Mechanical Drive Train
• H-drive drive train
• 3 cims, 2 mini cims
• Strafing wheel actuated for optional use
Elevator
• Chain driven
• One mini cim
Pneumatic Claw
• Grabs both totes and containers
• Actuated with two pneumatic cylinders
Roller Intake
• For acquiring and securing game pieces
Electrical
• 2015 system/Beta Team
• Tape measure recycling container retriever with encoder feedback
• Autonomous controls utilizing gyro and driveline encoder feedback for distance
• Talon SR motor controls
• Elevator uses over travel limit switches with encoder feedback
• Tote detecting photo eye
Programming
• Programmed in Labview
• Uses Beescript to easily edit and swap between autonomous routines
• Elevator controlled by PID algorithm written by TORC using IZONE accumulators
• Code to stack at human player station with one button press