Itsumade, 2024

CRESCENDO
Drivers: Philip Han, Eric Huang
Human Player: Sean Li
Technician: Kefei Wu
Drive Coach: Scott Meredith
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Drivetrain

  • (8) Kraken X60 motors
  • 28.25” x 31.5” Frame
  • 2” x 2” “Mid-rail” for stiffness and intake mounting
  • 6 lb aluminum belly pan
  • 16.5 ft/s free speed
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Intake

  • (1) 775Pro motor
  • 6:44 gear reduction, with additional 1:1 gear stage to invert rotation.
  • Roller velocity of 22.4 ft/s
  • Photoelectric sensor to detect when the intake has a Note
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Shooter

  • (2) Kraken X60 Motors, drive each pair of flywheels at different speeds
  • Flywheel speed of ~100 ft/s and can shoot the note at ~30 ft/s
  • Cartridge can intake & feed note at ~11 ft/s
  • (2) photoelectric sensors to detect when a note is in the cartridge
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Shoulder

  • Custom three-stage gearbox with (1) Kraken X60 Motor
  • ~131:1 total reduction
  • Dual inline tensioners on #35 chain
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Climber

  • 2 Kraken X60 Motors, one on each side
  • Two-stage worm gearbox
  • 35:1 reduction from motor
  • Worm gearbox prevents backdrive after climbing
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Sensors & Software

  • (2) Limelight cameras for vision targeting
  • Coral co-processor for automatic Note detection
  • PathPlanner based autonomous modes
  • (3) Optical sensors for gamepiece detection
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