Harbin Singh - 2020 Summer Robot

This robot can intake, transfer, and launch wiffle balls into a goal or hoop. It uses a mecanum wheel drivetrain that allows it to move in any direction. A three-wheel encoder system is used to track the position and rotation of the robot. The intake uses compliant wheels and is on a pivot point to allow it to roll over the wiffle balls as it’s intaking them. The three blue spoked wheels are custom-molded and guide the balls into the robot. From there, the balls are moved into the flywheel using a rubber band belt system. The flywheel can fire the balls at a target over 4 feet high and 7 feet away. The flywheel axle has four large and heavy gears that give the flywheel more inertia to launch balls without the wheel slowing down or creating inaccuracies.