Gael Force Robotics 5327B is proud to present our robot for the 2017-2018 VRC In the Zone season:
Specs:
Base: 6 HS, 4” Omni
Lift: 4 HS 1:5, 13 Cone
Mogo Intake: 4 HS 1:7
Vertibar: 2 Piston
Intake: Passive + Active
Questions and comments welcome.
Looking forward to competing at NorCal States!
Thats a bit over the motor limit
Please, give us some credit - we would never reveal an illegal robot 
If you look a bit closer, you will notice that 4 of our drive motors are also used to move the mobile goal in or out. That’s how we have “14” motors; truly, there are 2 dedicated to drive, 4 switching between mobile goal and drive, 4 dedicated to lift, and pneumatics.
How is your intake passive/ active if you have already used all of your motors/ pneumatics in other places? Great Robot! I was waiting for one of the better teams to make one using a four motor lift and shared drivetrain.
differential and tri-state claw!! 
Best robot I’ve seen so far, good luck at your state championship!
how do you not run out of air
This robot is amazing, but I am also wondering how you do not run out of air. I had tried using pistons for the vertbar as well but would be out at around 10-12 actuations. However, very cool idea of shared base and mobile goal!
They get ~30 actuations for the 4-bar
Doesn’t using a piston on the intake lower the actuation amount?
Update post-States:
Thankfully, we won the Design Award and will see you at Worlds.
@Carter I’m not certain what you mean - we are allotted 2 tanks for the robot, not just 2 pistons. We actually have 4 pistons on the robot. (Anybody spot #4?)
@TC99 @sjhuddleston @Matt4572 running out of air is definitely a concern with pneumatics. I would recommend looking into pressure regulators if you have not already. We have a pressure regulator on each of our pistons to reduce the actual PSI being output, thus saving actuations. Our States robot was capable of 25-30 full cycles. We don’t actually use the active release unless required, such as for exceptionally wobbly stacks or for speeding through the first few driver loads.
We’re happy to have pulled the shared mobile goal-drive concept off to at least a certain degree of success, but credit is definitely due to the DMDA
DMDA? That sounds interesting… tell me more
Really? We were able to do almost 50 cones per time we pump our tanks.
@Bobtheblob - 5327B What are the psi regulators that you mentioned. In my program, many of the robots are just using the normal chainbar and when we went to try pneumatics we weren’t getting that many actuations.
@Aeden_6007 Wow 50 cones?! Did you also use some type of psi regulator?
This is just out of general curiosity as my team has qualified for world’s but just trying to touch up our robot. Thanks!
@TC99 You can find them here on Robotmesh: https://www.robotmesh.com/vex-pneumatics-pressure-regulator
Nice bot bro! Really innovative design for base and mogo lift.
We use a regulator at 75 psi, and limit the stroke of our pistons. Since our lift is pretty fast, we can actually run just fine on really low pressure because the inertia of the 4 bar helps it along.