2016 CrossFire
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FRC team 225, TechFire, is proud to present our 2016 robot, CrossFire. The robot picks up boulders, shoots them through a hole in a tower, crosses barriers, and hangs from a bar.
Specs:
Drive
- 6x8" pneumatic tires and 2x8" omni wheels powered by 4 CIMs through 2 ball shifting gearboxes (2 speeds, approximately 7 and 16 ft/s)
- Drive shaped into an octogon configuration to help slide through defense, to allow better positioning on the batter, and to maximize space for components
- Ballistic Nylon-coated bumpers with a quick bumper change process
- Motion profiling for driving during the autonomous mode using encoders
- Gyro for turning PID
- Welded for rigidity
Arm
- Powered by 2 linear actuators using CIM motors
- Closed loop control using potentiometers and hall effect sensors
- 100 degrees of rotation, from ground level to past virtical
Claw
- Uses 2 775Pro motors through 4:1 Versaplanetaries controlled by Talon SRX's and magnetic encoders
- Welded and fortified with additional aluminum for rigidity
- Ball cradle is a perfect fit; friction prevents the ball from being released accidentally
- Pneumatic cylinder releases the ball
Wrist
- Powered by 2 pneumatic cylinders
- Allows CrossFire to shoot over walls
Keep-Away Stick
- Activates when the wrist is activated
- Extends 15" past the bumper to allow CrossFire to shoot over walls
Scaler
- 2 775Pro motors through a 4:1 Versaplanetary transmission
- Ball screw is coupled to the transmission, which raises a single hook
- Hook is spring-loaded to insure proper transition under the Low Bar. After release, an aluminum guide keeps the hook in line
- Controlled by a Talon SRX and a magnetic encoder
Tail (removed after World Championships)
- Drops to wedge up the portcullis (removed as a defense after world championships)
- Controlled using the Talon SRX and a magnetic encoder
Autonomous
- 1 ball + Low Bar, Type B, Type D, or cheval de fries
- Option for Return to Neutral zone for Low Bar, Type B, and Type D
Vision
- Low-seated phone camera for precise, low-camera-latency shooting while unblocked
- Claw-mounted IP camera for shooting when blocked
- Vision adjust both the drive and arm position
Capabilities
- Scales the tower in <4 seconds
- Crosses Low Bar, Type D, Type B, and Type A defenses from the neutral zone
- Can cross Type C defenses from the courtyard/ spin the Sally Port
- Shoots balls from most locations in the courtyard, including all Outer Works locations
- Can shoot over walls
Stats as of September 1st, 2016
- 364 district points -- 1st in MAR, #1 in MAR district points for all time (since 2012)
- Winner: Springside-Chestnut Hill, Westtown, MAR Championship, Midknight Mayhem
- Finalist: IRI
- #1 Seed: Westtown, MAR Championship, Midknight Mayhem
- #1 Pick: Springside-Chestnut Hill
2X Industrial Design Award
1X Gracious Professionalism Award
Specs:
Drive
- 6x8" pneumatic tires and 2x8" omni wheels powered by 4 CIMs through 2 ball shifting gearboxes (2 speeds, approximately 7 and 16 ft/s)
- Drive shaped into an octogon configuration to help slide through defense, to allow better positioning on the batter, and to maximize space for components
- Ballistic Nylon-coated bumpers with a quick bumper change process
- Motion profiling for driving during the autonomous mode using encoders
- Gyro for turning PID
- Welded for rigidity
Arm
- Powered by 2 linear actuators using CIM motors
- Closed loop control using potentiometers and hall effect sensors
- 100 degrees of rotation, from ground level to past virtical
Claw
- Uses 2 775Pro motors through 4:1 Versaplanetaries controlled by Talon SRX's and magnetic encoders
- Welded and fortified with additional aluminum for rigidity
- Ball cradle is a perfect fit; friction prevents the ball from being released accidentally
- Pneumatic cylinder releases the ball
Wrist
- Powered by 2 pneumatic cylinders
- Allows CrossFire to shoot over walls
Keep-Away Stick
- Activates when the wrist is activated
- Extends 15" past the bumper to allow CrossFire to shoot over walls
Scaler
- 2 775Pro motors through a 4:1 Versaplanetary transmission
- Ball screw is coupled to the transmission, which raises a single hook
- Hook is spring-loaded to insure proper transition under the Low Bar. After release, an aluminum guide keeps the hook in line
- Controlled by a Talon SRX and a magnetic encoder
Tail (removed after World Championships)
- Drops to wedge up the portcullis (removed as a defense after world championships)
- Controlled using the Talon SRX and a magnetic encoder
Autonomous
- 1 ball + Low Bar, Type B, Type D, or cheval de fries
- Option for Return to Neutral zone for Low Bar, Type B, and Type D
Vision
- Low-seated phone camera for precise, low-camera-latency shooting while unblocked
- Claw-mounted IP camera for shooting when blocked
- Vision adjust both the drive and arm position
Capabilities
- Scales the tower in <4 seconds
- Crosses Low Bar, Type D, Type B, and Type A defenses from the neutral zone
- Can cross Type C defenses from the courtyard/ spin the Sally Port
- Shoots balls from most locations in the courtyard, including all Outer Works locations
- Can shoot over walls
Stats as of September 1st, 2016
- 364 district points -- 1st in MAR, #1 in MAR district points for all time (since 2012)
- Winner: Springside-Chestnut Hill, Westtown, MAR Championship, Midknight Mayhem
- Finalist: IRI
- #1 Seed: Westtown, MAR Championship, Midknight Mayhem
- #1 Pick: Springside-Chestnut Hill
2X Industrial Design Award
1X Gracious Professionalism Award
