2024 CRESCENDO
Robot Specifications
Drivebase
We are running Swerve X (Legacy), flipped and corner-mounted, with belts geared to 5.50. Our drive motors are Krakens and steering are Falcons.
Intake
Touch-it own-it under-bumper floor intake with silicone wrapped aluminum rollers powered by a Falcon and centering wheels powered by a Kraken.
Shooter
The 4 shooter pods are driven by 2 Krakens. The right and left sides of the shooter spin at different speeds to produce spin on our shots. The feeder consists of vectored intake wheels, omni wheels, and slanted rollers, all powered by a Kraken to spread the note out for shot consistency. Polycarbonate idler rollers keep the note in line and ready to shoot while reducing friction on the note as it passes through the mechanism.
Elevator
Our two stage continuous elevator is driven by 2 Krakens and a custom gearbox. A Falcon with a 25:1 MAXPlanetary is mounted to the elevator to pivot the shooter. The elevator allows us to shoot down into the amp, shoot up into the speaker, trap, climb, and shoot over defense. The elevator pulls the chain down into hooks in the robot so the elevator can extend back out and trap.
Vision
We rely on Photon Vision for our vision processing, with input from four Arducam cameras to ensure accurate robot pose estimation using April tags.
Software
Our robot code is based on the official codebase published by Team 5940, customized to meet the specific needs of our robot.
Events
- Tidal Tumble – Ventura, CA
- Beach Blitz – Mission Viejo, CA
Looking for main season events? Check out our robot CRUSH!
Tidal Tumble Matches
| Match # | Alliance | Result | Video |
|---|---|---|---|
| Qualification 7 | Blue | Win | ❌ |
| Qualification 14 | Red | Win | ❌ |
| Qualification 22 | Blue | Loss | ❌ |
| Qualification 30 | Blue | Win | ❌ |
| Qualification 36 | Red | Loss | ❌ |
| Qualification 45 | Red | Win | ❌ |
| Qualification 52 | Red | Loss | ❌ |
| Qualification 62 | Red | Loss | ❌ |
| Qualification 67 | Blue | Win | ❌ |
| Semifinals Match 5 | Blue | Win | ❌ |
| Semifinals Match 10 | Blue | Win | ❌ |
| Semifinals Match 12 | Red | Loss | ❌ |
Beach Blitz Matches
| Match # | Alliance | Result | Video |
|---|---|---|---|
| Qualification 6 | Red | Loss | ❌ |
| Qualification 12 | Red | Win | ❌ |
| Qualification 15 | Blue | Loss | ❌ |
| Qualification 24 | Blue | Loss | ❌ |
| Qualification 33 | Blue | Win | ❌ |
| Qualification 40 | Blue | Win | ❌ |
| Qualification 49 | Red | Win | ❌ |
| Qualification 54 | Red | Loss | ❌ |
| Qualification 63 | Blue | Win | ❌ |
| Qualification 67 | Red | Win | ❌ |
| Semifinals Match 4 | Blue | Loss | ❌ |
| Semifinals Match 6 | Blue | Win | ❌ |
| Semifinals Match 9 | Blue | Win | ❌ |
| Semifinals Match 12 | Blue | Loss | ❌ |
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!