Khanquistador

About Khanquistador
Khanquistador was built for the 2016 FRC game Stronghold. It was named after the president of the club at the time, Nabil Khan.

Drive Train

 * 6 pneumatic wheels
 * Raised front wheel for easy defense crossing

Shooter

 * Flywheel shooter with ability to shoot from any angle in the courtyard
 * Vision tracks high goals to make consistent shots

Climbing

 * Though this year's game included a climbing aspect, our team was never able to climb in competition. We did, however, try several different prototypes for climbing
 * A springloaded arm system using the tension of surgical tubing to push an arm up to the bar and hook on
 * A hook launched by a spring that would hit the hanging bar and snap closed over it
 * Both of the above delivery systems would bring a rope up to the top and the robot would winch itself up with the rope from a motor mounted approximately in the center of the robot.

Capabilities

 * Can do all defenses except drawbridge without other assistance
 * Can shoot high and low goals
 * Vision tracks goals for accurate shots every time
 * Several autonomous modes including crossing a defense and shooting in the high goal
 * Climbing capabilities

Autonomous

 * Can cross all defenses except for Portcullis, Sally Door, and Drawbridge
 * NavX attached to the robot detects when we have finished crossing a defense
 * Laser Rangefinder stops the robot once it reaches the pre-determined distance from the wall
 * Uses vision tracking to aim and make a high goal shot after crossing the defense

Programming

 * Main robot code written in Java
 * Held in a Github repository to allow version control and the swapping of laptops for coding
 * Vision Tracking written in Python

Awards
The team won the 2016 Albany Districts Event with Khanquistador, as well as winning the Industrial Design award at the Columbus District Event.