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--- 2022_ball_manager_tower [2022/08/14 23:13] – rfhuang
+++ 2022_ball_manager_tower [2022/08/14 23:21] (current) – rfhuang
@@ Line 3: / Line 3: @@
 __Independent Two Motor Tower, Storage for Two Balls__
-**Github**
+**Github** \\
 [[https://github.com/Team-4795/2022-Rapid-React/blob/8e39e70995130413f89f3a0e958ad59cd0c398be/src/main/java/frc/robot/subsystems/Indexer.java|Indexer.java]] [[https://github.com/Team-4795/2022-Rapid-React/blob/8e39e70995130413f89f3a0e958ad59cd0c398be/src/main/java/frc/robot/subsystems/Superstructure.java|Superstructure.java]] [[https://github.com/Team-4795/2022-Rapid-React/blob/8e39e70995130413f89f3a0e958ad59cd0c398be/src/main/java/frc/robot/commands/BallManager.java|BallManager.java]]
@@ Line 30: / Line 29: @@
   - Vertical tower + mecanum vectoring intake
 After a cutout intake with vectoring capabilities was finalized, we quickly settled on the vertical tower design and started developing a design.
+----
+==== Final Design ====
+{{ ::screen_shot_2022-08-14_at_11.16.17_pm.png?130|}}
+The final design is a 2-cell (where each ball sits in its own independently controlled segment of the tower) vertical system, featuring the following solutions to our initial goals.
+  - Polycarbonate siding and fully enclosed belts with high compression keep balls in place
+  - Entraption stars and a ramp reliably accept balls from intake
+  - The top ball is held by infinity-belt-driven dual timing belts for rapid feeding into shooter
+  - 2x1 aluminum superstructure mounts to drivebase in 4 places with open and accessible hardware
+  - Color and beam-break sensors located inside the electronics area provide ball color and presence data, allowing for precise sequencing and wrong-color ball rejection
+  - Polycarbonate siding allows for mounting for motor controllers, RoboRIO, PDH, radio, and VRM