Simplicity, maneuverability, and reliability were key design criteria for this robot. Our strategy for this game was focused around floor intake and speaker scoring. We wanted the ability to quickly navigate anywhere on field and cycle 10 times per match.
Swerve drive was chosen for this robot due to it's high level of maneuverability and straightforward driver input. The West Coast Products Swerve XS system was chosen for its compact size and relative cost savings over other off-the-shelf platforms on the market. The Swerve XS's 3" wheels provide a balance of weight savings and traction when compared to larger 4" wheels commonly used in competing systems. The final drive ratios allow our robot to traverse at speeds capable of hitting our 10+ full field cycles per match.
To meet our performance goals we kept the sensor array relatively simple. Shaft encodors enable precise positioning of motor systems in the drivetrain and note launcher while beam-break sensors are used to keep track of the Note as it travels through the robot's intake and launch mechanisms. Onboard video camera's and force feedback through the driver's handheld game pads were planned to assist in driver feedback, but were not fully utilized during the 2024 season.
Piccolo uses a field-oriented control (FOC) system - this means the driver's controller navigates the robot relative to the game field, not the robot. FOC allows for more intuitive control of the robot's position and angular rotation while navigating.
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