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FIRST Robotics Competition 2013 - Ultimate Ascent
2013 [was supposed to] Happen
The Game:
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Summary:

'Ultimate Ascent is played by two competing alliances on a flat, 27 x 54 foot field. Each Alliance consists of three robots, and they compete to score as many discs into their goals as they can during a two (2)-minute
and fifteen (15)-second match. The higher the goal in which the disc is scored, the more points the Alliance receives. The match begins with a fifteen (15)-second Autonomous Period in which robots operate independently of driver inputs. Discs scored during this period are worth additional points. For the remainder of the match, drivers control robots and try to maximize their alliance score by scoring as many goals as possible. The match ends with robots attempting to climb up pyramids located near the middle of the field. Each robot earns points based on how high it climbs. Scoring for the match is summarized below.'


Robots:

• Dimensions at start of game 114" robot perimeter. 64" tall
• Maximum dimensions during the match, 84" tall, 56" cylinder around robot
• Weight not to exceed 120 pounds, excluding batteries and bumpers.


Game Play Rules:

• A robot may not pin another robot that is in contact with a field border or tower for more than 5 seconds.
• Robots may only possess or herd four game piece at a time.
• Robots can not contact opposing robots in their loading zones or pyramid area

Scoring:
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Game Pieces:
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Our Robot: Perses [Pharaoh]

Team 3161, the Tronic Titans 2013 Ultimate Ascent robot, Perses.

Technical Overview
- Eight wheel drive, 4” VEXpro wheels powered by four CIMs into dual speed VEXpro Ballshifters. Geared for approximately 6 and 13 feet per second.
- Long configuration. 23.5 x 31.5 inches
- Modified VEXpro chassis. Polycarbonate and sheet metal riveted construction.
- Low centre of gravity, 0.675” of ground clearance.
- 7 solenoids powering 10 pneumatic pistons.
- Onboard compressor and 10 Air storage tanks. Combined storage capacity of 5L (305 cubic inches).

Strategy:
Autonomous:
5 disk 3 point autonomous utilizing automated driving and collecting 2 disks from the ground. 30 points in 15 second autonomous routine.

Perses’ main shooting location is aligned against the back of the pyramid. 3 Point shots. Has the ability to drive through the pyramid.
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Sensors:
Two encoders on drivetrain
Two encoders on shooter
Gyro and Accelerometer
Three photosensors on ground pickup for automated acquisition of disks.


Sub-Systems

Ground Pickup:
Pistons raise and lower the device. Additional pistons and 3 photosensors allow 2 disks to be independently grasped and then dropped into our funnel.

Funnel:
Waxed polycarbonate funnel to queue and hold disks. Accepts disks from low feeder slot and ground pickup device. Disks queued by a pneumatic piston.

Hanger:
Pneumatic powered 10 point hanger. Automatically hangs at the end of the match.

Shooter:
- Powered by a CIM and miniCIM motors. Each motor direct drives an 8” AndyMark pneumatic wheel.
-Disks pushed into shooter with a pneumatic piston
- Shooter wheels controlled with encoder feedback into a Bang-Bang control loop.
Drive Team:
Driver: Emma O
Operator: Esteban Puello
Drive Coach: Nathan Woodger
Human Player: Cameron B