Jörmungandr, 2025
REEFSCAPE Drivers: Philip Han, Eric HuangHuman Player: Albert Yang
Technician: James Farmer
Drive Coach: Jeff Bunca
Strategy Leads: Eliza Lamar, Jacob Kidd, Sean Li
Scout Leads: Justin Wang, Aanya Tolat, Tiffany Tian, Kaibo Wang, Jacob Kidd, Aarav Kumar
Pit Crew: Jayden Li, Rehan Bhargava, Kasey Lee, and Alan Zhou
Drivetrain
- Motors: (8) Kraken X60 motors; 2 per module
- Frame: 28 in x 28 in
- Belly Pan: 7.16 lb aluminum belly pan
- Free Speed: 14 ft/s
End Effector
- Algae Manipulation: (2) 4in 35A compliant wheels
- Coral Manipulation: (4) rollers composed of 2in 30A compliant wheels
- Sensors: (3) CANrange sensors
- Coral Mechanism Angle: 35° from horizontal
- Weight: 6.25 lbs
Elevator
- Motors: (2) Kraken X60 motors
- Reduction: 1:7
- Stage height: 38.75 in moving stage, 40.63 in static stage
- Extension Time: 1.10 s from stowed to maximum extension
Carriage
- Motor: (2) Kraken X44 motors
- Linear Travel: 60.75 in
- Rollers Planetary: 1:5
- Pulley Ratio: 18T:36T (1:2)
- Pivot Planetary: 1:125
- Gear Train: 42T:50T:48T (7:8)
Intake
- Width: 14 in
- Weight: 2 lbs
- Ground Clearance: 30 in from ground level
- Downward Angle: 22.50°
- Slant Angle: 15.00°
Climber
- Gearbox: Worm Gearbox
- Motors: (2) Kraken X60 Motors
- Reduction: 1:60
Sensors & Software
- (4) Limelight cameras for vision targeting
- PathPlanner based autonomous modes
- (2) Optical sensors for gamepiece detection
- Logging functionality with WPILib
