FRC 4965 FIRE
Smaug
Drivetrain
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4 6" Andymark mecanum wheels
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4 CIM motors
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Built in gearboxes
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Each wheel independently driven
Intake
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PVC roller wrapped in surgical tubing and orange polycord
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Bag motor with Versaplanetary gearbox
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Roller has vertical slack to allow for round shape of ball
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Can be actuated in and out using pneumatic cylindars
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Loads ball directly onto launcher
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Can be reversed to score in low goal and off load to other robots
Launcher
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Pneumatic and spring powered catapult
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Can score in high goal and shoot over truss
Control System
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cRIO
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4 Jaguar motor controllers for drivetrain
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1 Victor 888 for intake roller
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1 Spike Relay for onboard compressor
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4 Double solenoid pneumatic valves for intake arm and launcher
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Camera for drivers
Summary
Smaug competed in the 2014 FRC game Aerial Assist. It could pick up the ball with the intake roller from the floor or it inbound from the human player station. It was able to pass the ball to other robots on its alliance to get assists or score in the the low goal by reversing the intake. It could also launch the ball into the high goal or over the truss using its pneumatic and spring power catapult. During the autonomous period the robot would drive out of the white zone and into either the red or blue zones (based on it's alliance color). The drivetrain was controlled using tank drive with Logitech XBox controller. The intake and launcher were controlled with a secondary Logitech XBox controller.
