Robot Design - RobotCasserole1736/RobotCasserole2015 GitHub Wiki

Robot Programming

Drivetrain - 5 wheel omni with 5th wheel offset

M1 - A + D  (2 SIMs - Belt Drive) + encoder
M2 - C + E  (2 SIMs - Belt Drive) + encoder
M3 - B        (1 SIM - Direct Drive) + encoder
Single Speed Gearboxes  8 1/2 fps?
    
    Robot Frame: 26" x 32"

DriveTrain

Mechanism1 - Gripper

single stage (pneumatic?) extension
	Extended - pick up one tote
	Retracted - lift stacks
	grippers for bins (at ends) and totes

Mechanism2 - Elevator

Prototyping - Lead screw & chain system
	limit switches or encoder to ID discrete levels
	overall lift height around 64"+  (max allowed 70")

Mechanism3 - Misc. Items

Infrared distance centers
Want a camera…  per chief delphi posts/Ri3D game
gyro

X-Box controller encapsulation?