Competition History

  • Regional #1 Winner
  • Regional #2 Chairmans
  • World Competition Quarterfianalists
  • Additional Awards Innovation in Control

Robot Quick Info

  • Name Sir Kay
  • Year 2013
  • Weight 120 lbs
  • Programming Language Labview
  • Status Active
  • Game Ultimate Ascent
  • Initial Size 26.75″ x 36.75″ x 60″
  • Extended Size 37″ x 26″ x 12′

Robot Features

  • Drive Train
    • 6 wheel blue-nitrile West Coast drivetrain
    • High Gear 16 ft/s
    • Low Gear 3 ft/s
    • 8″x1″ IFI Traction Wheels 4wd Wide Base w/ Blue Nitrile
  • Shooter
    • Frisbee is gripped tight by wedgetop tread on IFI shooter wheel and compression of pool noodle foam on outer curve of shooter channel
    • Powered by two medium CIM motors
    • Output angle of shooter is lined up to 3 point goal when robot is flush to the feeder station
    • Frisbee runs along tracks to allow free flow of air under the frisbee
    • Visual Tracking Assistant (Not Override)
    • Hall effect sensor measures the period between flywheel revolutions
    • Vertical angle of shooter is adjusted by a lead screw powered by a window motor
    • Grayhill motor encoder allows for precise adjustment and presets
    • 3 presets for feeder station, mid-field, and pyramid
    • Manual control for slight adjustments
    • Adjusted by a custom two-speed bang-bang controller which allows us to reach presets with minimum oscillation.
  • Lifting Mechanism
    • Lifting mechanism powered by two pneumatic pistons
    • Two “isolated” air tanks dedicated to lifting ensure we can always lift even if we are out of air for shooting and shifting
    • Limit switch triggers to allow for automatic lifting
    • Driver simply holds a button and the robot will lift when the limit switch is triggered

Challenges

  • When you have a gigantic arm it’s hard to figure out what motors to use. Understanding what motors to use for the “elbow” and “wrist” took a lot of trial and error. Additionally since it was such a tippy robot, we had to put the battery up front and controlling the claw was a bit of a struggle at competition since we only had two joysticks that were directly controlling the elbow and wrist. Making it smooth and communicating with the driver was difficult. The programming department also had some struggle working with the drive team to get the robot performing correctly in a way that was easy to control. First year of us doing any sort of articulation.
  • Since the claw was so large, it got in the way easily and spinning around often hit the side-wall of the field which would bend the claw and make it useless. Controlling the arm to put the trackball over the overpass was an exercise in focus and communication with the drive team and was never as confident as we hoped. During the championship match, the robot hit a sidewall during autonomous and the power cable came out, instantly killing the robot. We were the highest scoring robot on the field and we were literally powerless.