{"id":15149562,"url":"https://github.com/team236/2017-robot","last_synced_at":"2026-01-20T03:33:44.929Z","repository":{"id":67121436,"uuid":"81029834","full_name":"Team236/2017-Robot","owner":"Team236","description":"⚙️ Team 236's 2017 robot to play FIRST Steamworks","archived":false,"fork":false,"pushed_at":"2017-08-24T15:38:07.000Z","size":215,"stargazers_count":2,"open_issues_count":0,"forks_count":1,"subscribers_count":3,"default_branch":"master","last_synced_at":"2025-02-13T09:51:09.968Z","etag":null,"topics":["236","eclipse","first","first-frc","first-robotics-competition","frc","frc-robot","frc236","frcjava","java","robotics","robotics-competition","robots","team236","wpilib"],"latest_commit_sha":null,"homepage":"","language":"Java","has_issues":false,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/Team236.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2017-02-05T23:27:33.000Z","updated_at":"2025-01-10T00:15:42.000Z","dependencies_parsed_at":null,"dependency_job_id":"aaf02b1a-941a-4067-b92a-c9bc5c9fa8d4","html_url":"https://github.com/Team236/2017-Robot","commit_stats":{"total_commits":237,"total_committers":1,"mean_commits":237.0,"dds":0.0,"last_synced_commit":"c3aeaacaab38c029336fa5f7e83d3606e7863535"},"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Team236%2F2017-Robot","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Team236%2F2017-Robot/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Team236%2F2017-Robot/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Team236%2F2017-Robot/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/Team236","download_url":"https://codeload.github.com/Team236/2017-Robot/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":247601496,"owners_count":20964863,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["236","eclipse","first","first-frc","first-robotics-competition","frc","frc-robot","frc236","frcjava","java","robotics","robotics-competition","robots","team236","wpilib"],"created_at":"2024-09-26T14:00:36.195Z","updated_at":"2026-01-20T03:33:44.896Z","avatar_url":"https://github.com/Team236.png","language":"Java","funding_links":[],"categories":[],"sub_categories":[],"readme":"# 2017-Robot\nTeam 236's robot for 2017 FIRST Steamworks\n\n## Subsystems\nThe robot has 5 distinct subsystems:\n* Drive\n* Climber\n* Garage door\n* Intake\n* Shooter\n\n### Drive\nThe drive system this year is a 6-wheel drop-center tank  drive on Colson 4-inch\nwheels, which provides maneuverability and traction. Each side is powered by\ntwin CIM motors connected into a WCP DS gearbox with a two-speed pneumatic\ngearshift which provides two distinct speeds to give greater control over the\nrobot.\n\nBecause the robot is a tank drive, 236 is using our\n[TickTank](http://github.com/Team236/TickTank)\nclass which provides a variety of features including motion profiling and\nabstract interfaces. More information on motion profiling, turning and other\nautonomous behaviors is in the Autonomous section below. By default, the tank\ndrive runs in a simple tank drive control mode on two joysticks. However, the\ndriver is also provided with buttons to activate a more precise drive mode for\nalignment with the peg for gear delivery and a reversed drive mode. Because this\nyear's robot has functions on both sides of the robot, it lacks a clearly\ndefined \"front.\" Giving the driver the ability to reverse the drive can make\ndriving more intuitive.\n\n### Climber\nThe climber is the simplest subsystem of the robot. It consists of two 775Pro\nmotors mechanically linked with a VersaPlanetary dual-input gearbox attached to\na custom-built wheel designed to capture a knot on the rope. A racheting wrench\nis used to prevent the weight of the robot from causing the motor to backdrive\nand to hold up the robot when the match ends and the motors lose power.\n\n### Garage Door\nThe garage door is the colloquial name given to the robot's gear delivery\ndevice. It is so named because the movement of the mechanism approximates that\nof a garage door. The door part consists of a lexan sheet attached to delrin\ntracks that allow it to roll up and down and spin by 90 degrees. The raised\nposition allows the gear to easily slide onto the door. Then, the lowered\nposition allows the gear to be placed precisely onto the peg for delivery to\nthe airship. The door also has a cutout designed to push up the spring so the\ngear can be placed without actuation.\n\nOn the front of the garage door are two small arms made of delrin that can be\nopened and closed. When the robot receives a gear from the loading station, it\nopens the flaps to guide the gear to the correct position. When the door is\nlowered, the flaps close to hold the gear securely while placing it on the peg.\n\nThe garage door is powered by two pneumatic pistons - one to pull the door up\nand another to open and close the flaps. This allows powerful control over the\ndoor while simplifying the wiring and programming.\n\n### Intake\nThe intake of the robot is an arm that is lowered over the bumpers to obtain\nfuel and move it to the hopper. The intake roller is powered by two 775Pro\nmotors with gearboxes on opposite sides of the intake. The intake arm is\nlowered over the bumper by a pair of Bosch seat motors on opposite sides of the\nrobot. Limit switches on the top and bottom of the intake prevent the seat\nmotors from driving into the floor or the robot. Because seat motors burn out\nvery easily, these limit switches are crucial in preventing damage to the\nmotors over the course of the season.\n\n### Shooter\nThe shooter is one of the most tightly tuned and controlled components of the\nrobot. Fuel is launched by a flywheel which rotates at speeds of around 3,000 to\n4,000 RPM to push fuel around a curved hood. The hood itself is a curved piece\nof lexan held in place by a custom-machined aluminum frame, which is raised and\nlowered by a linear servo.\n\nBecause the flywheel is compliant and can expand, there is a lot of pressure\nbetween the ball and flywheel at high speeds. The increased friction increases\nthe load on the flywheel significantly, lowering its speed when the next ball\nenters the hood. To prevent this, we run a PI loop at 200 hz which uses a banner\nlight sensor to count the speed of the wheel and to vary the motor speed to\nmaintain a consistent RPM. Using this system, we are able to return to full\nspeed after shooting a ball within hundredths of a second.\n\nThe shooter can be set to a variety of different \"presets\" which have an\nassociated speed (in RPM) and a hood angle (absolute). This provides a variety\nof different points on the carpet to shoot from, making the robot harder to\ndefend. In order to align the robot with the boiler, the robot has a flashlight\nwhich the drivers can see on the boiler stack, as well as a camera which can be\nrotated to see the boiler. Later in the season, we may add a coprocessor to run\nvision on the robot to aid in alignment.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fteam236%2F2017-robot","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fteam236%2F2017-robot","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fteam236%2F2017-robot/lists"}