High-velocity artifact scoring system capable of 3-shot bursts in under 1.0 seconds.
Math analysis proved 10s cycling (artifacts) yields higher OPR than 20s endgame structures. Focused purely on rapid shooting.
Modeled launch speed and peak height parabolas to validate scoring from both "Close" and "Far" zones before CAD.
Switched to Pulleys to center-mount all motors. Low COG makes the robot nearly impossible to push during defense.
4-Stage system powered by 435 RPM motor. Uses "Bootleg" wheels for ground grip and "Gecko" wheels for compliant transfer. Jam-free geometry.
Replaced "Kicker" with 42mm cut-down Gecko transfer wheel. Eliminates dwell time, feeding artifacts instantly into the 6k RPM shooter.
2-Wheel Shooter & 5-Row Bootleg Intake. Validated concept but intake was too narrow and shooter inconsistent.
Added Turret Hood & Kicker. Accuracy improved, but the Kicker mechanism slowed down cycle times significantly.
Replaced Kicker with Transfer Wheel. Added Hogback weights. Achieved "Instant Feed" status (3 shots < 1s).
Advanced path following using Bézier curves allows for smooth, continuous motion rather than stop-and-turn navigation.
Utilizing NextFTC to organize code into subsystems. PID controllers manage flywheel velocity to compensate for battery voltage drop.
