SPONGEBOT- 2025
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Meet Spongebot, our multi-award winning robot that competed in the 2025 REEFSCAPE Season, presented by Haas. While unable to perform the tasks associated with the Algae, it was able to intake Coral from the human player remarkably well. When depositing the Coral on the reef, our "Eagle" system would automatically move to the desired location on the roof and eject the coral via the Limelight 3G. Furthermore, using our locking pin-release system, we were able to consistently execute a perfect hang match after match.
SCORING
CORAL-
Since the beginning of the season, we knew we would require a mechanism capable of collecting the Coral, reach Level 4 on the Reef and drop the Coral their, all in a matter of a few seconds. For intaking the Coral efficiently, we used compliant wheels to reduce human error and guide the coral in, no matter the direction. To dispense the Coral, we settled on a compliant wheel based, Coral holder that could move on the elevator and quickly dispense the Corals on the Reef. Using a 2-stage cascading elevator, powered by 2 Kraken X60 Motors, along with a superstructure, we were able to quickly eject the Coral onto the Reef, and thus, achieve our goals
HANG-
We had to create a mechanism, that was compact, simple and able to hang our 52kg robot onto the Deep Cage without hindering our Coral functions. After iterating over several design prototypes, we landed on a unique idea to tackle the problem. Our mechanism works by sliding the cage in the middle of our robot, where the baseplates holds it. 4 legs lift up the robot, and several servo motors, trigger locking pins. After the robot is elevated, via the legs, the pins are released by the servos that cause 4 locking shafts to hold onto the cage, suspending the robot
Intake
Ejection
Ejection
Intake
Legs (to hang)
Pin-Release System
DRIVETRAIN
Our chassis sees the usage of the MK4i SDS swerve modules held together by aluminum box tubes, each side being 29.5". powered by Kraken X60 motors. Due to the simple design, it was extremely quick and versatile, giving the drivers great ease and allowing our robot to zip around the playfield
ELECTRICAL
This year, we made the use of the CTRE fused CANCoders that allowed us to receive accurate odometry results. Furthermore, we integrated the Limelight 3G in our robot allowing for field localization and alignment. We also made use of limit switches, infrared sensors and the CTRE Pigeon that proved to be an extremely accurate gyroscope. We utilized the REV Spark Max control system to control our NEO 550 brushless motors and to accurately receive data regarding its position. Furthermore, by using relative encoders in our elevator system, coupled with Motion Magic, we were able to receive extremely smooth and consistent results.
SOFTWARE
For the REEFSCAPE season, our standout feature was our autonomous period, where at the Midwest Regional, we were able to achieve near 100% accuracy in auto during all our qualification matches. We used PathPlanner to make our autonomous paths and by using the value of Limelight 3G's angular offset from the AprilTags on the Reef, we were able to accurately, using a PID logic align to it quickly and score the Coral. During autonomous, we would use the tags to localize our odometry on the basis of the coordinates the Limelight estimated from the position of the tag. Furthermore, using MotionMagic, we were able to achieve extremely smooth elevator movements while hanging and depositing the Coral.
MK4i Chassis
Drivetrain
Pigeon CANCoders
Limit Switch Infrared Sensor
MotionMagic
Limelight 3G
BOTHOVEN- 2024
Meet Bothoven, our multi-award winning robot that competed in the 2024 CRESCENDO season presented by Haas. With more than a 1000 hours of collaborative effort, we truly embody our motto - "Improvise, Adapt, Overcome". Bothoven is able to master the Amp and the speaker in a sensational fashion. Our ingenious alignment technique via the Limelight 3 Camera, allows us to quickly and accurately score points in the Amp as well as Loudspeaker. Our quick hang and efficient ground intake also add to the various aspects of our very first robot.
SCORING
NOTE-
Upon great ideation and thought, we realized that we would need to be able to intake Notes from the ground and score in the Amplifier and Speaker. To achieve this, we decided to utilize a chain-driven mechanism that powered an arm that was able to move over a 130 degree range of motion. To intake the Note, we use several compliant as well as mecanum wheels to align and shoot the Note. Furthermore, IR Sensors were used in order to understand if the Note had been collected or not, automating the process. This system served as both our intake as well as outtake, eliminating the need for a transfer and simplifying our design greatly.
HANG-
The Hang in CRESCENDO was a challenging problem as it was a upon a loose chain that robots had to suspend from and balance. Furthermore, we had to ensure that our mechanism would be able to fit in the robot without hindering the performance of the Note shooting and intaking. On top of that, we also had to ensure that there was enough space for our alliance robot to hang on the same chain Our design foresaw the usage of telescopic tubes onto which 2 claws were attached. A lycra mesh was added between the tubes to provide protection to the robot while hanging.
Arm
Intake
Ejection
Intake
Telescoping Tube
Hook
DRIVETRAIN
As a rookie team, our core objective for the chassis was maneuverability as well as being able to support the various other mechanisms. Thus, after extensive research, we went with the REV Swerve Module, secured by mild steel brackets. Ultimately, to accommodate for the intake, we also ended up elevating a part of our bumper at the front.
ELECTRICAL
Due to it being our first year, we decided to go with the most common and available programming resources that would allow for rapid debugging. Using PathPlanner, we were able to design efficient autonomous paths and implement it via the WPILib IDE. Several sensors such as gyroscopes, encoders and IR sensors were also implemented for further automation during matches. REV Spark Max controllers were used to accuratly control the positions of motors while SmartDashboard and ShuffleBoard were used to monitor data values and logs to allow for efficient debugging.
SOFTWARE
Bothoven uses several integral features that constitute the software. It's standout feature, the Limelight Auto-alignment System allows us to shoot the Notes accurately and quickly. This was done by calculating the distance from the target as well as the vertical angular offset, and moving the shooter arm accordingly as well as setting the RPM of the wheels. Furthermore, the Google Coral AI accelerator was used to run advanced machine learning models on the Limelight, allowing for Note detection. By using Swerve Module Utilities & Slew Rate Limiter, we were able to accurately manage swerve kinematics and limit range of motion for smoother control, which allowed for greater mobility during autonomous as well as TeleOp periods.
Chassis
Drivetrain
Gyroscope
Infrared Sensor
PathPlanner
Limelight 3
Encoder