Lynbrook RoboticsFIRST Robotics Team #846

Drivetrain

- 4 Wheel Tank Drive
- 1 CIM on each side with AndyMark single speed gearbox
- DBS (Dither Brake Steering) with traction control

Ball Intake and Belt System

- Uses 1 CIM, 2 RS-545 motors & 1 FP Motor
- ABS rollers with PVC guides
- 3/16″ dia urethane belts (3% stretch; 3 lb tension)
- Air tubing kickers to keep balls moving.

Shooter

- Backspin shooter launches 2 balls at a time
- Range: 0 – 2.5 feet
- Roughtop tread on 3″ ABS tubing.
- Powered with a CIM motor w/ 3:1 Banebots Gearbox
- Closed Loop Speed control

Frame

- Angled rear corners allow 63 degree turns with trailer.
- Wide “RoadHog” layout for >40% turning torque [34" vs 24"]
- Shortened 13-5/8″ wheelbase for 24% lower resistance turning
- Wide mouth pickup
- Low open top hopper for human loading, stores over 15 balls
- 4 Handles for safe, easy lifting

Software/Sensors

- Optical Wheel Encoders
- Custom integrating current sensors on drive motors
- Dual accelerometers on left and right to monitor slip conditions
- Gyro for turning stability
- LCD display for on-robot diagnostics with custom Arduino (I2C comm)
- AirText display with custom Arduino controller (I2C comm)
- Hall Effect sensor w/ neodymium magnet for shooter speed control

Other

- Angled rear corners for sharper turns
- Low open top hopper for human loading, stores over 15 balls