Two-time Innovation in Control winners

Shooter wrist 120-degree herringbone rack motion

4 Limelight image processing

Specifications

• MK4i L3 Swerve Drive with Kraken Drive Motors enables 18.9ft/s speed.
• Differential shooter speeds cause Note spin for improved shooting stability.
• 120-degree wrist range with herringbone rack and pinion prevents backlash.
• Two-stage belt-in-tube elevator with Kevlar-reinforced belt.
• Elevator carriage reaches a max height in 0.5 seconds.
• Elevator lifts robot at end-of-match in 0.87 seconds.
• Intake uses independent Falcon 500 motors for belt-driven rollers.
• Magnetic encoders and CANCoders measure the swerve module steering position.
• Two Limelight 3G’s and two Limelight 3's for April Tag detection and global distance calculations.

Capabilities

• Shoots through the elevator with low launch height for consistency.
• Feeder holds Note prepared to shoot, allowing Trap scoring.
• The elevator's constant force spring ensures the carriage rises first.
• Climber hooks extend for driving into the chain directly.
• Stabilizer wheels align the Trap scoring location and prevent tipping.
• Under-bumper intake prevents damage during collisions.
• Closed-loop control for swerve velocity and position using TalonFX.
• Autonomous uses Path Planner for motion profiling and odometry fusion.
• Extensive driver controls for simplified automation and efficient scoring.

Competitions

• Central Missouri Regional
• Heartland Regional
• Hosted and Participated in Greater Kansas City Regional
• Missouri State Championship
• Indiana Robotics Invitational
• CowTown ThrowDown

Links