Subsystems

Subsystems

Drive Train

Actuators

• 3 CIM motors per side on REV Spark speed controllers
• Singlespeed
• 4'' wheels

Sensors

• Greyhill 256 count encoders
• Analog devices SPI gyro

Ball Intake / climber

Actuators

• 2 Banebot RS-775 Pro motors on REV Spark speed controllers

Sensors

• Current monitoring on the PDP

Hopper floor / elevator

Actuators

• Minicim on a REV Spark speed controller

Sensors

• Multiple light beam sensors

Shooter flywheel

Actuators

• (2 or 3) Banebot RS-775 Pro motors on Talon SRX Speed controllers

Sensors

• 128? count gryhill encoder

Gear claw

Actuators

• 2 pistons on single solenoids

Sensors

• 1 laser rangefinder for gear detection (going to try the same one from 2014)