Centerstage (2023 - 24)
FTC Centerstage 2023-2024
Robot: The Prowler
Iterative design process ensured reliability and goal alignment.
System comprises 7 motors and 9 servos, allocated for driving, intake, and slides.
Servos utilized for hanging, deposition, drone launching, pixel grabbing, and intake.
Utilization of Misumi SAR 330 slides, 3D-printed deposition box with LED pixel count indicators.
Features include gate pushers for passage, 3D-printed intake spokes with tubing, and a redesigned drone launcher with servo control.
Awards & Achievements:
2023 - 2024 Rose City League Qualifier 3st Inspire Award
2023 - 2024 Oregon State Championship Connect Award
2023 - 2024 Oregon Winning Alliance Captain
Qualified for World '24 Championship at Houston, Texas
Placed top 75 at the World Championship
Standard Intake
In the initial league meets (0 and 1), the intake system used a DC motor with Gecko Wheels, causing pixel blockages before reaching the depot box. League Meet 2 introduced a metal ramp and rails to address this issue. However, in League Meet 3, a slow intake prompted a switch to custom hubs with surgical and silicon tubing, doubling intake speed and consistency. Currently, surgical tubing causes pixels to be flung out, which is solved by adding a Gecko Wheel on a continuous rotation servo, ensuring pixels reach the box with 95-100% efficiency.
Deposistion Box
During league meets, various challenges arose, including difficulties retaining single pixels and prolonged deposition processes. To address these issues, modifications were made to the pixel box during Quals and States, enabling it to hold two pixels simultaneously. Integration of a servo mechanism atop the box prevented pixel displacement, while a color sensor automated box door closure upon pixel detection. At Worlds, dropping both pixels simultaneously became a new challenge, prompting the creation of servo-controlled openings for sequential release. A specialized pixel holder with adjustable positions further enhanced precision and efficiency in pixel deposition.
Drone Launcher
The original drone launcher design utilized a motor-powered wheel, but it lacked sufficient force to launch the drone and was excessively bulky. In response, from League Meet 0 to 2, a switch was made to a servo-powered launcher using rubber bands, but it faced issues with plane dislodgement and servo burnouts due to tension. Additionally, the plane's flight distance was inconsistent. From League Meet 3 to Worlds, improvements were made with an enclosed 3D-printed design, perpendicular servo placement to reduce strain, and modifications to the plane design for consistent Zone 1 launches and landings. The refined design now boasts consistent launching and Zone 1 landing while maintaining a compact footprint on the robot. Further experimentation with launcher angles determined that 45 degrees was optimal, consistently landing the plane in the middle of Zone 1.
Hanging Mechanism
The old hanging mechanism utilized a high torque servo and U-channel, but it was slow, taking over 20 seconds to hang, and required lifting the U-channel for drone launch. V1 had inconsistent hanging positions in iterations, V2 faced floor contact despite a pole slot, and V3's steeper slope failed. V4 improved with an optimized pole slot and reduced slope, achieving 80% consistency. V5 reduced hanging time to 1-2.5 seconds, allowing for extra cycling, boasting a 10/10 success rate. It used torque servos, CADded hangers, and a dead wheel to prevent ground contact during rotation, with a sharp slope for fast hanging at low speed.