Crescendo

In the challenge Crescendo, robots work together to score notes, amplify a speaker, harmonize on stage, and take the spotlight. During the autonomous period, notes scored in the speaker earn their alliance 5 points, and notes scored in the amp score 2 points. Robots can also earn 2 points through mobility by leaving the starting zone. During the tele-op period, notes scored in the amp are 1 point while notes scored in the speaker are 2 points. Each note scored in the speaker when it’s amplified is worth 5 points. To amplify the speaker, alliances must score 2 notes in the amp and the human player must press the amp button. The amplification period lasts 10 seconds or until 4 notes are scored in that alliance’s speaker, whichever occurs first. Once it’s the endgame, the last 30 seconds of the match, robots can choose to keep scoring elements or try to climb onstage and score in the trap for 5 points. During the endgame, human players may also attempt to throw notes on the microphones. If they score, the alliance receives the spotlight bonus which gives them 4 points for each robot onstage whereas an alliance that is not spotlit would earn only 3. If two robots from an alliance are onstage on the same chain the alliance earns the harmony bonus which is 2 points. 1 point is awarded to any robot parked in the stage zone.

CHASSIS

We continued to improve on our swerve drivetrain from the season. Anticipating possible chassis failures during CCC, this subteam also prepped the four extra swerve modules from the Sunset Showdown robot in case replacements were needed.

INTAKE AND INDEXER

We revamped our intaking system to send notes into an indexer, instead of having the intake pivot all the way around to the shooter. Further, we use a REV color sensor to detect when we have a note in our indexer, reducing the need for a direct line of sight from the driver to the robot.

SHOOTER

We focused on recreating our season shooter while incorporating first years into the subteam. We hit a snag when putting the climber and shooter together, but the overlap was quickly fixed.

CLIMBER

We redesigned the chain mech completely, going back to a climber-in-a-box-style climber and brought some of our new members onto this subteam. It uses NEO motors coupled to a 25:1 gearbox to pull the robot down onto the chain. During normal match play, the mechanism is down, and is only released to the up position when the mechanism operator commands it to. The limit switches allow the robot to stop lowering the hooks when it is at the lowest state.

SW DRIVE

Drive struggled with allocating time on the chassis between chassis electrical failures and driver tryouts. Despite this, they attempted to diagnose a mysterious drift error when the driver tried to move the robot translationally and rotationally at the same time.

SW MECH

SW Mech focused on adapting the season's state machines to ones for the updated hardware, as well as writing new code when necessary.

CV/AUTOMATION

Worked on AprilTag alignment code, along with code to collect camera data during our CCC matches. We also experimented with PhotonVision and started on a Minon Bot project for outreach events and our pit.

ELECTRICAL

Electrical wired up the entire robot and was on standby during testing to fix electrical issues that would pop up. Further, they upgraded some of our old test rigs with new radio power modules, and updated our robot’s radio to a newer, more reliable one. Finally, they 3D printed some caps for the motors and some small boxes to protect encoder wires.