Scoring

The shooter on our robot is a fixed hood design at an approximately 22 degree angle. It’s powered by a set of dual NEOs and has a large amount of holes on each side of the hood to allow room for iteration quickly, as well as troubleshooting. It has a 1:1.66 overdrive rate. The intake, which moves out from the robot, uses a 4 bar intake with 3 rollers, of which each has 11 2” compliant wheels. It’d driven by a belt, and uses a passive deploy system using surgical tubing. The CDS, or Cargo Delivery System, uses 2 stopper wheels and 2 singulator wheels to bring the cargo from the intake to the shooter. It uses a pulley system to elevate the ball and deliver them to the shooter. It also has numerous sensors to identify cargo placement, including 3 color sensors to tell apart friendly and enemy balls.

Drivetrain

The drivebase for Cannoli has 6 4’ treaded wheels, for maneuvering around the track quickly. It also comes equipped with 4 NEOs with a custom gearbox, 6.2:1. This allows it to move at a speedy 16 ft/sec. The design of the drivebase incorporates a hexagonal shape to avoid pinning, and 4 bumper hinges for mounting.

OPeration

Our robot is driven with two Logitech controllers. The driver’s controller was used for moving and turning the robot as well as shooting, where the operator’s controlled the intake, hopper, and climber subsystems. We didn’t use a limelight or turret, meaning that aiming was more difficult and precise.

Electronics

Electronics are pretty similar to previous years in terms of actual materials, but they’re packaged much differently. To make our robot look cleaner and more organized, we decided to arrange all of the electronics out of sight from normal view.

ACHIEVEMENTS

FIT Austin District Event

• Quality Design Award

FIRST In Texas District Championship - Apollo Division

• Team 2158 was Rank 13 with a record of 2-2-0

FIT District Amarillo Event

• Autonomous Award sponsored by Ford

FIRST In Texas District Championship

• Woodie Flowers Finalist Award (Andrew Iverson)