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FIRST Robotics Competition 2016 - Stronghold
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The Game:
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Summary:

FIRST STRONGHOLD is played on a 27 ft. by 54 ft. field by two alliances of three teams each. Alliances compete against each other to breach their opponents’ defenses, known as outer works, and capture their tower. They score points by crossing elements of their opponents’ outer works, scoring boulders in their opponent's’ tower goals, and surrounding and scaling their opponents’ tower itself.

Robots:

-ROBOT height, as measured when it’s resting normally on a flat floor, may not exceed 4 ft. 6 in. during the MATCH, except during the final twenty (20) seconds of TELEOP where there is no height limit when a ROBOT is fully contained by the opponent’s COURTYARD.
-Maximum weight of 120 lb

Game Play Rules:

-ROBOTS may only enter or exit their opponent’s SECRET PASSAGE from/to the opponent’s COURTYARD. A ROBOT is considered to be within the SECRET PASSAGE once the only carpet the ROBOT is in contact with is the carpet inside the SECRET PASSAGE.
-ROBOTS are prohibited from launching BOULDERS unless they are in contact with the opponent’s TOWER or carpet in the opponent’s COURTYARD, and not in contact with any other carpet.
-Robots may not possess more than one ball at a time
-ROBOTS on the same half of the FIELD as their ALLIANCE TOWER may not interfere with opponent ROBOTS attempting to traverse OUTER WORKS (regardless of direction). A ROBOT is considered traversing the opponent’s OUTER WORKS if any part of its BUMPERS are within the opponent’s OUTER WORKS and no part of it is in their opponent’s SECRET PASSAGE.

Scoring:
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Game Pieces:
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Our Robot: Epimetheus

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Drive Train:

-4 CIM 6 wheel direct drive
-Pneumatic wheels 8”
-Geared for 14 Feet per second
-Made Delrin skid plates for getting over the defences


Sub-Systems

Passive Wedge (Crow):
-Fully passive mechanism for the portcullis
-2 Lexan V-Shaped incline mechanism to lift the portcullis

Intake:
-Articulating intake powered by 1 bag motor on a 100:1 VP with 4:1 outer stage.
-Mecanum and banebot wheels for grabbing the boulder with a 5:1 VP with a bag motor and with 2 omni wheels on the bottom shaft to help with ball manipulation and turning

Drive Team:
Driver: Joshua Sass-Gregoire
Operator: Minwoo Baek
Human Player: Adrian Antoniw
Drive Coach: Andrew Azores