CRUSH | 2024
CRUSH | 2024

CRUSH | 2024

2024 CRESCENDO

Robot Specifications
Drivebase

We have a 26 x 26 inch frame size and have level 2 mk4i modules with 16 tooth pinions and grip lock wheels. We use Kraken X60s as drive motors and Falcon 500s as steering motors.

Intake

Our over the bumper floor intake is used to get close NOTES in auto. It is a touch-it-own-it intake with 1⅜ inch wheels and 1.25 inch rollers with cat tongue tape. Omni wheels allow the intake to drive along the floor.

Tunnel

Our tunnel uses 1.5 inch wheels, 1.625 inch wheels, and 2 inch wheels to transfer NOTES from the intake into the outtake.

Shooter

The shooter pivot is powered by a Kraken X60 and changes shooting angle using chain and sprockets. We have 4 inch diameter stealth wheels as our flywheels and they are powered by two Falcon 500s. We score in the SPEAKER and AMP.

Vision

Our robot uses 2 Limelight 3s: one for tracking NOTES and the other for updating odometry.

Software

Our robot was programmed in Java using WPI’s command-based interface.

Events

Hueneme Port Matches

Match #AllianceResultVideo
Qualification 8BlueWin
Qualification 16BlueWin
Qualification 20RedLoss
Qualification 27RedWin
Qualification 41BlueLoss
Qualification 46BlueLoss
Qualification 51RedLoss
Qualification 62RedLoss
Qualification 75BlueLoss
Data from The Blue Alliance

Central Valley Matches

Match #AllianceResultVideo
Qualification 1RedLoss
Qualification 9BlueWin
Qualification 16RedWin
Qualification 25BlueWin
Qualification 32RedWin
Qualification 37BlueWin
Qualification 45RedLoss
Qualification 49BlueLoss
Qualification 53BlueLoss
Qualification 61BlueLoss
Qualification 70BlueWin
Qualification 74RedLoss
Data from The Blue Alliance

Aerospace Valley Matches

Match #AllianceResultVideo
Qualification 4BlueLoss
Qualification 10BlueLoss
Qualification 15RedWin
Qualification 24BlueWin
Qualification 28RedLoss
Qualification 35BlueLoss
Qualification 43RedLoss
Qualification 48BlueWin
Qualification 58RedLoss
Qualification 62RedWin
Qualification 68RedWin
Qualification 74RedWin
Semifinals Match 3RedWin
Semifinals Match 8RedWin
Semifinals Match 11BlueWin
Finals Match 1RedTie
Finals Match 2RedLoss
Finals Match 3RedWin
Finals Match 4RedWin
Data from The Blue Alliance

Milstein Division

Milstein Division Matches

Match #AllianceResultVideo
Qualification 6RedWin
Qualification 15BlueWin
Qualification 27RedWin
Qualification 44BlueLoss
Qualification 53BlueWin
Qualification 69RedLoss
Qualification 83BlueLoss
Qualification 94BlueLoss
Qualification 106RedLoss
Qualification 119RedWin
Data from The Blue Alliance

In CRESCENDO℠ presented by Haas, two competing alliances are invited to score notes, amplify their speaker, harmonize onstage, and take the spotlight before time runs out. Alliances earn additional rewards for meeting specific scoring thresholds and for cooperating with their opponents.

During the first 15 seconds of the match, robots are autonomous. Without guidance from their drivers, robots leave their starting zone, score notes in their speaker or amp, and collect and score additional notes.

During the remaining 2 minutes and 15 seconds, drivers control their robots. Robots collect notes from human players at their source and score them in their amp and speaker. Each time an alliance gets 2 notes in their amp, the human player can amplify their speaker for 10 seconds. Notes scored in an amplified speaker are worth more points than those scored in an unamplified speaker.

A human player may choose to repurpose a note scored in their amp in cooperation with their opponent. If each alliance repurposes a note by hitting their Coopertition button in the first 45 seconds of teleop, all teams in the match receive a Coopertition point (which influences their rank in the tournament), and the number of notes needed for the melody bonus is reduced.

As time runs out, robots race to get onstage and deliver notes to their traps. Harmonizing robots, i.e. robots sharing a chain, earn an added bonus. Robots earn even more points if a human player spotlights robots on a chain by scoring a note on the chain’s microphone.

The alliance that earns the most points wins the match!