CRESCENDO 2024
In the CRESCENDO Challenge, the goal of the teams is for them to use their STEM skills and strength "Volume" while they plan, build and programming their robots for an action-packed game.
During the MATCH, ROBOTS score NOTES in their SPEAKER or AMP. HUMAN PLAYERS use NOTES scored through the AMP to AMPLIFY the points associated with NOTES scored in their SPEAKER for 10 seconds at a time or engage in Coopertition with their opponents.
ROBOTS conclude the MATCH PARKING in their STAGE ZONE, getting ONSTAGE via a chain, and/or scoring a NOTE in a TRAP.
Additional points are awarded if an ALLIANCE HARMONIZES (i.e. more than 1 ROBOT is ONSTAGE via the same chain) and if HUMAN PLAYERS SPOTLIGHT ROBOTS (i.e. score a HIGH NOTE on a MICROPHONE to increase points awarded for those ONSTAGE ROBOTS).
Season Robot
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Drivetrain:
4 SDS MK4i Swerve Modules, powered by 2 Falcon motors on each module, 1:6.75 gear ratio.
Trap:
Smooth transition of a Note from the intake using two silicone-coated rollers rotating in opposite directions. Rollers are located on extendable horizontal arm operated by double sprockets driven by a Falcon with 1:5 gear ratio with two polycarbonate rods to open the TRAP door.
Intake and Shooter:
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"Touch it, own it" grip utilizing high-friction 2-inch compliant wheels
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125-degree range of motion for flexible Note collection and shooting
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Ability to place Notes in both AMP and SPEAKER
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Full Note control through Colson and compliant wheels combination
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Color sensor for accurate Note detection
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Limelight 2.0 image processing for precise shooting
Climb:
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Two-stages elevator with hooks on the inner frame driven by a winch and kevlar ropes using a Falcon motor with 1:15 gear ratio.
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Static hooks on drivetrain.
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3 kg constant force springs for additional support.
Off-Season Robot
Inspired by FRC team 2056 Crescendo's robot: Lowkey
Drivetrain: Drivetrain: 4 SDS MK4n Swerve Module L3+, powered by 2 motors (Falcon for steering & Kraken for driving) on each module, 1:5.3 gear ratio.
Under the bumper Intake:
• 5 Intake rollers coated with silicone tubing driven by one Falcon 500 motor with a MAXPlanetary 4:1.
• Two 3D parts to center the note.
• Front roller with ~1/8” compression on note, back rollers with ~1/4" compression.
Shooter:
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2 shafts of 1” sushi rollers to pass a note from intake.
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Passive pre-compression rollers with ~1-1/8” compression on the note.
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Green 4" stealth flywheels with 5/8” compression on the note.
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Left and right flywheel pairs are independently driven by Kraken X60s.
Angle Change:
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The shooter mechanism is connected to a SplineXL shaft.
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Shaft Driven by 35# chain and custom 1:127 gear with reduced backlash.
Climb: One 2-stage telescopic arm with chain custom hook driven by one Falcon with a 1:125 gear ration.
GAME ANIMATION
ISR district recap
Robot Reveal
Championship RECAP