Aerial Assist is played by two competing Alliances of three Robots each on a flat 25’ x 54’ foot field, straddled by a lighting truss suspended just over five feet above the floor. The objective is to score as many balls in goals as possible during a 2 minute and 30 second match. The more Alliances score their ball in their goals, and the more they work together to do it, the more points their alliance receives.
The match begins with one 10-second Autonomous Period in which robots operate independently of driver. Each robot may begin with a ball and attempt to score it in a goal. Alliances earn bonus points for scoring balls in this mode and for any of their robots that move in to their zones. Additionally, each high/low pair of goals will be designated “hot” for five seconds, but the order of which side is first is randomized. For each ball scored in a “hot” goal, the Alliance earns additional bonus points.
For the rest of the match, drivers remotely control robots from behind a protective wall. Once all balls in autonomous are scored, only one ball is re-entered in to play, and the Alliances must cycle a single ball as many times as possible for the remainder of the match. With the single ball, they try to maximize their points earned by throwing balls over the truss, catching balls launched over the truss, and scoring in the high and low goals on the far side of the field.
Our Robot CID
One of the primary functions of our robot for Aerial Assist was the catapult. Originally we had opted for a curved emtal rod which would creadle the ball while being lightweight and easy to take on and off. After seeing inconsistencies due to the fleiibility of the rod and damage sustained during a tournament, we redesigned it and went for our current, more rigid design. Since the change we have had consistency in our shots and need to do little to no repairs due to its strength.
The catapult operates off the speed of CIM motos, which in turn drive a gearbox and chain and encoder values to get a release angle. We currently hav etow kinds of shots; a layup for the truss and if we are pinned near the high goal and a high goal shot, which can consistently make the 10 point goal from up to 12' away or be used for long distance truss shots.