In SKYSTONE, teams worked with droid allies to build a superstructure of the future. They topped it off with a crown of achievement—a final capstone to symbolize our reach into the sky, and dreams of a hopeful future.
Key game elements
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.
The Webcam and easyopencv
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.
The claw and arm
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.