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Game Piece Acquisition

Intake

A touch-it-own-it rack and pinion design that dominates the field, stealing fuel from other alliances and forcing the fuel into the Hopper. Dual rollers and a tensioned hex axle maximize contact with game pieces.

Mechanical Specifications

Rack and Pinion
A 1/4" and a 3/16" polycarbonate rack plate bolted together and mounted against a pinion to allow the intake plates to extend outside of frame perimeter
Rack and pinion design allows intake to move in a singular plane, limiting risk of cracked plates due to downwards force
Rollers and Axle
Two rollers and a hex axle
Bottom roller grabs the fuel, sending them into the Hopper
Top roller cycles the fuel within Hopper towards the Shooter, creating space for new fuel to enter the Hopper
A hex axle (tensioned to Intake with silicone tubing) drops down and rests between bumper and ground, increasing contact between fuel and the secondary roller

Build Process

Engineering
Rack and pinion mechanism detail
process

Rack and pinion mechanism detail

Dual roller and hex axle assembly
process

Dual roller and hex axle assembly

Robot Dashboard

Telemetry
Intake deployment state on dashboard
dashboard

Intake deployment state on dashboard

Controls & Software

Operator
Implementation Notes
Intake deploys and retracts via rack and pinion driven by a single motor
Beam-break sensor at hopper entrance confirms fuel has been acquired
Auto-intake mode deploys on field-centric approach within 1m of fuel
Hex axle contact force is passive — silicone tubing tension self-adjusts
Intake deployment — controller mapping
controls

Intake deployment — controller mapping

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