Part 1: Robots and Systems
Welcome to week 2 of training! This week, you’ll be introduced to a system-level analysis of the three robots we design for ARC.
Wiring diagram: https://pknessness.github.io/tr_wiring_diagram_v2/diagram.html
(A bit outdated, but good nonetheless)
Senfantry and Hero
Before we dive into the specific subsystems in each of our robots, let’s first get acquainted to our three robots, Infantry, Sentry, and Hero:
- Infantry: our smallest robot, being manually controlled and firing 17mm projectiles. The goal of Infantry is to deal as much damage as possible (think of it as main dps) while avoiding damage through beyblading (spinning chassis/armor) while moving.
- Sentry: our fully autonomous robot that is structurally almost identical to Infantry. In addition to having all the base components of Infantry, Sentry contains extra electronics to run its CV stack, including the Odin1 LIDAR. Electrically, you can think of Sentry as another Infantry robot with a few more components.
- Hero: the largest robot that effectively functions as a tank. Shoots large 42mm projectiles and is optimized for straight-line speed rather than agility. Shares most of the same electrical systems as Infantry.
Robot Systems
While the three robots have varying hardware components, each robot shares the same 4 systems that you can think of as categorical abstractions that group certain hardware together. You can think of these four systems as being independent of each other, controlled by the referee system (which we will go over later).
- Chassis: responsible for the movement of the robot.
- Wheel motors, motor controllers, supercaps (future).
- Ammo: responsible for shooting.
- Flywheels, feeder, indexer motors, turret.
- Mini PC: responsible for “thinking”.
- Nucleo, Jetson, LiDAR, Camera, IMU.
- Gimbal: responsible for the movement of the head.
Ex: Robot top contains Ammo, Mini-PC, and Gimbal components. (Not all are listed)
Power and Signal