The Blue AllianceRankings, records, playoff results and OPR (offensive power rating) from The Blue Alliance, which mirrors the official FIRST event results.Open on The Blue Alliance ↗
xP at kickoff35.9going into the first event
Match 13Match 13 rates every team from its match results: xP (the points a team is expected to add to a match) and world rank.Open on Match 13 ↗
Peak xP60.1at Central Valley Regional
Match 13Match 13 rates every team from its match results: xP (the points a team is expected to add to a match) and world rank.Open on Match 13 ↗
The Blue AllianceRankings, records, playoff results and OPR (offensive power rating) from The Blue Alliance, which mirrors the official FIRST event results.Open on The Blue Alliance ↗
Performance: Championship
xP68.9at FIRST Championship
Match 13Match 13 rates every team from its match results: xP (the points a team is expected to add to a match) and world rank.Open on Match 13 ↗
The Blue AllianceRankings, records, playoff results and OPR (offensive power rating) from The Blue Alliance, which mirrors the official FIRST event results.Open on The Blue Alliance ↗
The Blue AllianceRankings, records, playoff results and OPR (offensive power rating) from The Blue Alliance, which mirrors the official FIRST event results.Open on The Blue Alliance ↗
The Blue AllianceRankings, records, playoff results and OPR (offensive power rating) from The Blue Alliance, which mirrors the official FIRST event results.Open on The Blue Alliance ↗
Peak xP68.9at Milstein Division
Match 13Match 13 rates every team from its match results: xP (the points a team is expected to add to a match) and world rank.Open on Match 13 ↗
The Blue AllianceRankings, records, playoff results and OPR (offensive power rating) from The Blue Alliance, which mirrors the official FIRST event results.Open on The Blue Alliance ↗
xP by event
Match 13Match 13 rates every team from its match results: xP (the points a team is expected to add to a match) and world rank.Open on Match 13 ↗
Los AngelesSeason46.8/ 85.5
Central ValleySeason58.8/ 90.5
Milstein DivisionChamps68.9/ 99.9
Nothing selected. Turn on Season, Champs or Offseason to see performance.
The Blue AllianceRankings, records, playoff results and OPR (offensive power rating) from The Blue Alliance, which mirrors the official FIRST event results.Open on The Blue Alliance ↗
The Blue AllianceRankings, records, playoff results and OPR (offensive power rating) from The Blue Alliance, which mirrors the official FIRST event results.Open on The Blue Alliance ↗
Record
Wins
22
Losses
18
Ties
0
Win rate
55%
xP, kickoff to Champs
Match 13Match 13 rates every team from its match results: xP (the points a team is expected to add to a match) and world rank.Open on Match 13 ↗
The Blue AllianceRankings, records, playoff results and OPR (offensive power rating) from The Blue Alliance, which mirrors the official FIRST event results.Open on The Blue Alliance ↗
The Blue AllianceRankings, records, playoff results and OPR (offensive power rating) from The Blue Alliance, which mirrors the official FIRST event results.Open on The Blue Alliance ↗
Beneath the ocean’s surface lies our planet’s most complex ecosystems, full of life and potential for exploration and learning, where each inhabitant has a role to play in building a thriving environment.
During the 2024-2025 FIRST® season, FIRST® DIVE℠ presented by Qualcomm, teams will use their STEM and collaboration skills to explore life beneath the surface of the ocean. Along the way, we’ll uncover the potential in each of us to strengthen our community and innovate for a better world with healthy oceans.
Repositories linked to this robot, read from GitHub: description, language, activity through the season, and the latest commit. Private repositories show as a plain link.
During practice we encountered an issue with our hopper being way too bouncy, which led to inconsistency while intaking from the coral station. To fix this issue, we decided to add a static-balancing mechanism mounted to the top of our A frame.
Mechanical
The day before going to CVR, we tested our climber and practiced different methods of climbing, such as going into the cage at an angle. While we were experimenting with the climber, our eye bolt attaching the spool to the climber arm got bent. To avoid this problem in the future, we replaced the broken eyebolt with a denser and stronger one that was welded shut.
While practicing removing the climber from the cage post-match, we realized that our climber ratchet was too fragile for the weight of the entire robot.
Software
To maximize our capabilities for CVR, we prepared an L1 mechanism inspired by team 190. Leveraging our vision alignment system, we optimized an initial sideswipe delay that reorients the coral horizontally into the trough following the maneuver. However, due to our robot’s geometry and in-game inconsistencies, the method seems to be unreliable without further changes to our robot.
Electrical
In one of our qualification matches, a surprising incident occurred when we were intaking from the coral station. During one of our matches, our locking POE ethernet cable was disconnected after experiencing a heavy collision from a defensive robot. To avoid this situation, cables that were locked into our ports were hot glued.
During the design process, we encountered an issue where the chain would collide with the top rail of our elevator. To resolve this, we implemented an optimized climber design that extends outside our frame perimeter. This adjustment shifts the robot’s center of gravity (CG) forward, away from the elevator, preventing interference.
To ensure the durability of our climber and support its motor, we integrated a ratchet system. A pair of rubber bands applies constant force to keep the pawl engaged with the gear, allowing the motor to rotate in only one direction. This prevents the robot from unintentionally lowering itself after climbing. When the arm needs to move in the opposite direction, a servo releases the pawl, enabling the gear to rotate freely as needed.
Intake
With our new climber design, the chain now rests along the robot’s CG axis, positioned directly beneath our funnel. To accommodate this, we split the funnel into two halves, connected by a pin. During the endgame, a linear servo releases the pin under constant tension from surgical tubing, allowing the funnel to separate about the hinge.
However, as expected, the two halves of the funnel were not perfectly balanced when reassembled. To address this, we implemented a hopper interlock to maintain alignment and stability.
Additionally, based on our experience at the Los Angeles Regional, we realized that having a coral between the robot and the coral station made intaking difficult and time-consuming. To improve efficiency, we adjusted the geometry of our hopper. Using physics calculations to predict the coral’s trajectory, we significantly lowered the hopper’s angle, which proved effective in practice today.
We are now able to load from the coral station even when one or two coral is in between the robot and the station!
Weight Loss
With the addition of our climber, we had to remove weight from other areas of the robot to stay within the limit.
We also removed the y-tube, since now that we are splitting the intake in half, we don’t need that tube to structure our intake, instead we use the hinge to hold it in place.
Our robot now weighs 113.7 pounds—just 1.3 pounds under the limit!
Mechanical
Elevator
Our elevator bearing blocks were heavily damaged and bent during the Los Angeles Regional. We replaced the damaged bearing blocks with our newly ordered ones, and reassembled our elevator.
Champs travel arrangements are complete. So much nicer than last year when we qualified week 6. That’s the one thing I’m not looking forward to about CA districts next year.
2 photos from “Build update”, Mar 28, 2025Post #66