team 2489, the Iron Lions, discuss their innovative robot design, focusing on features like color profiling for sample sorting, efficient autonomous pathing using Pedro Pathing, and a reliable transfer system. Their robot utilizes a dual-wheel intake, a cloth-based transfer mechanism, and a high-precision linear slide system for consistent scoring. The team explains their decision to focus on samples for better cycle times and outlines future improvements, including faster arm movement and more reliable intake and transfer systems. This insight into their design process highlights their efforts to optimize performance for the upcoming Australian Nationals.

Takeaways

• 😀 The Iron Lions, Team 2489, are a finalist alliance partner at a robotics competition, showcasing their innovative design choices.
• 😀 The team utilizes color profiling in their intake system, which scans samples and sorts them based on their color to prevent interference from the opposing team.
• 😀 The intake mechanism is equipped with two wheels on each side, enabling bi-directional sample handling (forward and reverse), and features a custom silicon mold to prevent sample drops.
• 😀 The team uses a finite state machine to predefine robot actions, ensuring smooth transitions between states and preventing the robot from getting stuck during operation.
• 😀 The robot employs Pedro pathing, an autonomous pathing library that utilizes Bezier curves to create energy-efficient and time-saving paths during autonomous modes.
• 😀 The intake system's outtake is optimized with a cloth-based design that grips the samples securely, replacing the earlier bucket system which proved unreliable.
• 😀 The robot features a set of linear slides to transport samples to the highest basket, ensuring precise and consistent transfer, even if the intake system's position varies.
• 😀 A locking latch mechanism is used to secure the robot’s components, preventing the intake from moving unexpectedly and disrupting robot stability.
• 😀 The Iron Lions chose to focus on collecting and scoring samples over specimens this year for greater consistency and faster cycle times, with the option to revisit specimens for Nationals.
• 😀 Planned improvements for Nationals include faster, more efficient arm and intake systems, reducing cycle time and improving overall robot performance.
• 😀 The team continues to innovate and refine their design, aiming to achieve even better performance at the upcoming Australian Nationals.

Q & A

What is the purpose of color profiling in Team 2489's robot?

The robot uses color profiling to scan samples as they pass through the intake. It decides whether to keep or discard them based on their color. This helps prevent the opposing team from getting certain colors while allowing the robot to accept others, particularly in autonomous modes.

How does the finite state machine (FSM) function in the robot's design?

The FSM stores predefined robot actions and determines motor movements based on the current state. By changing the state, the robot automatically performs actions without getting stuck, allowing smooth operation in both autonomous and teleoperated modes.

What is Pedro Pathing and how does it benefit the robot's autonomous operations?

Pedro Pathing is an autonomous pathing library that uses Bezier curves for efficient and energy-saving movement. This allows the robot to follow optimized paths during autonomous operations, making it faster and more effective in scoring points.

Why did Team 2489 decide to use side rollers for the intake system instead of a top roller?

The team initially used a top roller but found it didn't work as well as expected. After testing different designs, they switched to side rollers, which offered better performance in handling samples.

What improvement was made to the robot’s outtake system to prevent sample loss?

The team replaced the bucket outtake with a cloth system that uses custom silicone molds. This design securely grips the sample, ensuring it does not drop during handling, providing more consistent and reliable transfers.

How does the robot transfer samples to the highest basket?

The robot uses a set of linear slides that lift the claw to the highest basket. The claw then drops the sample into the basket consistently, ensuring accurate and reliable scoring.

What role does the latch system play in Team 2489's robot design?

The latch system keeps the robot's intake securely in place during operation. It prevents the intake from moving erratically, which could throw off the robot’s balance and disrupt performance.

Why did Team 2489 opt to focus on samples instead of specimens this season?

The team chose samples because they felt it was easier to consistently cycle them at a higher rate. They determined that focusing on samples minimized design complexity and programming overhead, leading to more efficient gameplay. They may reconsider specimens for Nationals but decided samples were the better choice for the current season.

What mechanical issues is Team 2489 aiming to improve before the Australian Nationals?

The team plans to improve the arm system, which is currently slow due to a high mechanical advantage in the chain drive. They also intend to speed up the intake folding mechanism, which is too slow with the current dual servo design. These improvements will increase cycle times and robot efficiency.

How does the robot's claw system contribute to its overall performance?

The claw system is crucial for securely holding samples during transport. It ensures that the robot can transfer samples to the baskets without dropping them, contributing to consistent scoring and effective gameplay. The system’s design uses custom silicon molds to grip the samples tightly.