2019-2020 / V5RC

Team Captain

I led the team in the 2019-2020 V5RC season spear heading both design and programming. The objective was to create tall stacks of blocks in 3 constrained scoring zones. The design featured a pivoting tray, 4 bar lift with roller intakes and a "cube lock". The cube lock was a passive mechanism that allowed the intake/lift to disengage from the tray while retaining the cubes. The entire robot also had to fit within 18"x18"x18" so the tray and anti-tip wheels were designed to deploy at the start.

2019-2020 V5RC mechanism detail
CAD Model front Iso view
2019-2020 V5RC robot assembly
cad model rear iso view
Control Testing

PID tuning and chassis feedback

The robot used closed-loop control principles to make mechanism and drive behavior more repeatable under match pressure. The PID feedback loop compared the target against measured output, calculated error, and combined proportional, integral, and derivative terms to command the chassis and mechanisms.

Competition autonomous routine.
Disturbance rejection test.
PID controller reference diagram
PID controller reference used for feedback-loop tuning.
Live chassis control feedback data
Live data feedback for chassis control.
Prototype chassis disturbance rejection test.
Season Media

Tower Takeover image and video archive

2019-2020 Tower Takeover robot CAD ISO view
Robot ISO view.
Cube lock showcase
Fold-out example.
Cube stack deposit.
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