Quick Facts

• Name: Morgan Le Fay

• Year: 2025

• Weight: 98lbs (125lbs with bumpers & battery)

• Programming Language: Java

• Status: Competing

• Game: Reefscape

• Initial Size: 29.5″ x 29.5″ x 41.5″

• Extended Size: 44″ x 29.5″ x 48″

• Competition History

  • Blue Twilight Week Zero
  • Seven Rivers Regional
  • Minnesota North Star Regional

• Features

  • Drivetrain
    • Swerve Drive
    • Kraken x60 for driving, and turning
    • SDS Mk4, L2 gear ratio
    • 4″ Black Nitrile Tread Wheel
  • Shooter
    • 4″ Colson wheels for shooter
    • Kraken motors to power it, with a 2:1 pulley ratio
  • Intake
    • Kraken x60 with a 10:1 gearbox and a 2.25:1 sprocket ratio to pivot intake
    • 2″ 60A compliance wheels for intake
    • Kraken x60 motor with a 1.33:1 pulley ratio to power it
  • Indexer
    • 2″ 60A compliance wheels for indexer
    • Kraken x60 motor with a 1:1 pulley ratio to power it
  • Reef Intake
    • 4″ 35A compliance wheels for reef intake roller
    • 1 Kraken x60 with a 1:1 pulley ratio to pivot arm
    • 1 Neo 550 with a 1:1 pulley ratio to spin roller

• Sensors

  • 2m Distance Sensor
  • Used to determine the distance of algae from shooter
  • Through Bore Encoders
  • 3 are individually used to find the position of the climber, intake, and the reef intake
  • Limelight 3
  • to detect April Tag on the Barge to get more accurate shooting
  • CANcoders
  • Determines absoulte position of the swerve modules wheels
  • LEDs
  • Used to indicate when an algae has been intaked, or when the shooter fly wheel has been sufficiently revved

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