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Tropicus FTC CENTERSTAGE Robot Reveal
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https://www.youtube.com/watch?v=Vscda9Z_jUE This is a concept robot I put together to play the 2023-2024 FTC CENTERSTAGE game challenge. It is designed to pick up pixels from the floor and place them on the Backdrop. It was initially planned to have a winch and a detachable hook but I ran out of control channels on the microcontroller when I needed to add the claw deploy mechanism. Drivetrain: AndyMark MecanAM drive with 4" BB mecanum wheels and NR Bevel gearboxes to mount the motors between the wheels. Intake: AM Compliant wheel intake with the rims removed. The front has 2 counter rotating rollers that feed a conveyor. The back has a pair of rollers that move the pixels to the front intake. Conveyor: Urethane belts that raise the pixels up and drops them in the front pocket. Claw: Servo claw that holds 2 pixels end to end Claw Deploy: A servo driven 4 bar linkage that extends the claw away from the robot and up against the Backdrop. This was added as the elevator moving parallel to the Backdrop couldn't get the pixel horizontally close enough. Lift: a pair of AndyMark 3 Stage Compact Linear Slides mounted to face each other. Only 1 set was strung up with cable and driven by a 14:1 motor. Overall, the intake geometry isn't optimised and transition from flat on the ground to going up the conveyor is a little rough. The system definitely could use some sensors to know when it has acquired the pixels as well as inform the driver what colors are in what order. Additionally, the back set of rollers should be on a higher reduction motor than the 4:1 that's currently there. The intake speed is definitely the slow down in this robot and the inability to climb or launch the drone would definitely hold it back if it were used in competition. Music is Sam Day - Nebraska (With You) NCS Copyright Free Music
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