PESTO

SDS Mk4i swerve modules with Falcon 500 motors for steering and driving.

L2 gearing for 16.3ft/s top speed.

28" x 25" frame for small footprint on charge station.

1/8” solid aluminum bellypan and chassis rails for low center of gravity.

2-stage, belt-driven telescoping arm capable of reaching and scoring on any node.

Full range of motion allows pickup on both front and back of robot.

Dual Falcon 500s geared at 196:1 for both strong and fast (180deg/s) rotation.

Single NEO geared 16:1 for fast extension.

Pigeon IMU, soft limits, and position constraints ensure arm orientation is always known and respecting extension and height limits.

Manipulates cones and cubes with 8x 4" compliance wheels driven by two NEO 550s geared 25:1.

Cones pulled tightly into backstop for consistent orientation.

Capable of picking up cones from floor, double substation, and tipped cones when pointed toward the robot.

Automated switchover to constant holding force to prevent dropped game pieces.

Easily replaceable via modular connection to arm.

2x Limelight 3's for quick AprilTag recognition and robot localization in any orientation.

Automatic grid alignment using AprilTags, on-the-fly trajectory generation, and an intuitive custom driver console.

Motion profiles for fast, smooth arm actuation.

LED strips for indicating desired game piece to human player.