Ball Launching Mechanism - Rapid React Robot

An advanced ball launching system integrated into the Rapid React robot, equipped with turret control, precise trajectory estimation, and real-time camera feedback for goal tracking.

About Rapid React Competition

Rapid React is a robotics competition under the FIRST Robotics Competition (FRC), where robots compete to score points by shooting inflatable balls (Cargo) into a central Hub. Teams also earn points by climbing within designated Hangar Zones. The competition emphasizes strategy, speed, and accuracy.

Ball Launching Mechanism Design

The ball launching mechanism of the robot was designed to ensure accurate shooting of cargo into the goal. It used several advanced components and algorithms, including:

• Turret for Yaw Angle Control: Enabled the shooter to rotate and aim precisely towards the target.
• Hood Angle Control: Adjusted the angle of the ball's release to optimize trajectory based on distance from the target.
• Flywheel RPM Control: Managed the velocity at which the ball was launched.
• Beam Break Sensors: Ensured accurate ball positioning within the shooter before launch.
• Limelight Camera Integration: Provided real-time feedback and automatic goal tracking.

Software & Algorithms Used

• Polynomial Regression: Estimated the hood angle required for the given distance to the target.
• Inverse Kinematics: Controlled turret and hood angles to align the ball trajectory with the goal.
• PIDF Control: Used for precise control of the flywheel RPM, ensuring consistent ball velocity.
• NetworkTables: Shared real-time data between robot subsystems for synchronization.

Mechanical Design Features

• Tank Drive Chassis: Provided stability and agility during the match.
• Pneumatic Hopper System: Allowed efficient ball intake and handling.
• Color Sensor Integration: Ensured only alliance-specific cargo was processed for scoring.
• High-Power Flywheel: Achieved consistent launches at variable speeds.