1. Offensive/defensive evaluation: Define all functionalities of the game brainstorm early designs, evaluate feasibility, resource requirements Shooting (High Goal vs. Low Goal) & throwing over Truss, Catching, Defending, Integrate strategy with design strategy and preliminary design Assigned roles and broke into IPTS addressing each aspect of the basic design Final strategy: driving and shooting in autonomous, teleoperated shooting over the truss, and scoring in the high goal.

2. Evaluate systems requirements and prototype proposed ideas Catcher: Panels Net: most effective out of proposed designs, however, space and liability concerns eliminated catching device as a priority Retriever: Rotating Angular rods Grasping Arms/Claws Wheels: quick, auto-correct ball placement, fewest potential points of failure Belts Drive-Train Mechanum Wheels: max agility transmission placement and motor types Regular Drive Shooter: Winch Elastic tensioning:powerful, simple Pneumatic piston Evaluate performance and feasibility of designs with calculations and prototype testing Complexity Capabilities, Costs/weakness Begin AutoCAD of Final robot

3. High Level Designing, fine tuning o Drivetrain: larger than the maximum perimeter required. Pneumatics calculations and weight management for slots to drive train were made. o prototyping & calculating, we determined  geometry-- pneumatic placement, angle, and desired height of shooter, retriever, and pneumatics  Wheel type (Small vs. Big) on retriever,  Placement of the retriever motor, avoiding damage to chain and ball o With the wooden prototype we determined the desired:  Elastic System, amount of force necessary, and amount of tension needed to achieve optimal level of force  Pulley positions, within slots on robot  Type of cable for pulley  Latching system (Latching tool, latching mechanics), to hold shooter device in place

4. Drive Train: final autocad design Design/integrate subsystems within each other within a confined space Cross-sectional integrity Weight management—CAD design with laser-cut gaps structures to hold batteries, gearboxes, pulleys, electronic board slots for mounting/adjusting pulleys Pneumatic Calculations Tanks and Compressing Time Discuss trade-offs: weight, integrity, reset speed Correct measurements for chassis and adjustable retriever assembly consolidated in AutoCAD file Testing wooden and metal prototype: -tensioner slack issue resolved with elastic rings - Moved shooter mount to the front.

5. Pre-integration Software and Mechanical Testing o Autonomous software for Autonomous mode o Autonomous coding for cycle resets o LEDs to indicate positions - Testing Results and Modifications o Shooter  Bending metal frame  Shooter slack solved with elastic ring  Bending shooter mount in the front o Retriever  Cross-structure too weak  Pneumatic mount had to be re-adjusted o Drive Train  Dimensions o Overweight problem

6. Final design Re-evaluation Weight issues with the sheet- metal CAD pieces  Top-heavy component removed, pneumatic triangles on either side.  Replaced with stronger and lighter hollow triangular welded square tubing  Camera placement chosen to spot autonomous lighting in response to code Continued to construct, fine- tune practice robot for use after bag-and-tag Practice with practice robot Final adjustments on competition robot