Our 2023 robot "Bia" competed in the Charged Up FRC game at the San Francisco and Silicon Valley Regionals.  Bia uses a double-jointed arm with a roller intake to quickly pick cubes and cones from the ground or player stations and place them into all of the scoring locations. 

The roller intake design is inspired by the Everybot and 973's robot reveal, but swaps in larger squish wheels, for greater tolerance to game piece misalignment. The prototype worked great with a miniCIM, though we did swap a Falcon 500 in before San Francisco.

The double jointed arm is built on Rev MAXSplines with bushings riding on 3/4"x1/8" aluminum tube deadaxles. The shoulder is powered by two Falcon 500 motors on MaxPlanetaries, and the elbow uses 1 Falcon 500 on another MaxPlanetary. We use a statemachine to travel between different possible arm poses, including intermediate poses defined to prevent collisions. 

Bia's "West Coast Drive" tank drivebase is geared to go a snappy 16 feet per second using 2 NEO motors per side, on 5" grey rubber Colson wheels. Bia uses an additional pneumatic brake to prevent rolloff after the robot is disabled. We use a PS5 controller for human input, via an arcade drive control scheme with additional smoothing called ChezyDrive. 

Bia's code is publicly available at github.com/Team841/FRC23