Custom tank drive powered by 4 Falcon 500s

Top speed of 14.3 FPS

6” wheels to traverse bumps

Fully shielded underbelly to prevent stuck balls

2 Falcon 500s driving 6” aluminum flywheel with polyurethane tread

Maximum surface speed of over 100 mph (150 FPS)

Continuously adjustable UHMWPE hood to shoot from any position, including behind the control panel

Fires full volley in less than a second

Single-stage elevator climber with spring-loaded hook

Single Falcon motor can raise robot to full height in under a second

Can climb either solo or with a partner

Servo-actuated ratchet lock to prevent backdriving

Full width roller intake with V-hopper to index balls into a single line

Polybelt conveyor to stage balls before shooting

Stores 5 balls

Written in Java

RAMSETE non-linear feedback controller for auto path following

Automatic lineup and full vision target pose estimation using Limelight camera, LIDAR ranging, and NavX IMU

Field-oriented drive controls

Indexer management state machine for efficient ball storage

Linear interpolation algorithm to determine wheel speed and hood angle for any position

Wide-angle driver cameras with hardware-accelerated H.264 streaming

All our code is open-source at github.com/flamingchickens1540