• Foundation

• Stones

• Bridge

• Need to account for alliance partner responsibilities and paths during autonomous

• Need to correctly identify Skystone(s) during autonomous

• Need to account for rectangular-shaped blocks that need to be collected from a variety of angles or positions

• Need to minimize time to stack

• Need to stack as high as possible

• Need to move foundation smoothly

A single autonomous program was written that uses LED switches to to dictate the robot behavior based on:

• Starting location (loading or building zone)

• Parking location (next to wall or bridge)

• Who moves foundation (us or partner)?

• Alliance (blue or red)

Drive team would coordinate with alliance partner before each match to ensure proper switch selection.

We utilized a webcam on the front of the robot along with a software package called EasyOpenCV developed by FTC Team 4634 FROGBots to correctly identify the Skystone.

Utilizing multiple spring-loaded flexible wheels for the intake, we are able to collect blocks from a variety of different angles, including blocks pressed up against the field walls.

Once the blocks are injected into the robot, a servo-based claw grabs the block.  The claw is mounted on an arm that rotates outside of the robot to place the block while maintaining a level orientation.

The lift uses two linear slides powered by motors and pulleys to stack up to 9 blocks high.

Custom 3D-printed hooks driven by servos allow the robot to grasp the foundation firmly and maneuver it into position reliably.