Pictures and descriptions for the State tournament, February 23, 2019
Surprisingly, nothing has been changed about this run!
This run didn't work very well at Sectionals.
Here's what we're thinking. This run used to start with the robot facing east, driving a little bit, and turning 11 degrees to head for the Habitation Hub. Looking in that direction, the green line is really steep (large slope) - so, if the robot comes off the wall crooked, it hits the line in really the wrong spot.
Instead, we're trying to start with the robot facing north - exactly the way it's facing at the end of Run #1. Now, the line's slope is small, so driving crooked into it isn't a big deal.
This run is actually new! In this run, we will drop the gray Core Sample in to the 3D printer to eject the red brick. We will also knock down the Crater Crossing gate, and send a ball across the crater. Then, we will back up and go to the exercise area. We will use prongs on the forklift that previously held the ball carrier to pull up the bar
and run the machine on the other side. We'll then return to base.
This run is basically unchanged - it was Run 3 previously, but that makes little difference. All changes we've made have been cosmetic things. We changed the bomb so that it reads "PAM" on the top. We also added a sound effect that says "Wham, bam, here comes Pam!" before dropping the bomb.
Pictures and descriptions for our second tournament, Jan 13, 2019
This is our improved robot. Instead of having three light sensors, we took out one and added a touch sensor that we use for the food production and to push the other team's solar panel. The touch sensor is connected to a bumper that we still use to square up on walls. With the touch sensor, we can know when the robot is squared up correctly. We took out the middle light sensor, sensor #2, because we just couldn't justify keeping it there, and we didn't use it for any of the missions that we did.
For this mission, we didn't change anything except for at the end of the mission. The robot now stops moving when it hits the south wall when coming back.
Again, for this mission we didn't change a lot, except that we made the legs of the attachment bigger so that they could easily go around the Hub. We also changed the position of the corrugated pipe so that it was closer to the robot to ensure that the Core Samples are caught every time.
For this run, we changed basically everything from what we had at the last tournament. On the third run, we do five missions. First we do escape velocity, we do this by using the main attachment seen below. The robot pushes this and comes to escape velocity from the side. The forklift moves a lever, and the weight is dropped onto the strike pad. While this is happening, an arm falls and pushes the observatory to white (or if we're lucky, orange). After this, we drive up to the food production and push it in using the bumper. After that we drive to the NE side of the board and we push the other team's solar panel facing away from us. Then we drive to push the satellite on the board to the outer orbit rings. While the happens, the sat con (satellite condo), which was put on while the robot was in base, is also positioned between the outer orbit rings.
Pictures and descriptions for our first tournament, Dec 2, 2018
This is the robot we used for our first tournament. Its name is Ragnarok, going with our Norse theme for names. It consists of two large motors with 62.4 x 20 tires on medium wheels. The axle that connects each motor to its wheel extends into the outer frame, to make sure that the wheels don't pop out and to provide extra structure. On the front, we have a forklift that can move left to right, up and down, and sideways. We use the forklift for every mission run we do. On the back of the robot we have some beams that we use to square up on walls.
For this run we did the Solar Panel and the payloads. The main attachment (the mostly light grey one) has an arm that pushes into the Solar Panel to push it back. On the other side of the attachment, there are two wheels. The first one serves to lift up the wedge on the payload mechanism when the first payload is dropped. The robot then pushes the attachment in more so that the second wheel, the yellow one, lifts up the wedge for the second two payloads to be dropped. The smallest attachment holds the two payloads on the robot until the forklift lowers them down into the ramp.
For our second run, the first thing we do is insert the Tube Module into the West Habitation Hub port. The second and third pictures shown below display the attachment used to complete this task. The main tube holder connects to the light sensors on the robot and stays attached the whole run. The attachment has skids to make sure it almost always encases itself around the Hub. The tube simply slides into the port and stays. The next mission we do in this run is putting Gerhard in the airlock chamber. We do this by using the first attachment seen below. The Gerhard grabber attaches to the forklift. It grabs Gerhard with the "hook", and the forklift moves diagonally to place him into the airlock chamber. The last mission we do in this run is the Core Samples, also using the first attachment - that's what the blue corrugated pipe is for.
For our last run, we do two missions. We do Escape Velocity and the Observatory. For these two missions, we use one attachment. This consists of a holder for our "bomb", which is attached to the forklift. The robot comes into Escape Velocity from base, going east, and attacks from the side. When the robot is in the right position, the forklift lifts up and the bomb is dropped, which activates the space ship. The arm attached to the holder has corrugated pipe on it, so when it comes in contact when the launch pad on Escape Velocity, it drops down and pushes the Observatory to white or grey.