Condensed
This is the condensed version of my 2023-2024 FTC season. This page includes all 3 main functions of the robot. Including my grabber.
Initially designed with a lock hook and linear slide system
Faced challenges with backdriving, leading to exploration of alternative designs
Incorporated a tape measure mechanism for extending and retracting
Experienced issues with motor functionality, requiring replacement and redesign
Added a second pulley and motor to improve lifting capabilities
Underwent multiple iterations to improve stability and weight distribution
Faced setbacks including breaking components and misalignment issues
Required repositioning on the chassis for better integration with other components
Switched from a 60:1 to a 20:1 motor for faster extension
Doubled up the tape measure for increased strength
Overcame installation errors that required significant rework
Successfully achieved a functional hanging mechanism capable of lifting the robot
Started with a design using a hook and servo for launching
Experimented with different hook designs and rubber band configurations
Faced challenges with consistency and accuracy in launching
Initially mounted on the hanging mechanism, causing stability issues
Decided to create a separate linear slide system for the launcher
Encountered problems with the linear slide taking too long to raise
Adjusted launcher position multiple times for optimal performance
Dealt with issues of the launcher interfering with other robot functions
Experimented with different rubber band thicknesses and tensions
Required frequent adjustments and replacements of components
Faced last-minute breakages that needed quick repairs
Achieved a functional launcher, though consistency remained a challenge up to the qualifier
Initially conceptualized as a linear slide-based system for pixel delivery
Transitioned to a claw mechanism design using REV parts
Added a rubber piece to improve grip on pixels
Faced challenges with linear slide height and decided to redesign
Shifted to an arm-based design for better reach and functionality
Continuously refined the arm's length and stability to reach the backdrop
Implemented a tower structure to support the arm, adding a second beam for reinforcement
Redesigned the gripper to be lighter and more effective
Added wheels to the arm to allow movement while on the ground
Attempted to modify the grabber to pick up two pixels, but reverted to single-pixel design
Made ongoing adjustments to improve consistency and reliability
Successfully integrated the grabber with other robot components, achieving a functional pixel delivery system