Subsystem Integration design

[Gazelle-Boi]

Subsystem Integrations

Intaking

• Lower intake pivot and spin rollers in, in parallel
• Raise intake pivot and stop rollers, in parallel

Climb

• Extend climb
• Retract climb

Shooting speaker

• spin rollers out, move shooter pivot to correct angle, move note from midtake to shooter in parallel
• feed note into rollers
• stop rollers and rotate shooter pivot to zero

Scoring amp option 1

• move intake pivot to set angle and move note from midtake to intake in parallel
• spin rollers out
• feed note
• stop rollers and move intake pivot to zero

Scoring amp option 2

• spin rollers out, move shooter pivot to set angle, move note from midtake to shooter in parallel
• feed note into rollers
• stop rollers and rotate shooter pivot to zero

Trap scoring

• spin rollers out, move shooter pivot to correct angle, move note from midtake to shooter in parallel
• feed note into rollers
• stop rollers and rotate shooter pivot to zero