Nemo | 2023
Nemo | 2023

Nemo | 2023

2023 CHARGED UP

Robot Specifications
  • Drivebase
    • Auto rotate to scoring and loading directions
    • Quick crossing of the charge station without tipping
    • Fully protected 12 motor swerve modules
    • Steel bellypan for low C.G.
  • Arm
    • Fast telescoping single jointed arm for scoring high, mid, and low grid
    • Powered by 3 NEOs
  • Signal LEDs
    • Communicate game piece selection to human player
Events
Season Awards
  • 2023 San Diego Regional – Creativity Award sponsored by Rockwell Automation

OC Regional Matches

Match #AllianceResultVideo
Qualification 5RedWin✅
Qualification 11RedWin✅
Qualification 18RedWin✅
Qualification 30RedWin✅
Qualification 39RedWin✅
Qualification 47BlueWin✅
Qualification 52BlueWin✅
Qualification 60BlueWin✅
Qualification 70BlueWin✅
Qualification 76BlueLoss✅
Elims, Match 1RedWin✅
Elims, Match 2RedWin✅
Elims, Match 3RedWin✅
Elims, Match 4RedLoss✅
Data from The Blue Alliance

San Diego Regional Matches

Match #AllianceResultVideo
Qualification 1RedLoss✅
Qualification 12BlueWin✅
Qualification 19RedWin✅
Qualification 26BlueLoss✅
Qualification 39RedWin✅
Qualification 49BlueLoss✅
Qualification 57BlueWin✅
Qualification 62BlueLoss❌
Qualification 73RedWin❌
Elims, Match 1BlueLoss✅
Elims, Match 5RedLoss❌
Data from The Blue Alliance

In CHARGED UP℠ presented by Haas, two competing alliances are invited to process game pieces to bring energy to their community. Each alliance brings energy to their community by retrieving their game pieces from substations and scoring it into the grid. Human players provide the game pieces to the robots from the substations. In the final moments of each match, alliance robots race to dock or engage with their charge station!

Each match begins with a 15-second autonomous period, during which time alliance robots operate only on pre-programmed instructions to score points by:

  • leaving their community,
  • retrieving and scoring game pieces onto the grid,
  • docking on or engaging with their charge station.

In the final 2 minutes and 15 seconds of the match, drivers take control of the robots and score points by:

  • continuing to retrieve and score their game pieces onto the grid
  • and docking on or engaging with their charge station.

The alliance with the highest score at the end of the match wins!

Source

Open Alliance Build Thread 2023

  • FRC 4322 2023 Build Thread
    by system
    This topic was automatically closed 365 days after the last reply. New replies are no longer allowed. Read full topic
  • FRC 4322 2023 Build Thread
    by AnyaChopra
    12/23-12/30 Update TRAINING Onshape (CAD) Design Pneumatics Chain and sprockets Belts and pulleys Material strength Climbers Arms Elevators Drive trains Electrical Motors (brushed v brushless) Motor controllers Electrical components Wires Safe routing Short circuiting batteries DESIGN Fail: Took lots of time to redrill mounting holes to move electronics to make the 2023 robot into a test drive base. Fix: Design custom mounting brackets for all electronics that use a standard ½ inch hole pattern with 10-32 bolts. The 2024 bellypan will have a 1⁄2 inch hole pattern across it so electronics mount easily. Added embedded lock nuts to the 3d […]
  • FRC 4322 2023 Build Thread
    by AnyaChopra
    This is our team’s chain of command. We break our technical sections down into software, design, and fabrication. Our business/administrative sections are broken down into business, outreach/awards, and recruitment. For electrical stuff, both software and hardware come together to wire up the robot. Read full topic
  • FRC 4322 2023 Build Thread
    by Kuttappi
    Cool preparations for kickoff! Wishing you all the best during the season. I was wondering how your team is divided department-wise, I wasn’t able to find an exact breakdown in a previous post Read full topic
  • FRC 4322 2023 Build Thread
    by AnyaChopra
    12/20 Update MECHANICAL Mounted 3D printed cover onto PDH Finished spare MK4i Swerve Module(except for motor mount) Made CAD for new spacers for pinion spacing on MK4i Falcon motors ELECTRICAL Routed RSL to RoboRIO (Nemo) Routed RoboRIO to RPM (Nemo) Routed RoboRIO to PDP (Nemo) Routed PDP to RPM (Nemo) Mounted RSL (Nemo) Finished Result: KICKOFF PREPARATION Cleaned our room and moved tables Mounted whiteboards onto walls Scheduled online trainings over student winter break Onshape CAD training Design Training Electrical Training Read full topic
  • FRC 4322 2023 Build Thread
    by AnyaChopra
    12/17 Update MECHANICAL Finished 4 MK4i Modules (SHUTDOWN) Mounted 2 MK4i modules (SHUTDOWN) Created standardized electronic CAD mounts for some electronics so they can be on the same grid mounting pattern ELECTRICAL Wire managed all SparkMAXes, NEOs, Radio to RPM, and CAN loop (Nemo) Moved breaker mounting holes and mounted it down (Nemo) Mounted RIO and plugged in RIO power and Ethernet cables (SHUTDOWN) Read full topic
  • FRC 4322 2023 Build Thread
    by dhrishKarangula
    12/16 Update MECHANICAL Disassembled a 3 motor swerve MK4i and started assembling 2 motor swerve COTS Level 2 Mk4i Assembled MK4i module up until motor steps (8 and 9) Disassembled spare 2023 intake SOFTWARE Finished creating an Autochooser for 2023 Robot(Nemo) drivebase Started working on 2024 MK4i swerve drive code ELECTRICAL Made new mounting holes for PDP (Nemo) Mounted last 4 SparkMAX (Nemo) Mounted RPM, Radio, and RoboRIO (Nemo) Made pigtails/wires that connect to the PDP (Nemo) Added pigtails onto the robot and attached them to the PDP Partially wire managed 2 SparkMAXes to their respective NEOs (Nemo) Wire managed […]
  • FRC 4322 2023 Build Thread
    by AnyaChopra
    12/15 Update MECHANICAL Started disassembling 3 motor swerves & assembling SDS MK4i Regreased large bearing with red jelly grease Finished up to step 5 of if SDS Assembly Guide Secured bumpers onto SHUTDOWN drivebase Filled gap between frame and bumper to make it fit tighter ELECTRICAL RSL and Breaker still need to be mounted (Nemo) All SparkMAX’s connected to motors (Nemo) 4 sparkMAX’s have been mounted, the other 4 have been positioned Connected encoders to turning motors and put electrical tape to secure it (Nemo) Failure: 4 SparkMAX holders did not line up with the mounting holes (Nemo) Fix: Made […]
  • FRC 4322 2023 Build Thread
    by AnyaChopra
    12/13 Update MECHANICAL Drilled mounting holes for RoboRIO, PDP, RMP, radio, and 8 SparkMAXEs on 2023 robot (Nemo) bellypan Positioned 4/8 SparkMAXes Put 8mm keyed shafts on all Falcons Changed panhead screws that hold motor together to sockethead Mounted PDH, RPM, Radio, VRM, RSL, and Ethernet Switch to second robot bellypan (SHUTDOWN) SOFTWARE Started working on AutoChooser that uses Shuffleboard and AdvantageKit Continued working on SwerveX drivebase Added FeedForward change based on wheel speed Read full topic
  • FRC 4322 2023 Build Thread
    by AnyaChopra
    12/6-12/9 Update TRAINING Preseason Training Design process Tower activity 10 minutes 10 pieces of paper (5 in final design) 1 yard tape Must hold can of grease at the top Score= height (inches) – pieces of paper used Did before and after we presented design process to show why all the steps are important Shows why simplicity is important Attempt 1 tripod structure: Pre-design process final tower: Post-design process final tower: Evergreen rules Rule change allowing small robot carts onto the field Schedule to build a robot in 4 weeks Importance/purpose of scouting Limitations during build season Electrical Training Wires […]
  • FRC 4322 2023 Build Thread
    by AnyaChopra
    12/3 Update MECHANICAL Started to disassemble our robot (Nemo) Took off a 3 motor swerve module Cut, drilled, and riveted tubes onto spare belly pan to make practice bot SOFTWARE Implemented Pathplanner replay through AdvantageKit We’re now able to use odometry to view the robot path in AdvantageScope Figured out how to disable automatic SmartDashboard logging in AdvantageKit We’re developing a custom solution to log inputs we give to Shuffleboard Read full topic
  • FRC 4322 2023 Build Thread
    by AS_6995
    Oh that makes sense, I hadn’t thought about how the county name is part of it. Thanks Read full topic
  • FRC 4322 2023 Build Thread
    by AnyaChopra
    We wanted to be more inclusive of our students who are not from Orange since we are a community team and we have students from Tustin Unified and Irvine Unified. We kept the Clockwork part of our name for recognition since that is what many teams already referred to us as. Read full topic
  • FRC 4322 2023 Build Thread
    by AS_6995
    I’m curious, why did you guys change your name from Clockwork Oranges to just Clockwork? Was it because of conflicting branding with other teams in the area, or some other reason? Read full topic
  • FRC 4322 2023 Build Thread
    by AnyaChopra
    12/1-12/2 Update MECHANICAL Preparing 2024 robot parts list Installed 3d printer spacers for Swerve X motor output shafts SOFTWARE Implemented pseudo-Autorotate into 2023 code Keeps robot heading consistent when robot isn’t rotating(aka makes robot drive straight) Learned that AdvantageKit logs inputs to SmartDashboard and causes CPU usage to become very high Before AdvantageKit: Disabled is 40% & enabled goes to 75% After AdvantageKit: Disabled is 60% & enabled can spike to 95% Trying to find a way to disable logging to SmartDashboard TRAINING Design training Went over wheel types, launchers, and intakes Calculating gear reductions for gearboxes Types of gearboxes […]
  • FRC 4322 2023 Build Thread
    by AnyaChopra
    11/29 Update MECHANICAL Added motor pinions to 1 swerve module CADded spacers to be put on the bottom of the motor shaft SOFTWARE Worked on logging shuffleboard inputs for AdvantageKit Read full topic
  • FRC 4322 2023 Build Thread
    by AnyaChopra
    We keep it down full time. Read full topic
  • FRC 4322 2023 Build Thread
    by Honore
    Do you guys keep the field down full time or are you cleaning it up/putting it back down often? Read full topic
  • FRC 4322 2023 Build Thread
    by bcon
    There is also a washer in between the motor and spacer, so the only worry would be from the gear spinning. And, this is easy enough to both see and replace if anything does happen. Read full topic
  • FRC 4322 2023 Build Thread
    by Pizzatc
    Ok I totally forgot that the spacers on the pinions exist, I assumed you were referring to the motor standoff spacers. If thats the case I think 3D printing would probably survive but I think aluminum will also do well. The only worry I have with aluminum is friction heating up the spacers and melting them although I think for that to happen the motor would have to spin A LOT faster than its rated for Read full topic