Feature Contributor Design Comment Strategy Comment

Cargo Floor Intake
Karthik I like that attention was paid to making sure the intake can center the ball and it was done ina very simple manner Centering the ball/cargo will be very important for wide intakes. If you're using sensors to detect the goals, you'll need to have the game pieces centered to take full advantage of the telemetry
Cargo Floor Intake Mason Using a dust pan, spinning top roller, and angled back stop is a great way to have a wide intake and always hold the ball in the same place. The implementation is worth noting as this is forgiving, easy to control & program, and requires minimal machining.
Cargo Human Player Load Karthik Would prefer geometry that optimizes the loading process. The ideal human load position is to have the intake as close to the slot as possible, minimizing the chance of an error.This would be a nice upgrade. Shaving time off of cycles is the key to this game, so anything to make the loading process more consistent and repeatable is a major upgrade.
Cargo Human Player Load Mason Requires tight alignment by the driver to work effectively. The actice motor driven rollers are a great idea, but it should suck the balls out of the loader instead of trying to catch the balls.
Cargo into Rocket Stage 3 Karthik Nice scoring geometry for the cargo. The ball is released right at the lip of the opening, minimizing the chance of error
Cargo into Rocket Stage 3 Mason
Cargo onto Rocket Stage 1 Karthik Nice scoring geometry for the cargo. The ball is released right at the lip of the opening, minimizing the chance of error
Cargo onto Rocket Stage 1 Mason This is an incredibly complex solution that does not demonstrate a way to effectively score. The idea of using an intake in reverse to score a ball is sound, but care should be taken to find a way to align the robot against the rocker
Cargo/Hatch Mistakes Karthik Mistakes are going to happen, especially with a robot built this quickly! Using software to develop preset scoring positions/motions will help with this a lot. It's why teams should always try and finish early to leave the software team time to develop and test these routines. Even without a true auto mode this year, there's plenty of automation that can be done
HAB Level 2 Karthik Cylinders acting as stingers are a nice way of solving this problem, and it's very simple. Teams doing this type of design should take care to make sure they aren't overloading the cylinders and end up bending the rods. This was an issue for many teams when using stingers to balance the bridge in 2012
HAB Level 2 Mason A fair solution if a team has made the investment into pnuematics. This solution does not seem particularly robust, as a driver can push too hard and break the pistons used to make the lift.
Hatch Floor Load Karthik Very efficient Not all teams need to do a Panel floor pickup; there's plenty available at the loaders and they're both close to your scoring targets. That being said, teams will inevitably drop Panels by the Rockets/Cargo Ship, so having a floor pickup will be useful. Still it it's a "nice to have" instead of a "must"
Hatch Floor Load Mason Reporpusing the HP grabber for floor pick ups is a good way to have less mechanisms. However, building a wrist mechanism is challenging and programming & controlling this joint will add complexity.
Hatch Human Player Load Karthik I like the geometry; allows for a straight on load and some lateral misalignment
Hatch Human Player Load Mason Large capture window allows for driver misalignment. For grabbing a Hatch, this is great.
Hatch onto Rocket Stage 1 Karthik Nice and simple release mechanism A possible upgrade would be some sort of physical alignment guide. Could do something with sensors, but physical guides can be both simple and effective!
Hatch onto Rocket Stage 1 Mason After the initial investment of installing a pnuematic system on a robot, this is a simple solution to release the hatch. This particular idea is not tolerant to robot misalignment and requires releasing the Hatch before getting any confirmation that it has attached to the rocker.
Hatch onto Rocket Stage 3 Karthik I love how the release allows for some rotational misalignment of the robot. Although I do worry about R6/G6 for any of these pneumatic releases. There is definitely the potential to launch by more than 2'
Hatch onto Rocket Stage 3 Mason This architecture of an arm and wrist by motor control requires well planned design and familiarity with components. This is a very challenging way to score the hatch and has many opportunities to go wrong
Overall Mason Overall, the FIRST Capital team has created an extremely complex solution that teams should be weary of imatating. The arm and wrist open up many opportuntities for failures and require precise design and machining, along with adequate sensors, and programming to make effective. The arm and wrist embodiement distract from some effective intake for cargo and hatches. The scoring mechanisms are simple and effective on thier own, but the robot architecture makes them ineffective as a total solution.