SDS Mk4i swerve modules with Falcon 500 motors running FOC (Field Oriented Control) for steering and driving

L2 gearing for rapid acceleration and a top speed of 15.7 fps

25.5” x 28” frame — 24” x 25” primary frame with 4” extension (and ½” of side plating)

⅛” aluminum belly pan for lowered center of gravity.with 0.5” hole pattern for modular component placement

Combined intake and indexer, powered by one Falcon 500 motor with FOC in a 5:1 MAXPlanetary gearbox

Under the bumper (UTB) intake for durability, supported by solid 1⁄4 '' aluminum side plates and ⅛” aluminum tubestock

Custom 3D printed blocks channel notes into the center for most of full width intaking

Two intake rollers with custom 3D-printed spacers and sushi rollers, combination of stealth, omni, and compliant wheels in the indexer

Notes slide along passive nylon rollers resting on aluminum tubes to glide through without friction

Notes stop at beam break before the splitting roller (separately powered) sends notes to either shooter or trap/amp

Sides independently powered for extremely reliable shooting with adjustable spin

2 Falcon 500s with FOC geared up 1:1.5 for max note speed around 80 mph

Sets of 3 3” diameter orange stealth wheels for a total of 6 shooter wheels on each side

Pivots powered by a falcon 500 using #35 chain in overall 104.53:1 ratio

Notes slide along passive nylon rollers resting on aluminum tubes to glide through in consistent manner without friction

Fed by combination of small colsons and sushi rollers powered by Falcon with FOC

Dedicated mechanism for reliable, top-down scoring into trap and amp

Bends notes around 2 ⅞” Banebots T40 wheels

Powered by Falcon 500 with FOC in a 3:1 MAXPlanetary, geared down to 9:1 for the ejecting wheels

Notes slide along passive nylon rollers resting on aluminum tubes to glide through in consistent manner without friction

Teflon-taped “rooster wattle” flap reduces friction for scoring in the trap

Positions for scoring in both amp and trap and climbs, moving between any position in 0.5 seconds

2 Falcon 500s with FOC geared 11.57:1 for a 0.5 second climb (~3 second trap sequence once hooked)

Dynamic climbing hooks on elevator latch the chain and hand off to passive hooks, allowing the elevator to raise again and score in trap

Custom gearbox and chain routing for dense packaging

Current-sensing and beam break sensors to track the path of the note throughout the robot

Dual-LED strips to indicate, impress, and intimidate

Automatic shooter pivoting and drivetrain angling for shooter shots and over-stage shuffling

Dual limelights running MegaTag2 and 250hz odometry for reliable and accurate pose estimation

Automatic amp and climb sequences that manipulate the note and elevator