While unfortunately, the season ended early this year due to the Covid-19 pandemic, 4001A is proud to present their end of the season reveal today. 4001A was a team made up of all seniors and the team number will officially be retired after this year. Competing at 6 tournaments this year, our seasonal record came out to 57-9-1 with 3 excellence awards, 4 champions, 4 robot skills champions, 3x excellence, and NATM finalists. We hope that everyone stays safe over the next few weeks and has an amazing next season while we present you our robot for Vex Tower Takeover-
Please feel free to ask any questions, @javathunderman or I will try to answer to the best of our abilities. Thank you for an amazing 3 years
@937870A we utilized ports A-F for our 3 Quad Encoders for the tracking wheels. Port G was used for a limit switch auton selection while port H was used as a testing port for a line sensor on the intakes or underneath the tray for certain macros.
Here is an example of our 3 encoder setup. The wheels were half cuts from 2.75" omnis and were banded downward. We utilized mini chain to transfer the data up to the quad encoders to save on space and keep the setup compact. To increase accuracy, slack on the chain was essentially eliminated by placing the encoder on a rotating joint and rubber banding it in the opposite direction of the wheel. This allowed for both the wheel and encoder to move in one motion, preventing chain slack, if the back wheels were to lose contact with the ground. Later in the season, we also created lexan circles next to the mini chain sprockets to prevent it from falling off.
Nice, we couldn’t fit any tracking wheels on our 25 hole base, but your implementation is the most compact I’ve seen. Wish we had some of the low strength chain, too bad it’s discontinued. Are your omnis and gears dyed?
The anti tips act as an non-parallel 4 bar. Once the top 1xL gains a steeper angle than the bottom one, the connection bar (Steel 1 by in our case) becomes parallel with the top 1xL and goes past the it, preventing it from moving back upwards and thus locking it in place. To move the anti tips back upwards, pulling the top 1xL causes the mechanism to unlock and fold back into rest position. The anti tips are held in by static friction at the start of the match and deploy from the impulse of the tray folding out. Rubber bands, using a triangle band style as seen in many itz lifts, help the mechanism reach the locking point and make sure that it is 100% consistent.
. You will he missed 
