

Debbie
Drivetrain
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4 8" Vex mecanum wheels
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4 CIM motors
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4 Toughbox Nano gearboxes
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Each wheel independently driven
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4 bar linkage
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Rides on lead screw
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CIM motor
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Toughbox Nano gearbox
Arm
Claw
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Linear Slide
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Window Motor
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Can hold totes (in either upside right orientation) or recycling bin
Control System
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RoboRIO
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6 Victor SP Motor Controllers
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Camera for drivers
Summary
Debbie competed in the 2015 FRC game Recycle Rush. It could pick up bins and totes by pinching them with its claw and raise them up using its arm. It could pick up totes from both the landfill and the human player station. It could also pick up bins from the step. It could stack up to five totes high and could cap a stack four totes high with a bin. During autonomous mode it drove into the auto zone. The drivetrain was controlled using arcade drive with a Mad Catz flightstick. The arm and claw were controlled with a Logitech XBox controller.



