Two time regional winners

First Brookline Bots swerve drive robot

~95% high goal shooting accuracy

Specifications

• Swerve drive with 4 Swerve Drive Specialties MK4i modules
• 8 Falcon 500 motors powering/steering swerve modules
• Swerve modules inverted for protection and space saving
• Collector has 3 roller sets, Falcon 500 drive, pneumatic actuation
• Storage has 2 Neo 500s, compliant/mecanum rollers, 5:1 reduction
• Shooter has 2 Falcon 500s, 1 to 1.2 reduction, 4" Vex flywheels
• Adjustable shooter hood with linear actuators, rear anti-backspin wheels
• Climber uses 2 Climber-in-a-Box modules, pneumatic pistons, 3D printed hooks

Capabilities

• Closed-loop swerve with Falcon encoders, CANcoders, NavX for positioning
• Motion profiled autonomous paths using Path Planner
• Automated collector deployment based on driver controls
• Line sensors monitor storage capacity, control intake/shooting
• Limelight vision tracking for shooter distance/RPM determination
• Automated cargo release sequence based on target shooter RPM
• Onboard camera vision for collector positioning
• Safeguarded climber automation with sequential controls
• Driver feedback like rumble, cargo count adjustment, arm position tweaks

Competitions

• Heartland Regional
• Central Missouri Regional
• Hosted Greater Kansas City Regional
• 2022 World Championships
• Indiana Robotics Invitational
• CowTown ThrowDown

Links