1768 Nashoba Robotics | Behind the Bumpers | FRC REBUILT Robot

追加: 2026-05-05

[00:00:02][music] >> Hi everyone. We're here with team 1768 Nashoba Robotics at the New England District Championship event. Their robot is an absolutely stellar machine from picking up fuel on the field to shooting it in mass amounts through their shooter. We're going to get to find all of the systems that they do in order to do that coming up next on Behind the Bumpers.

[00:00:27]Hi, um I'm Katerina and I'm going to start by talking about uh how we got to the robot that we have right now. So, at the beginning of the season like a lot of teams, we had a lot of discussions about if we wanted to try to be ambitious and design a turret or go with a more simple design. Um and we ended up deciding on uh doing a fixed shooter. Uh initially we had a double length shooter which you might have seen at week zero through week three. Um and then for our week five event at WPI, we decided to rebuild and now we have a drum shooter.

[00:00:55]Um so now our robot has a four bar intake, uh roller floor, and a drum shooter. So, I can start by talking about the intake.

[00:01:02]So, we've spent a lot of time iterating [music] on the intake. Um one thing that was really important for us was to be able to have our robot be under the trench when full when the intake was folded up. So, we have um the moving portion of our hopper is attached to the bottom link.

[00:01:20]So, then when it folds up, it uh is nice and short. Um our intake right now is made out of SR PP. Uh we put we manufactured that for this competition.

[00:01:30]Uh so, that's been really nice. So, when we get slammed from the side, it does not break. And the bottom link is also made out of aluminum which also helps withstand those impacts. Uh another thing that we did for durability is we have a bash bar on the front which is reinforced with a piece of steel along the bottom edge. So, when we smash into things, it doesn't bend as much as it could.

[00:01:52]Um in addition, initially we'd had a powered bottom roller.

[00:01:56]Um but for WPI, we ended up removing that and replaced it instead with two uh >> [music] >> 3/4 inch uh aluminum shafts and reduced the compression which has helped us significantly increase our throughput.

[00:02:11]And then we have a powered front roller and top roller, both of which uh is powered on both sides with Kraken X60s.

[00:02:18]Um and then from the drive itself for the intake, it's a little bit hard to see through the net in the roller floor, but it is a Kraken X60 on a max planetary and I'm pretty sure we have a 9:1 stage and a 5:1 stage.

[00:02:33]And then there are two sprockets that drive uh sprockets on a max spline [music] shaft.

[00:02:40]And then the all of the drive for the intake links themselves is over the 1 inch um on top of the side frame rail.

[00:02:47]So, it goes from the max spline shaft to [music] a sprocket that is bolted to the upper link and then that'll drive our intake up and down which has been super reliable um and we love using the max spline wherever we can.

[00:03:00]Before we get to our next segment, we'd like to thank the following.

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[00:03:40]Um and then I'm going to pass it over to Connor who can talk a little bit about our roller floor.

[00:03:44]Okay. So, originally when we had our double lane shooter, we had our double spin nexer.

[00:03:51]But for the new robot with the drum shooter, we decided to move to a roller floor.

[00:03:55]Um as you can see here, it is integrated with our full loading system through our shooter.

[00:04:02]Um Uh so, the design of this, we have um aluminum tubes through the shooter and then as we get closer to the entry roller that we have here, um we have squish wheels. This gives some compliance to allow the balls to move into the shooter easier. This gives us more throughput. Um yeah.

[00:04:27]Um so, for the drum shooter, we had um to package it significantly differently than we had the um with the divided double shooter. So, all of our motors are actually kept in the space right in front. We have four motors powering the um drum, kicker wheel, and two hood rollers. Um then we have these two motors powering the entire [music] roller floor and um loader into the shooter. We have one um motor powering the entire entry roller in here. Um this roller is can possibly see around like 20 balls as it pulls them in from the um roller floor and up through the shooter.

[00:05:05]Then we also have our hood motor down here. Um for the um divided double shooter, we tried it or drum shooter, we have um we had to um change how we're doing the hood as well. As for the divided [music] double shooter, we had the hood plates on the inside, but now they're on the outside which helped package um the belt and roller system here.

[00:05:27]The other cool thing about the hood is that the um that we have for the hood plates is we're using >> [music] >> 1/16 inch aluminum um plates on the side sandwiching um a 3D printed part. We actually um purposely printed the 3D print badly so it would have a worse mesh with the gear allowing for the um like allowing the angle to be consistent and not have as much backlash. Um yeah. Um like many other teams for the drum drum shooter, we have a J-shaped um a J-shaped path [music] which helps keep things compressed. The one thing we have is it was there was a little bit of wiggle back and forth which we noticed at our WPI event. So, we added this 3D printed it's a little bit hard to see, but there's a 3D printed part on [music] this tube that helps um compress the ball against the other plates in the back here.

[00:06:21]Um for all of our rollers, we're having [music] we have 30 thou um less in the belts including in the loader to help reduce current draw. Um yeah.

[00:06:33]So, uh robot like this, very mechanically [music] complex. What are you doing in terms of controls and programming that you'd like to share? So, for controls this year, uh one of the most important things to us was uh making sure that we knew exactly where we are on the field at all times. So, that's why we decided to include three cameras.

[00:06:56]Uh one right here, one there, and then one exactly opposite uh on other side of the shooter.

[00:07:02]Uh and so, we wanted to know exactly where we are at all times so that uh we can make sure that uh things like our auto and shooting are consistent because uh we wanted to like for example in auto, we wanted uh one of our main goals was to be consistent and fast uh which is what a lot of our uh control design uh was based around. We spent a lot of time um trying to optimize everything that we could with the control.

[00:07:33]Uh and we actually got it to the point where we only have three controls uh for our driver.

[00:07:39]Uh one of them is bringing the intake up, the other is bringing the intake down, and then the other one is the shoot.

[00:07:44]Uh so, for the shoot, uh it's not just run all rollers all at once. Uh it's a bit more than that. So, first, we move the robot so that it's completely in line with the hub uh so that we don't miss our shot.

[00:07:59]Then we start spinning up uh the shooter rollers and then only once uh the shooter rollers are completely up to speed, do we move the uh hood. And then after that, once everything is within tolerance, then we run the rollers. And this has led us to be uh super consistent and just have uh really accurate shots uh no matter where we shoot from.

[00:08:19]Uh and just throughout the entire match.

[00:08:23]Also, in auto, we uh spent a lot of time uh in trying to be super fast and consistent which is a goal of a lot of teams.

[00:08:31]So, we did that by uh adapting a lot of the uh one of the publicly available libraries that uh uh FRC teams use. Uh and we basically instead of doing the traditional making a super long path, we decided to split it up into three different parts or not three, but just different parts so that uh each part only begins once the last one is finished. And that allows us to create different safe points uh uh during the auto and then it only will continue once we have reached those safe points.

[00:09:09]Uh which has actually allowed us to be super consistent so that even if we get uh crashed into at the center of the field uh or we start getting beat on balls, we still are able to uh sorry. We're still able to completely We're still able to complete our auto and uh it's just been a nice layer of redundancy to make sure that we never miss an auto.

[00:09:52]Perfect.

[00:09:54]Thank you so much Nashoba Robotics. Good luck this weekend and continue your great performance on the field. Thank you.

[00:10:01]Thanks for watching. Don't forget to like, subscribe, and click the bell to stay up-to-date on future fun videos.

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[00:10:25]It isn't too late to order competition apparel for your team at frctees.

[00:10:29]Founded by first alumni and offering a free 14-day turnaround with expedited options available, go to frctees.com to see why hundreds of teams are making frctees their first choice for their apparel needs. That's frctees.com.

[00:10:40][music]