# Descoring in Change Up

So as my team and I are brainstorming designs, we are consistently running into a question that we don’t have the answer to - how should you implement the ability to descore quickly on a robot.
One method would be using some sort of claw, but that degrades your ability to hold multiple balls.
Another might be using rollers on the sides of the ball.

Just list some of your ideas here if you want

Just use your intake rollers to descore. No need for extra mechanisms.

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To descore the center goal, you can use a linear slide to punch the ball out. Could double as an anti-tip as well.

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you’re actually not allowed to descore from the top, but you can knock balls out from the bottom. I’m thinking something simple like a tooth on the edge of your base that slings them out from underneath as you turn.
EDIT: not in response to @Doer 's comment… just context

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That definitely works for the towers on the sides of the field, but you’d need to have super small profile intakes to achieve that for the center tower.
With tower takeover style intakes you might be able to just poke the ball out however.

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What would be the point in turning though? If you’re descoring, chances are you want to score in the same tower, so just intake the ball(s) you want to descore while you score your color.

from the corners. you’d have to pry them out in your direction. just a tooth that half-hooks them and pulls them out of place

Any thoughts on the design interference for the wall and corner goals? The field specs show the ball diameter is 6.30 +/- 0.1 while the space between the bottom two rings of the goals is only 6.13. As a result, there will be some amount of force required to push/pull a scored ball out of one of those goals. Without the physical field, it’s hard to say how much.

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I would just use like forks on the side of your robot that deploy and grab the balls out. saves motors and you can put them on the back, side. allowing you to run and grab

its weird but it might work

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What is this, Turning point 2, electric boogaloo?

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well.

our idea was to be able to descore while intaking your alliance balls so you are not wasting your capacity or time trying to descore.

I would assume we are going to change the design but it a concept.

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I also wonder how difficult removing the balls will be on these goals

You can make a second pair of intakes near the floor that descore balls.

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or you can just use your side rollers and switch out the bottom ball with your own.

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Guys, 210 y does a very good a descoring the opposing allience. I will leave the link down below. However, to descore balls in different positions, you can attach a simple lift mechanism to the intakes on their robot.

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