Hood bot pooper design

Hello everybody!
I’m currently designing our new skills bot but I’m having trouble with motor distribution for a pooper. This is my current distribution.
4m x drive
2m intakes
2m rollers & flywheel
Can you please share a few pics of your robots and their discarder/pooper? Thank you so much.

the way the pooper works is that it’s linked directly to the launcher roller, but in reverse. also the launcher/pooper will be completely independent from the bottom rollers.


rachet it to your top roller or you make it 1m rollers 1m flywheel

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no, you don’t need ratchets at all.

basically it goes like this:

1 motor powers the launcher roller and the top pooper roller. the two rollers spin in reverse to each other, but are directly linked. (no ratchets or funky business here)

then use 1 motor to independently power the rest of the rollers, including the bottom pooper roller.

this way all you have to do to poop is spin your launcher+pooper motor in reverse. but when you spin it forward, the whole thing acts as normal.

much simpler than any ratchets, and a lot lower friction.


Thank you so much! I’d been over complicating things. This helps a lot.

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Another advantage to chaining/gearing the rollers together like @Xenon27 said is that the balls go faster when 2 rollers are acting on the ball from either side,
instead of just having one roller and a flat surface.

If you used a ratchet to have the back roller only move when ejecting, it would effectively be the same as having a flat plane on that side.


We’ve found a way to gear our three rollers (pooper and indexer) together with one 600rpm motor. No ratchets, just clever gearing.

Now we can have an independently spinning flywheel, and can readjust balls if they don’t score for whatever reason, without pooping them out or having to code a line tracker for a situation that seldom occurs.

The bottom roller in the pooper, and the first roller in our feeder system only spin in one direction, but they never need to spin in opposite directions. Balls don’t get stuck, and any ball we don’t want will be pooped out.

It’s quite efficient for what we want to do, and there’s very little friction.

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Hey quick question, what are your thoughts on using an indexer for the pooper? Would you prefer not to use one? (My team is planning on possibly using one soon)

what do you mean by using an indexer for the pooper? a pooper should only consist of 2 additional rollers, one on the top and one on the bottom. the one on the bottom only needs to spin one direction to both poop and score, but the top roller will change direction to control scoring vs pooping.


For my bot I link by indexer and pooper rollers directly, however I ratchet the indexer up to the top roller so that my top roller has the power of both motors on it.

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By using the indexer I mean that the top back roller would connect directly to the motor and indexer mechanism which would then cause the bottom back and front rollers to rotate in one direction (the 3 lowest rollers out of the total 4 rollers would only use one motor). The top front roller used for shooting would be sped up and have one motor to itself. This roller system would be made to prioritize the rotation speed of the top roller while still having the ability to shoot balls out of the back. I have made a prototype for this and tested it externally to the bot but since it is not currently connected to our bot so there may be some flaws in my logic.

I mean that could work, but it’s easier just to link the top pooper roller and the launcher roller inversely to each other and then link the bottom pooper roller inversely to the lower indexer rollers. 1 motor for each system.


That’s a good point… the only immediate reason I can think of for using an indexer would be to dedicate one motor to the top roller. I mostly just wanted to see others thoughts on possibly using an indexer. Thanks for your input.