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

Looking for offseason events? Check out our robot TOAST!

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!

Open Alliance Build Thread 2024

  • FRC 4322 Clockwork | 2024 Build Thread | Open Alliance
    by system
    This topic was automatically closed 365 days after the last reply. New replies are no longer allowed. Read full topic
  • FRC 4322 Clockwork | 2024 Build Thread | Open Alliance
    by AnyaChopra
    Read full topic
  • FRC 4322 Clockwork | 2024 Build Thread | Open Alliance
    by bobotics
    AnyaChopra: pvc is not as bad as we thought (none of us on 4322 think this will be the game piece but we won’t be upset if it is) well this didnt age well Read full topic
  • FRC 4322 Clockwork | 2024 Build Thread | Open Alliance
    by trig
    Well this is pretty convenient right now. Read full topic
  • FRC 4322 Clockwork | 2024 Build Thread | Open Alliance
    by AnyaChopra
    We will now be posting updates on our new 2025 Build Thread Read full topic
  • FRC 4322 Clockwork | 2024 Build Thread | Open Alliance
    by AnyaChopra
    12/27 Update PROTOTYPING TRAINING We rebuilt the last prototype and made a few mods to do some more testing with it. We had our 2 students in charge of these meetings (myself and @dhrishKarangula ) rebuild the prototype while other students worked on the new challenge we made for them. We tested with the back roller being a 1.25” diameter polycarb roller with no grip, with the roller wrapped in cat tongue tape, with the back roller being all 1.625” compliant wheels, and with different back roller heights from the floor and distances from the front roller. The front roller […]
  • FRC 4322 Clockwork | 2024 Build Thread | Open Alliance
    by AnyaChopra
    12/24 Update We had another student working session with 1 student to further dismantle toast for like an hour. BUILD Removed the rio, pdh, breaker, ethernet switch (corners of the rio shroud were pretty scuffed) Removed 2 swerve modules (like we said before, the driverails were kinda deformed. Also noticed that the plastic tube plug sleeve was cracked, so we will not be reusing that for 2025) Removed even more motors (want to run all kraken swerve for 2025) Current toast status: 2025 UPGRADES This offseason, we realized we really needed to line our battery pan with something to help […]
  • FRC 4322 Clockwork | 2024 Build Thread | Open Alliance
    by AnyaChopra
    12/23 Update We had a quick (like 30 minute) student working session with 1 student to work on taking apart more of the hardware on toast ELECTRICAL As toast is being unwired, all wires are inspected for damage so we can make sure we either throw them away or fix them for future use and so we can figure out where we went wrong with our routes to make sure we don’t do it again for our next robot. It is really important that we do this because in 2023 we had a lot of damaged wires come off of […]
  • FRC 4322 Clockwork | 2024 Build Thread | Open Alliance
    by Indiebot
    And if it were like Cones in 2023 and you could pick them up for auto I would imagine you would be able to choose the orientation… ultimately we have no rules for this game piece so we are both limited and unlimited in what we can do with it. Limited in that we have no context and unlimited in that we have no restrictions. Read full topic
  • FRC 4322 Clockwork | 2024 Build Thread | Open Alliance
    by AnyaChopra
    12/22 Update (Living Situation!!!) We had 4 students at the meeting today to help move the pit out of the garage. The big toolboxes are now in the garage with our machines and the wire racks are in the upstairs room of the church we would sometimes meet at. We moved some stuff into our storage unit as well, which is pretty expensive so we will be downsizing next weekend to cut costs a little bit. For some context, the pit was in my garage and my family is moving and the pit is not moving with us lol We […]
  • FRC 4322 Clockwork | 2024 Build Thread | Open Alliance
    by AnyaChopra
    Yeah we fs wanna try more of a direct feed into the prototype with the pvc Read full topic
  • FRC 4322 Clockwork | 2024 Build Thread | Open Alliance
    by Pizzatc
    I think if PVC was the game piece that it might be feed from a human player station like in 2023 where HP’s are free to orient them. Read full topic
  • FRC 4322 Clockwork | 2024 Build Thread | Open Alliance
    by AnyaChopra
    wes2523: /did you test the v2 with a pipe laying on its side perpendicular to the intake? We did not test in that config but will def try it out at our next prototyping meeting (12/27) and post some videos of it LHACK4142: a polycarb tube We will also test that at that same meeting Read full topic
  • FRC 4322 Clockwork | 2024 Build Thread | Open Alliance
    by Indiebot
    This is something we may try out at our next prototyping meeting, I think one thing you could do is move the bottom kicker roller farther back and that may make room and as one of our design students noted from her design training, since the pipe is not compliant it is better to have our intake be compliant… this prototype was not Read full topic
  • FRC 4322 Clockwork | 2024 Build Thread | Open Alliance
    by LHACK4142
    I wonder if replacing the bottom roller’s wheels with a polycarb tube would allow the intake to pick up vertical pipes… Read full topic
  • FRC 4322 Clockwork | 2024 Build Thread | Open Alliance
    by wes2523
    Can/did you test the v2 with a pipe laying on its side perpendicular to the intake? Interested in this prototyping process, will be hanging around for sure. Read full topic
  • FRC 4322 Clockwork | 2024 Build Thread | Open Alliance
    by AnyaChopra
    12/21 Update We had 5 students for the prototyping meeting with 4 staying the whole time. PROTOTYPING TRAINING For this prototyping session, the students were tasked with making an intake that could pick up 4 inch diameter PVC. We have seen a lot of speculation that next year’s game element could be pvc-related, so we decided to try it because why not. Our main takeaway from this is that we really hope PVC is NOT a game piece for 2025. Our students initially tried to grab the pvc with 1 top roller. The prototype was made using protopipe. Intake Prototype […]
  • FRC 4322 Clockwork | 2024 Build Thread | Open Alliance
    by AnyaChopra
    12/7 Update It was 6 note day (only like 2 months too late) We had 3 students for practice at 3309 and 6 for the prototyping meeting with 3 staying the whole time. SOFTWARE Through our full-field vision odometry system, we now have the capability to determine if our robot is positioned properly at the start of auto and give visual feedback through LEDs so the drive team can put the robot in the right starting place. This feature is especially helpful for rush autos where there isn’t a major game element that can be used as a placement reference. […]
  • FRC 4322 Clockwork | 2024 Build Thread | Open Alliance
    by AnyaChopra
    12/6 Update Quackuette had some fun with the intake (developed multiple bald spots and had the color wiped off of her loaf ). Now that the season is over, we finally got to run her full power through the intake! Quackuette through the intake: More quackuette intaking: We had a student working session with 2 students to do some maintenance on TOAST and test our intake change. We have a couple more things we still need to do before we take TOAST apart (demos to find a shop before the season starts and vision odometry testing), so we won’t be […]
  • FRC 4322 Clockwork | 2024 Build Thread | Open Alliance
    by Indiebot
    In addition to using the correct mechanism for deployment, make sure any jack shaft is properly supported to prevent issues with bending, in this case we only supported it with a single bearing on each side through 1/8" tubing… … Had we referenced the image below from FRCDesign.org we would have (hopefully) avoided that issue entirely. Read full topic