2024: Crescendo

The challenge

In CRESCENDO℠ presented by Haas, FIRST© Robotics Competition teams will use their STEM skills and creative power to turn up the volume as they design, build, and program their robots for action-packed game play. Watch the game animation to inspire ideas.

Link to game manual.

Our Robot

Name: DJ RuMbA 🎧🎚️🎵🎤🔊
Field-oriented Swerve Drive
8 Talon Motors
4 CANcoders (Absolute Encoders)
4 Wheels
Linear Actuator for Shooter Mechanism
Pigeon 2.0
2 Telescopic Arms
2 ArduCAM Global Shutter USB Cameras
Orange Pi 5

Autonomous

During the first 15 seconds of the match, our autonomous strategy aims to achieve speed, precision, and adaptability. Using Path Planner software, we effortlessly create paths that our robot can follow to match our alliance member capabilities to avoid collisions.

With our setup featuring an Orange Pi and two ArduCAM USB Cameras, our robot can automatically target any 3D point on the field by tracking our position. Additionally, our AI image recognition setup for harvesting, enables us to stay on course despite collisions and unforeseen game piece movements. By combining April Tag detection with our Swerve Drive's odometry, we guarantee precise movement and strategic adaptability throughout the game.

Shooter - Fusion360

Going through multiple iterations on size and shape of the shooter, we made multiple designs in Fusion360 to determine what the shooter would look like. Fully designed as two complex pieces, they were ideal candidates to be 3D-printed. After two reprints, once to fix dimensions and another to change from a squishy TPU material to harder PLA, the front of the shooter was able to be assembled. The actual base and roof of the shooter to contain the note after harvest but prior to shooting are made out of quarter-inch polycarbonate to ensure durability. After going through the manufacturing process on Fusion360, it was cut out on a CNC machine. The same file used to cut the polycarbonate was also run to cut two pieces of shower paneling that would significantly reduce the friction a harvested note would experience. Once assembled, two limit switches, and a gyro sensor were added to determine angle of the shooter and to ensure that the note was in the perfect position to be fired once the wheels reached full speed.

The Controller

Arduino Leonardo with Joystick emulation libraries
Android tablet with custom application to drop virtual notes on the field, to help the robot with semi-automated navigation
Slider potentiometer to control shooter angle
Potentiometer with knob to control shooting speed
Dual LED display provides feedback information to the driver
6 buttons with pre-set shooting and harvesting settings

Fusion360

The design of the controller was created in Fusion360. First we planned the overall design on a whiteboard to determine where buttons, switches, dials, and the screen would be, and afterwards it was a relatively simple process to CAD everything in Fusion. The wall and base pieces were then put as close together as possible to reduce wasted material when cut. To assemble everything, some angle aluminum pieces and rivets were used. In order to access internal electronics, the bottom panel is velcroed rather than rivetted.

Competitions

Week 1

We attended the FMA District Mount Olive Event, making a huge IMPACT on our alliances, largely due to our successful autonomous. We contributed 20.42 points in autonomous only. We ranked 7th to play the Playoffs matches, were picked by team 4361 Roxbotix and the alliance was completed with team 9116 (The Canuk & Bolts). Undefeated until the Final, Team 219 and their alliance secured an impressive second place finish overall and took home the coveted Autonomous Award for our robot's exceptional performance!

We were ranked 8th before playing the last Qualification Match and got enough ranking points to secure our position for the Playoffs.

Back row (left to right): coach Scott Mosher, freshman Trevor G., coach Adam Slack, coach Timothy Zavacki, senior Gerald N., mentor Kyle Watt, junior Whyatt M., alumni Tayler Henning, freshman Caiden P.

Front row (left to right): senior Heidi K., junior Angelina L., senior Jacob A., senior Landry J., junior Franco G., senior Nico G., senior Robert D., mentor Doug Mosher.

Kneeling: senior Ethan F., coach Ari Eisner

Week 4

We participated (and hosted for 2nd time) the FMA District Warren Hills Event. This was probably our best event in the history of Team 219. With a contribution of 27.08 points just in autonomous, we ranked #1 on the qualification matches with 11W and 1L. As captain of the alliance we invited teams #555 (Montclair Robotics) and #1279 (Cold Fusion) to form part of our alliance. We made it to the final but unfortunately we could not compete in the last match since our robot was kaput. We also received the Innovation in Controller Award.

Back row (left to right): coach Adam Slack, senior Zakariya A., junior Whyatt M., freshman Evan M., senior Gerald N., mentor Kyle Watt, mentor Doug Mosher, alumni Aiden Aschoff, coach Scott Mosher

Front row (left to right): senior Robert D, freshman Trevor G., freshman Caiden P., coach Ari Eisner, coach Timothy Zavacki, alumni Ashley Watt, sophomore David C.

Kneeling: senior Heidi K., junior Angelina L., senior Landry J., senior Jacob A., senior Jonathan C., junior Franco G., senior Ethan D., senior Franco G., alumni Jarod Parker

District Championship

The Mid-Atlantic District Championship is played at the Stabler Arena in Leigh University, Pennsylvania, where 60 pre-qualified teams compete to earn a position to play at Worlds.

Seeded 7th, we ended up rank #19 at the end of the qualification matches. Despite not getting the chance to participate in the playoffs, a total of 164 points guaranteed us a seat to Worlds in Houston, Texas.