FRC | 2023 | CHARGED UP

Our 2023 Robot
Documentation Files
Build Blog
Event Results

Charged Up is played on a 27 feet (8.2 m) by 54 feet (16 m) field covered in grey carpet. The field is surrounded by low polycarbonate walls on the long sides and taller alliance station walls on the short sides. The Single Substations (part of the human player stations) on the long sides also feature a taller wall made of wire mesh panels.[7]

The field is divided in half by a white line, and each half includes one alliance’s Community and the other alliance’s Loading Zone. The primary scoring areas are the two Communities (one per alliance), which are located near the two alliance station walls. Robots begin the match fully contained within their alliance’s Community. Each Community includes a Grid where game pieces can be scored and a Charging Station that robots can drive onto and balance on during the autonomous period and towards the end of the match.

Source

Team 3161 is proud to be once again, part of the Open Alliance for the 2023 Season
Build Progress
  • 28 x 28 in Swerve Architecture 
  • MK4i Modules driven by NEO motors in an L2 Configuration
  • Rated Maximum speed 14 feet/s
  • Self contained electronics allows for easy and fast iteration, allowing the robot chassis to drive and be tested without the upper subsystems needing to be attached
  • Built in encoders and gyro sensors aid in autonomous operations, auto balancing, as well as odometry 
  • 3 – Roller Intake Architecture allows for a multitude of cone and cube pickup options
  • Powered by 1 Falcon 500 in a 4:1 Reduction
  • Custom Cast Urethane and Colson wheel intake rollers aid in game piece grip
  • IR beam Break aids in game piece detection and Auto stow modes
  • Coordinates with LED signalling lights to communicate intake state to both the drivers and the Human Player.
  • Capable of All levels of scoring
  • Single joint arm
  • Aluminum-wood sandwitch construction
  • Powered by 2 NEOs in a 56:1 Reduction
  • Absolute encoder in gearbox allows for precise and reliable movement
  • Fast gearing allows for scoring setpoints to be achieved within 1 second
  • Mounting to superstructure designed in a way that it can be easily removed, serviced and/or replaced.
  • Provides a platform to mount the arm
  • Made with CNC Lightened Aluminum extrusion and Laser cut gussets
  • Mounted in a way that it can be easily detatched for servicing
  • Also provides a platform to mount vital vision and communications systems.
  • Absolute Encoders in the intake, arm and drivetrain allow for various automated commands for scoring and during the autonomous mode, reducing driver stress and increasing cycle times.
  • LED signaling system enables the robot to signal and communicate various states to both the human player and the drivers.
  • Pigeon IMU enables autonomous balancing and field centric control schemes.
  • Dual Limelight running PhotonVision track apriltags for Pose Estimation during the autonomous period, correcting for any odometry or initial robot setup errors.
  • Pathplanning using PathPlanner, allows for seamless and intuitive autonomous path generation.
  • Capable of running 3 game piece and 2.5  game piece + balance autonomous modes

Driver: Pooria A

Operator: Daniel R

Human Player: Sebastian N

Technician: Andrea N and Giulia G

Drive Coach: Jordan Earl

ONT District Georgian – Finalists, District Event Impact Award Winner

ONT District Waterloo – 4th Place Semi-Finalists, Sustainability Award, Deans List Finalist(Pooria Ahmadi)

ONT District Championship, Technology Division – 3rd Place Semi-Finalists, Gracious Professionalism Award, Deans List Finalist (Pooria Ahmadi)

FIRST Championship, Newton Division – Event in Progress

oUR 2023 robot
krios