"FIRST POWER UP finds FIRST Robotics Competition teams trapped in an 8-bit video game. Each three-team alliance has three ways to help defeat the boss: Tipping the scale or the alliance’s switch in their favor to earn points, exchanging power cubes for power ups (force, boost, and levitate) to gain a temporary advantage during the match, and climbing the scale tower to face the boss. The alliance with the highest score at the end of the match, which includes autonomous and teleoperated periods, defeats the boss and wins the game."
This year’s robot is designed to focus on scuring and maintaining possession of the Scale (the high target). The focus for manipulators was to collect and convey Power Cubes from the floor to the scale rapidly and reliably.
Our manipulator hugs the power cubes with pneumatic driven, compliant grabbers that take advantage of the uneven skeleton of the milk crate.
This year’s robot uses six omni wheels to provide speed and traction for the FIRST Power Up challenge.
To provide clearance for on-field obstacles and flexibility in design of the robot undercarriage, we developed transfer cases that connect mini-CIMs and Versa Planetary Gearboxes to the drive wheels using internal belts and pulleys.
Our electrical system is planned and laid out to minimize confusion from overlapping wires and to reduce weight of the finished competition robot.
This year’s robot is using the NVIDEA TX-1 to do onboard vision processing with Python. The results of the vision processing are ported to the RoboRIO using Open CV.
In addition to using LabView, we are using Python this year for vision processing on the Jetson TK-1. The TK-1 will communicate with the RoboRio so that our code, as a whole, runs more efficiently for better control of the robot.
Four wheel orthogonal holonomic is so yesterday. This game needs speed and agility, and our new n-wheeled holonomic drive software makes many-wheeled holonomic drive easy. We will be using this new software to drive a 6-wheel omni system with two different spin-center distances.