Basan, 2017

Driveteam: Christina Maffattone, Catherine Phillips, Jesse Wallace, Alan Wang, Mike Van Glahn Jr

FRC 5895’s robot for the 2017 game “FIRST Steamworks” is named Basan. Basan’s compact design features mechanisms to place gears, shoot balls (fuel), and climb a rope.

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Drivetrain

  • 6-wheel West Coast Drive
    • (6) 4’’ Colson wheels
  • Custom gearboxes
    • 12:72 reduction, 14.8 ft/sec free speed
    • 2 CIM motors per gearbox
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Gear Mechanism

  • Pneumatic actuated flap to intake gears from human player station
  • Pneumatic gear holder lowers a plate underneath the gear, allowing it to drop onto the scoring peg
  • Pneumatic gear pushes shoves gear out of robot and onto the back of the scoring peg
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Ball Shooter and Turret

  • Turreted flywheel shooter auto-targets the fuel hopper and shoots fuel into the goal
  • 12:30 reduction via 3mm GT2 timing belts
  • Max speed of 7300 RPM, normal shooting speeds ~3000 RPM
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Climber

  • 0.875’’ Aluminum Shaft
  • Dual lock velcro grabs end of climbing rope
  • (2) 4’’ felt disks trigger the touchpad to complete the climb
  • Custom 34:1 gearbox driven by 2 Mini CIM motors allows robot to stall motors without tripping breakers
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Sensors & Software

  • (3) Encoders
    • (1) on each drivetrain gearbox
    • (1) on the flywheel turret
  • (1) Hall Effect Sensor controls flywheel PID and processes setpoints from lookup table
  • (1) Wide angle camera running GRIP targets retroreflective vision tape
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