2022 VCC

My team's entry for the Valor Cad Challenge (2022). Team 789 Supermuffin (Kellen Yu, Grant Gao, Tony Chen), 2nd place winner.

youtube awards

Chassis

Powertrain:

• goBILDA 5203 Series 312 RPM with 5:6 reduction for final ratio of 16:1
• Power transfer with fiberglass belt and delrin gears
• Compact and space efficient 56mm pod

Wheels:

• 8x Gobilda 72mm omni wheels
• 2x custom designed 72mm tread wheels

• 2mm drop center

  Odometry:

• 3 Open-Odometry pods, 1 mounted in each drive pod and 1 in the crossbeam.

Drivetrain plates cut out of 1/8in Aluminium and are pocketed in order to reduce weight.

Shooter + Turret Mechanism

Turret:

• Mounted on a 3.5 inch ID x 4 inch OD bearing
• Controlled by 2 goBILDA torque servos operating in continuous mode
• Orientation of the turret tracked by a REV through bore encoder

Adjustable Hood:

• Changes the angle of fire by 16 degrees
• Controlled by 2 Hitec 30mm stroke linear servos

Flywheel:

• Custom made 48mm wheel
• Powered by goBILDA 5203 6000 RPM in 1:1 ratio

Feeder

• Color sensor to detect the presence of balls and the color of them.
• Custom made 36mm wheel that controls the flow of balls into the shooter mechanism.

Intake

• Flip down intake with the ability to store up to 3 balls at a time.
• Upon the successful acquirement of balls, the intake then rotates to act as a transfer mechanism.
• Belts run across the intake, which move balls into the shooter mechanism.
• A stopper is implemented in order to prevent the unintended release of balls from the transfer.
• The entire mechanism can be rotated around an axle via the use of 2 servos which are belted to it.
• Plates are made out of 1/8in aluminium and are pocketed in order to reduce weight.

Renders

Design Process