Basan, 2017

STEAMWORKS

Drivers: Christina Maffattone, Catherine Phillips
Human Players: Jesse Wallace, Alan Wang
Drive Coach: 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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