Robot-1

In order to make our Autonomous more consistent we decided to use tracking wheels and odometry. This allows us to tell where our robot is on the field at all times and be able to tell our robot exact coordinates to go to on the field.

Create

We used a small Omni-Directional Wheel along with a Optical Shaft Encoder in each of our two tracking wheels along with some spacing and c channels. It took a little while to get the spacing right but soon we had near frictionless tracking wheels.

Claw 2.0.1

The pneumatics pull the claw in, clamping onto the goal:

Create

We also added a distance sensor so that the robot can see when a goal is close enough in the claw to be grabbed. This will be helpful for grabbing at the right time in autonomous:

Now we also use pressure limiters to decrease the amount of compressed air used on each actuation so that we can have more total actuations:

Holder-1.1.2

Create

We added more bracing to the holder.

Test

Without the motors attached, it seems much more sturdy than before.