Scoring

Shooter

The Shooter accurately propels 3 balls into the hub at a time. A steel drum covered in cats tongue grips fuel, while geared Kraken x60s maintain velocity through sustained fire.

Mechanical Specifications

Drum

›2 Kraken x60 geared 12:18 to prevent deceleration

›4" steel drum to increase the MOI when it has contact with the fuel

›Drum is covered in cats tongue for grip

›1/8" polycarbonate hood to prevent collision with hopper balls

Kicker Rollers

›4 deadaxle rollers to carry fuel to shooter

›Single x44 on belt system

›Serializes the fuel, creating a downward force that propels hopper balls in while shooting is occurring

Controls & Software

Operator

Implementation Notes

›Controlled using a Bang-Bang PID Controller in order to

›Shoot command waits for "at-speed" confirmation before releasing kicker rollers

›Able to shoot from any point on the field through distance-RPM interpolation

controls

Interpolation graph to determine shooting speed from different distances

controls

Shooter State Diagram

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