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