It utilises three independently powered omni wheels, which resemble normal wheels with a series of free spinning rollers perpendicular to the axis of rotation. The three wheel holonomic drive system sometimes called a kiwi drive. Holly is really defined by her unique hexagonally shaped drive base, one that has continued to prove useful over the years. Unfortunately our team didn’t have the programing skill at the time to build or test this system. This system needed to be automated to improve reliability and to free up the co-driver. The hopper had a tendency to jam as the servos and firing pin where all manually controlled by the co-driver. As a result we adopted a very steep firing angle and shot close to the goal. However, over distance the frisbees would become unstable making a reliable shot on goal difficult. The design proved to be sound in theory and when everything worked it was very effective. The frisbee was pushed into the wheels by the firing pin.Ī schematic of this system is shown to the right. This method imparted spin to the frisbee, the spin was vital to a stable flight. The frisbees were forced between the spinning wheels and a high friction rail. A number of servos indexed the frisbees into the firing position. Our hopper was a curved track holding 4 frisbees as many as the rules allowed. We figured this was the safest option as the frisbees would be in a reliable and predictable configuration as opposed to collection off the floor.
We opted to receive our frisbees from the feeder stations at the end of the field.
The game piece (Hopper) was designed to intake frisbees, index and feed them, then fire at the goals. This lead to some teams specializing as shooting robots, and others as climbing robots. However, the robot had to end the game on top of these towers for the climb to count, which introduced an element of strategy. Additionally, you could earn extra points by climbing up the towers in the middle of the field, and the higher the robots got, the more points were awarded. During this competition the robots had to team up and shoot frisbees into one of three goals. The game for the 2013 FRC competition was Ultimate Ascent.
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