2022_Main_Robot

Subsystems:

• Shooter Wheel - Naman
  Controls velocity of the flywheel and rollers mounted on the hood (mechanically coupled).

  • 2x TalonFX

• Shooter Hood
  Adjusts the hood angle to affect shot trajectory.

  • 1x TalonFX
  • 1x TalonFX limitswitch for home position / zero

• Limelight
  For identifying and tracking the vision targets on the goal.

  • 1x Limelight

• Photonvision
  For identifying the location of balls on the intake side of the robot during auto, color stream fed to dashboard for use during teleop by drive team.

  • 1x Photonvision

• Turret - Katie
  Rotates the shooter assembly. This may not exist for our first event(s).

  • 1x TalonFX
  • 1x TalonFX limitswitch for home position / zero

• Intake roller - Jio
  Acquires balls from the ground.

  • 1x TalonFX

• Intake raise/lower
  Positions the intake assembly to the lowered position (where the rollers could pick up balls from the field), or the raised position (within our frame perimeter).

  • 1x Double Solenoid

• Indexer - Conor Moves the balls through the superstructure, rollers above the hopper blocker that cause ball motion into the shooter.

  • 1x TalonFX
  • 1x Digital Input for ball detection (IR sensor)

• Hopper - Ted
  Causes ball motion between the intake and indexer (in the pooper area).

  • 1x TalonFX
  • 1x Digital Input for ball detection (IR sensor)

• Pooper - Ted
  Spits balls out of the robot that don't match our alliance color.

  • 1x Double Solenoid to eject ball

• Color-sensor
  Determines if the ball in the hopper area matches our alliance color.

  • color-sensor for ball color detection
  • wiring map:

• Climber - Aiden
  Linear lift that can raise/lower to perform the climb.

  • 2x TalonFX
  • 1x TalonFX limitswitch for home position / zero
  • 1x DigitalInput for bar detection

• MonkeyBar
  Passively engages the bars when climbing. Pivots to tilt the robot to aid the Climber in engaging the next rung.

  • 1x Double Solenoid for pivot
  • 1x DigitalInput for bar detection

• Drivetrain - Nate

  • 6x TalonFX
  • 1x Pigeon IMU

Guidelines for contributors

See Contributing.md