FTC 6220 – Centripetal

6220 Centripetal: Rounding Up Innovation


Our Team

6220 Centripetal has been around as a team for 7 seasons now, but our longest-standing members of the team have been together for 4 seasons. For 3/4 of the team, this will be our last season as FIRST students, but that doesn’t mean we’re winding down at all! Our motto is “Rounding Up Innovation”, and we’re taking that to heart as we continue to expand our understanding of what FIRST is beyond the robot and into outreach to the public and other teams, as well as making sure that the team comes full-circle. We’re working on building resources to help the students that come after us, and we’ll be sharing them with everyone as we make them. We’re excited to see how far we can get this season, and hope that our fellow teams will join us in celebrating the unique culture of FIRST through dancing, singing, dressing up, making cool projects for fun, and all around making wherever they go into a pocket of the FIRST family!

We love to talk to other teams, and we can be easily reached at 6220outreach@gmail.com, our Facebook page FTC Team 6220, or our Twitter page @FTC6220! If you want to make yourself available to more teams, we’re compiling a contact list in a Google Doc, and we’d love it if you’d add yourselves and other teams in your area! Also, don’t forget to check out the Swerve Robotics YouTube Channel! We’ve got a number of tutorials posted there, and have some regarding business cards and virtual reality in the works.

6220 Rover Ruckus League 2 Bot

Our Robot

This is Ceridwen, our Rover Ruckus robot, going into League 2. We’re using mecanum wheels to keep the mobility option that side-to-side translation allows (great for autonomous pathing and finessing lander-based scoring), and keeping the lowest point on the chassis at 3 inches off the ground so that we can climb over the crater rim if necessary.

Hanging Mechanism

We make use of a tape measure and hook system to allow the robot to attach to the lander at the start of the match and re-hang at the end. The mechanism serves as pinch rollers to extend the tape, and a winch for bringing the robot up, then we use a servo to position a latch that’s attached to the tape’s drum and lock the position of the tape, ensuring that the robot stays suspended.

Collection Mechanism

As for minerals, we’re using a ziptie/surgical tubing flail collector to take in and expel minerals, made out of plastic and thin aluminum to keep weight down so we can power it with 1 motor. We get the reach we need by way of an 18 inch long piece of 1/4 inch square carbon fiber tubing, which is lightweight, durable, and flexible, which gives us a fudge-factor for assembly at this early stage of the competition. To keep the collector at the proper angle, we use approximately 40 inches of chain between a stationary sprocket at the base and a free-spinning sprocket that connects to the collector to make a sort of 4-bar linkage. We also store our marker, a rough L-shape, in the collector and spit it out much as we would a mineral. Despite these being the first functional iterations of both our mechanisms this season, we’ve been through a number of ideas and executions of those ideas already. Going forward, we plan to increase the stability of the arm, allow it to extend, and increase the speed and usability of the collector itself. We look forward to bringing this year’s robot to a much more polished form and learning a lot about new materials in the process!