The Engineering Path

Our journey followed a rigorous iterative loop: Strategize, Build, and Optimize. We moved from "Cardboard & Duct Tape" to a 90% 3D-printed chassis.

• Prototyping: Validated physics using low-fidelity models.
• CAD Iteration: Full 3D assembly to eliminate spatial interference.
• Manufacturing: 3D printing for high-precision DIY parts.
• Iteration Logs: Documented mechanical evolutions from V1.0 to V3.0.

Variable-Pitch Intake

Our intake utilizes a high-friction, compliant wheel system mounted on a pivoting arm, ensuring consistent torque delivery via dual-chain synchronization.

• Active Grip: High-grip rubber Lego wheels.
• Power: 3.7k RPM Motor geared for high-speed acquisition.
• Transmission: Dual-chain drive to isolate motor weight.

"Design Note: Lego rubber provides the 'squish' needed for irregular tolerances."

Tri-Chamber Indexer

The heart of our efficiency. We moved away from a generic hopper to a segmented "clover" geometry for jam-free, high-cadence firing.

• Indexable Flicker: Sub-0.5s reset time.
• Pyramid Core: Passive 3D-printed diverter for artifact seating.
• Kinetic Sorting: Forces incoming balls into locked positions.

360° Precision Turret

To achieve a low-profile solution, we engineered a custom DIY "Sandwich" bearing stack, embedding rotation gears directly into the plates.

• V3 Finalist: Minimal footprint with centered axis.
• Integrated Hood: Real-time trajectory control (Pitch).
• Weight Savings: Custom stack is lighter than commercial alternatives.

Sensor Fusion & Logic

Our software architecture overcomes hardware limitations through advanced computer vision and mathematical localization. We treat the robot as an autonomous agent that understands its position relative to field goals.

• Triple-Disc Odometry: We solve for the robot's pose $(x, y, \theta)$ in real-time using free-spinning wheels with high-resolution encoders.
• Chamber-Vision: A single camera uses OpenCV Color Filtering to monitor the Average Hue of internal slots, identifying ball patterns.

Autonomous Targeting

Using a dedicated high-speed Mono camera, the system performs AprilTag Localization to Select the required ball sequence and adjust the hood pitch automatically.