Cygnus, 2018
POWER UP
Drivers: Christina Maffattone, Catherine Phillips
Human Player: Jesse Wallace
Technician: Matthew Mayger, Victor Cappuzzo
Drive Coach: Dustin Benedict
Drivetrain
- 3 Mini CIM motors per gearbox maximize acceleration
- 6” wheels provide substantial ground clearance
- 14.6 FPS free speed for quick cycles
- 27” x 32.5” frame maximizes robot stability with elevator raised
- 18 tooth #25 chain sprockets for power transmission to all wheels
Intake
- 1 ¼” bore single acting air cylinders provide 144 lbs of clamping force on powercubes
- 20A rubber intake wheels for excellent grip
- Intake is driven by (2) 775 pro motors with a 23:1 reduction on the outer arms and 14:1 reduction on the inner arms
- Compliant intake wheels can grab or eject cubes at up to 23 FPS
Elevator
- Height of 54.38” in starting configuration
- Height of 90.58” when fully extended
- 2.4 ft/sec free speed
- 7/64” Dyneema rope lifts the carriage
- Pneumatically actuated brake automatically locks elevator in position to avoid backdriving and excess battery drain and motor wear
- #35 chain attached to custom chain tensioner to drive elevator
Climber
- Mounted to second stage of elevator
- Attached to first stage of elevator with a zip-tie at the beginning of the match
- Zip-tie breaks and climber is released when elevator goes up
- Spring pulls up the hook, hits a soft stop, and stays at a 140° angle
Software
- Multiple autonomous modes from multiple starting positions
- Two-stick arcade drive featuring eight buttons that control the claw and elevator
- Elevator carriage controlled by trapezoidal motion profiles generated on Talon SRX motor controllers using “motion magic”.
