FRC | 2025 | REEFSCAPE

Our 2025 Robot
Documentation Files
Build Progress
Event Results

In REEFSCAPE presented by Haas, two competing alliances are invited to score coral, harvest algae, and attach to the barge before time runs out. Alliances earn additional rewards for meeting specific scoring thresholds and for cooperating with their opponents.

CETO

(Pronounced "Kee-to") Ceto is a primordial goddess of sea monsters and other marine life.

Drivetrain

The most important part of the robot, the drivetrain is built to be as modular, simple and robust as possible.

  • 27 x 27 in Swerve Architecture 
  • MK4i Modules driven by  Kraken X60 motors in an L2 Configuration
  • Rated Maximum speed 16 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 as well as odometry 
  • Bottom facing electronics allows for robust protection from falling game elements

Pivot Arm Superstructure

A Robust and Simple subsystem, this superstructure was heavily influenced by our 2024 robot, and it holds our pivoting elevator

  • Single joint arm (Elevator)
  • Dead axle construction
  • Powered by 2 NEOs in a 168:1 Reduction
  • Absolute encoder in the output shaft allows for precise and reliable movement
  • Fast gearing allows for scoring setpoints to be achieved within 1 second
  • Tensioning mechanism and mitigations implemented to minimize backlash as much as possible
  • Mounting to superstructure designed in a way that it can be easily removed, serviced and/or replaced

Elevator

The Elevator brings up the end effector to the desired reef or barge level, enabling precise and fast scoring

  • 2 Stage Cascading System
  • Driven by 2 NEO Motors on a 5:1 Reduction
  • Belt Driven Stage 1 with a Nylon Cascade strap
  • Setpoints achieved in less than 0.5s
  • SDS Elevator Blocks with 1/16 aluminum extrusion build that enables a lightweight, but rigid construction

End Effector

The End Effector allows for simple and fast coral intake, scoring and algae dislodge functions.

Wrist

  • Carbon Fibre PCTG Herringbone 20DP Wrist gears allow for strong, light but backlash-less motion of the effector.
  • Aluminum Wrist Plates aid in rigidity
  • Gearing allows for sub 1-second setpoints

Intake

  • Polycarbonate frame construction aids in achieving a lightweight but tough system
  • Custom casted 2 inch and 3 inch wheels 
  • IR Beam Break aids in coral intake
  • Carbon Fibre PCTG Funnel Prongs aid in correcting human player station misalignments, allowing for seamless intaking even when defended.
 
 

Climber

The climber enables the robot to achieve the endgame portion of a match.

  • Fork based climber allows for fast and simple climbing
  • Gearing with a NEO motor allows for fast deploy and climb while using motor-based braking once climb has been achieved.
  • Winch-based architecture with nylon straps and a CF spring for extension control
  • AprilTag alignment using an Orange Pi 5 with a Global-Shutter Camera, allowing to aid in scoring and autonomous routines
  • Autonomous Pathplanning using PathPlanner and Choreo, allows for seamless and intuitive autonomous path generation.
  • Automated commands for alignment and scoring, 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.
  • Trapezoidal motion profiles on the drivetrain, arm, elevator and wrist allow for smooth and accurate motion

Driver: Alana E

Operator: Daniel B

Human Player: 

Technician: 

Drive Coach: Jordan Earl

  • ONT District Humber Event
  • ONT District McMaster Event
  • ONT District Championships (if Qualified)
  • World Championships (if Qualified)

Open Alliance

Team 3161 is proud to be once again, part of the Open Alliance for the 2025 Season

Build Progress

Documentation Files

Find our season specific information for this year such as build logs, supporting collaterals and technical information here

2025 Season Wiki