This repository has been archived. Moving into the new game season we shall be working in 2020 repositories.
Patrick's 2019 Offseason Repository
For 2019 our practice robot will convert into Patrick, the legendary cargo robot of the offseason. He will have a rotating arm somewhat like millenium falcons allowing us to pick up cargo from the ground and score on the cargo ship. The claw will not score on either side, only in the front. He will also climb using our 14 inch cylinders. He will possibly vision align with the pixycam and may have a usb camera for driver vision.
Drivebase:
Style: Standard Andymark Drivebase
Motors: 4 CIMs, 2 on each side all controlled by Victor SPXs.
Rotating Arm:
Motors: 2 CIMs controlled by Talon SRXs
Limits: 2 limit switches at both mechanical limits
Encoder: An Andymark Absolute Encoder
Climber
Pneumatics: 2 solenoids (or double solenoids, code in comments)
Motors: A bag motor controlled by a spark.
Limits: 1 limit switch on each leg.
Vision
Alignment: PixyCam (original), see Sandy
Drivers: 1 USB Camera