2016: Stronghold Robot

2016 Stronghold Robot

2016 Stronghold Robot

Mechanical Drive Train

  • Two axle shooter
  • Integrated shooter and intake design
  • WonderArm Pickup designed to lift Portcullis and push down Cheval de frise
  • Custom 3D printed parts, camera bracket, NavX cover
  • Custom Gearbox for shooter elevation
  • Utilized new integrated encoders in Versaplanetary Gearboxes
  • Winch design to lift from Center of Gravity, to reduce travel height of Bumpers.
  • 10 motors used
  • 2 speed VEXpro ball shifting gearboxes (drivetrain)
  • Custom drivetrain
  • Simple 6 wheel drive
  • Air is used efficiently without onboard compressor, saving weight

Electrical

  • 2016 system/Beta Team
  • Autonomous controls utilizing NavX gyro and driveline encoder feedback for distance
  • Talon SRX motor controls and Victor SP
  • 2 Ball detecting photoeyes
  • 2 Versaplanetary, 2 CimCoder & 2 US Digital Encoders for position and velocity feedback
  • NavX Pitch and Roll detection of crossed defense
  • Banner Time of Flight sensor for defense detection

Programming

  • Vision Processing for Autonomous High Goal shot, and Teleop “Click and Score” Driver control.
  • Programmed with LabVIEW.
  • Beescript scripting language used to easily write autonomous commands as regular text files to easily create and switch between multiple autonomous modes.
  • Three “state-machines” used to provide easy control of robot’s wheeled shooter, the angle of that shooter, and a roller intake arm for the drivers.
  • Multiple variations of the PID (proportional, integral, derivative) control system to provide accurate and reliable feedback control for the drivers of the robot’s shooter wheels, shooter elevation, and roller intake arm.
  • Preset “modes” for the robot’s shooter and roller intake arms, allowing the drivers to easily pick up boulders, cross defenses, choose between predetermined shooter elevations and wheel speeds for high goal, low goal, and close- range shots, and then to fire a boulder.

Thursday, April 14th through Saturday, April 16th

Oxford High School’s FIRST Robotics Team 2137 – TORC competed at the State Championship in Grand Rapids, MI at the DeltaPlex Arena. In preparation for this event, TORC spent the three weeks between their final district event and the State Championship troubleshooting the shooting mechanism to determine the reason for jamming issues they faced in the finals at the Marysville District event.TORC faced various issues with the robot while in Grand Rapids. A bad battery, loosening of an encoder wire, and a hex shaft coming out are just a few of the examples of issues that caused TORC’s losses on Thursday and Friday. Saturday TORC began to rally back and ended qualifications adding two wins. With 4 wins and 8 losses, TORC was ranked 77th out of 102 teams from around Michigan. Competing in the elimination rounds would now hinge on another team selecting TORC to join their alliance.
Fortunately, Team 5150, Hybrid Hornets of Flint, the #4 Alliance Captains saw value in adding TORC to its alliance with Team 5460, Strike Zone of Lapeer, for the elimination rounds. In the Octofinals, TORC faced the #13 alliance from the Upper Peninsula, made up of Team 4391,
BraveBots of Gladstone , Team 3602, RoboMos of Escanaba , and Team 2586, Copper Bots of Calumet. In a last minute move, the #13 alliance had to bring in a back up robot to replace team 2586’s robot due to a malfunction. Team 5084, FridgeBot of Corunna filled the spot and match one began. In match one, TORC outscored the #13 alliance 147-111 and in match two 151-149, advancing to the quarterfinals. In the quarter-finals, TORC competed against the #5 alliance of Team 2054, Tech Vikes of Hopkins, Team 2771, Code Red Robotic of Grandville , and Team 5980, East Grand Rapids Robotics of East Grand Rapids . In match one, TORC won 187-179 and in match two TORC won 191-170. TORC would now verse the #9 alliance in the Semifinals.
The #9 alliance was made up of Team 2474, Excel of Niles, Team 4362, Gems of Brighton, and Team 5448, CC Automationeers of Big Rapids. The first match resulted in a loss for TORC, 175-110.
As they had done all weekend, TORC dug deep and kept striving to improve, leading to a win in match two, 202-187. For the first time in TORC history, TORC sealed its spot in the Finals at the Michigan State Championship by winning the third match 174-97.
In the Finals, TORC faced the #1 alliance of Team 27, Rush of Clarkston, Team 67, HOT of Highland, and Team 1718, The Fighting Pi of Armada. TORC lost match one 180-175. Before match two began, Team 1718 faced a malfunction and was replaced by Team 6086, Ignition of Mt. Morris. Match two ended with a victory for TORC, 192-107. Match three would determine the MI State Champions. TORC was outscored 175-167, ending their comeback with a very respectable second place finish in the state. This comeback allowed TORC to qualify for the World Championship in St. Louis, MO, April 27-30. TORC is currently ranked 13th out of 411 teams in Michigan!

On Friday, March 25th and Saturday, March 26th TORC competed at the district event in Marysville, MI. In preparation for this event, TORC spent the three weeks between events rebuilding their shooting mechanism to avoid the stalling they encountered at the Waterford District and corrected the issues with the autonomous code.
After competing in qualification matches all day Friday and Saturday morning, TORC was the number ONE ranked team out of 40 teams from around Michigan. The stalling and autonomous issues of the previous competition had been resolved and TORC became the Alliance Captain for the number one alliance. As the Alliance Captain, TORC and chose Team 217, The ThunderChickens of Sterling Heights and Team 5860, Full Metal Muskrats of Algonac as it alliance partners for the elimination rounds. Together, they defeated Team 2851, Crevolution of Sterling Heights, Team 6020, JGHS of Bay City, and Team 4994, Kingston Robo-Cards of Kingston in the quarter-finals. They outscored the number eight alliance 114-89 in match one and 139-102 in match two, advancing to the semi-finals. In the semi-finals, TORC competed against the number five alliance of Team 5150, Hybrid Hornets of Flint, Team 2604, Metal and Soul of Capac, and Team 4368, Bull Bots of Vicksburg. In match one, TORC won 144-101 and in match two TORC won 134-101. TORC would now verse the number two alliance in the finals. The number two alliance was made up of Team 3534, House of Cards of Davison, Team 5155, Bearcats of Ubly, and Team 5926, Moobotics of St.Clair County. After experiencing no problems with the TORC shooting mechanism throughout the qualification matches or quarter-finals and semi-finals, TORC’s shooter began to jam. This resulted in a close loss for TORC in match one of the finals, 152-155. The second match of finals saw additional jamming of the shooter and TORC lost 124-166. As finalists, TORC took second place of the 40 teams, still an impressive finish!
At the awards ceremony, TORC once again earned the most prestigious award a team can
receive, the Chairman’s Award. The award honors the team that represents a model for other teams to emulate and best embodies the purpose and goals of FIRST. In addition, TORC won the Industrial Safety Award, sponsored by Underwriters Laboratories which celebrates the
team that progresses beyond safety fundamentals by using innovative ways to eliminate or protect against hazards.
Winning the Chairman’s Award automatically qualifies TORC for the State Championship competition held April 13 – April 16 in Grand Rapids, MI. In addition, the team earned 124
ranking points through robot performance and other team awards, qualifying for the State Championship. With two weeks of qualifying district events remaining, TORC is currently
ranked 5th out of 411 teams in Michigan!
On Friday, March 4th and Saturday, March 5th
TORC competed at the district event at Waterford Mott High School. The 2016 FIRST
game is called STRONGHOLD and requires teams to shoot balls into low and high goals to capture the tower, cross any of nine defenses midfield, scale the tower, and get all three alliance partners parked on the batter before the match ends to score points. Ranking points are also earned by crossing at least four defenses two times each.
After competing in qualification matches all day Friday and Saturday morning, TORC was the number two ranked team out of 39 teams from around Michigan. This was impressive as TORC faced connectivity issues with the competition field on Thursday evening and encountered repeated stalling issues on the shooter mechanism on Friday.
TORC was the Alliance Captain for the number two alliance and chose Team 1718, The Fighting Pi of Armada and Team 245, Adambots of Rochester Hills as it alliance partners for the elimination rounds. Together, they defeated Team 6117, Team Eagle of Pontiac, Team 1250, GatorBots of Dearborn, and Team 51, The Wings of Fire of Pontiac in the quarter-finals. They outscored the number seven alliance 104-64 in match one and and 112-74 in match two, advancing to the semi-finals. In the semi-finals, TORC competed against the number three alliance of Team 1023, Bedford Express of Temperance, Team 5048, Spartronics of Imlay City, and Team 3655, Tractor Technicians of Mason. In match one, TORC won 115-112. Match two ended in a loss of 104-105. In match three, TORC’s autonomous program didn’t operate and valuable points were not scored. In addition, The Fighting Pi encountered operational issues with their shooting mechanism, also reducing scoring ability for the alliance. Match three ended in a score of 112-118, thus eliminating TORC’s alliance. The number one alliance of Team 67, HOT of Highland, Team 33, Killer Bees of Auburn Hills, and Team 4003, TriSonics of Allendale became the Waterford District Champions.
TORC did not come home empty handed. TORC was awarded the Excellence in Engineering Award, sponsored by Delphi which celebrates an advantageous machine feature. It was noted that TORC had used its CAD skills and engineering process to evaluate nine drive train options.Through research, prototyping, and evaluating testing data, TORC carefully selects the mechanisms it will then fabricate parts for, assemble, wire and program.
In addition, the teams have the opportunity to vote for one team to receive the Pit Safety Award. This is special because the competitors select the winner. TORC was awarded the Pit Safety Award. They also were runners-up for the Industrial Safety Award, sponsored by Underwriters Laboratories which celebrates the team that progresses beyond safety fundamentals by using innovative ways to eliminate or protect against hazards