Into the Deep (2025 - 2026)

Drive Train: 

Our robot was a mecanum drive train, powered by four 435 rpm motors. Its dimensions were 12 inches (width) by 15 inches (length) by 17.5 inches (height).

Intake:

Our intake was a simple, compact claw powered by a GoBilda Super Speed servo. We designed it with the precise geometry to fit perfectly into the ridges of the sample, providing a secure grip. Its small size allowed us to selectively pick up only the desired sample without accidentally grabbing others from the submersible. The claw could also rotate, enabling us to collect samples from any orientation. During operation, we would extend the arm, angle it downward, open the claw, drive over the sample, and close the claw. This one-arm and claw system worked smoothly and reliably, whether we were retrieving a sample from the submersible or collecting a specimen from the wall.

Delivery: 

When delivering samples, we would raise the slides high enough to reach the top basket, angle the same arm that we used for intaking over the basket, and drop the sample. Meanwhile, for specimens, we would angle the arm to have the specimen in our claw upside down, and we would simply drive under the high chamber and raise the slides to clip the specimen onto it. 

Climb (Level 1): 

To climb, we made use of our already existing slides. We would extend our slides upwards, move forward until the u-channel (which acted like a hook for our climb) was over the bar, and then we pulled the slides down, allowing the robot to lift off the floor. This was possible only because we used 435 rpm motors for our slides. It was simple, fast (done in under 5 seconds), and consistent.

Software: 

For our autonomous, we used the Pedro Pathing Java library. Pedro Pathing proved to be an amazing upgrade compared to Road Runner (what we used last year), as it allowed our robot to move without pauses, was easier to program, and could let the robot redirect itself back to the correct position (in the situation that something bumped into the robot).