Eastbots Wiki

Independent Two Motor Tower, Storage for Two Balls

Github

Indexer.java Superstructure.java BallManager.java

In the initial brainstorming period of robot concepts and ball paths, some goals were set:

1. Reliably hold and store balls under robot movement and impacts
2. Accept balls from intake mechanism without jamming
3. Reliably and accurately feed balls into the shooter mechanism
4. Be modular and rapid to install/remove from the drivebase platform
   1. Integrate well with other robot mechanisms
5. Sense ball color and presence, and sequence accordingly using automated functions
6. Store the majority of the robot’s control system and electronics, and hide these to preserve aesthetics while retaining serviceability

Our tower design process closely followed that of our intake, because the indexing and ball path within the robot is greatly dependent on the intake concept. Before an intake concept was finalized, several ball indexing and sequencing.

Concept designs were brainstormed and designed, but two were heavily considered:

1. V-belt indexer + angled tower + full width OTB intake
2. 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.