2013 "Tyrannosaucer Rex"

Robot

• 119 lb without battery/bumper
  
• 23.25" x 32.25" x 58" tall
• Thomas compressor for air generation/low-seated weight

Driver Train

• 6 4" AndyMark HiGrip Wheels
• KOP driver frame and belt system
• 6 CIM motors though 5:1 VexPPO transmissions
• Geared for top speed of ~15ft/s

Hanging Arms

• AM PG188 gear motor pulls cable to drop lifting arms
• Limit switch detects bar contact
• Hangs on first level in ~3 seconds
• Handhold for simple removal from bar after match

Turret

• AM PG27 turns a belt sprocket which rotates a turntable
• Potentiometer tracts rotation of turret for PID control
• Camera display for adjusting cross-court shooting

Shooter

• Two positions, one for cross-courst shooting/loading an done for shots near the pyramid goal adjusted goal, adjusted via two pneumatics cylinders
• 8" AM pneumatics wheel with an inner tube replaced by pool noodle that rotates disc around arc
• Easy wheel replacement using spider coupling system
• Shooter speed traced using photo eye sensor and a bang-bang control loop

Shooter Feed

• Shower lining material slide for guiding discs into bucket
• 5-gallon pickle bucket indexes discs for the shooter
• Cam powered by AM PG71 gear motor:pushes discs into the shooter wheel
• Limits switch tacks revolutions of the shooter feed motor

Stabilizer

• 2-inch cylinder fires into the carpet to stabilized 6-wheel drives when making cross-court shots