Name origin:
Muffin was so named because the team captain brought in muffins after the teams first FTC event where we didn't have a bot yet and were there to volunteer and learn how the games worked. It was a landmark day that helped us get to the bot you see today.
Muffin is a simple 4-wheel direct drive robot with tank style controls. It uses a 3d designed and printed claw with smart servo on an arm connected to two Rev core hex motors. The claw and arm are tucked into the main chassis when the unit is off. Once turned on, the arm can swing out in front of the robot (The side where the arm tower is) and grab blocks. The front of the robot has a clear acrylic skirt to prevent items from entering the undercarriage. The sides of Muffin have two acrylic panels with our team number and name on them. Each panel also has any sponsors and parts brands we used to build it.
All wiring on Muffin has been zip tied in place to ensure that nothing comes loose. The zip ties were also color coded for easy identification when plugging the different motors into the expansion hubs. The expansion hubs are placed in the center of the bot. The phone is mounted in the front of muffin, under the arm and the battery originally was to be mounted under the expansion hubs, but this proved to be an issue as the battery would tend to fall off if we hit bumps too hard. It was eventually moved to be mounted on top of the back most expansion hub.
SPECS:
Drivetrain:
x4) 4 Rev HD Hex 40:1 Spur Motor
x4)Omni Wheels (Direct Drive)
Arm and Claw:
x2) Rev Core Hex Motor
x1) Rev Smart Robot Servo
x1) 3D Printed VexStyle Claw set
Carousel:
x1) Rev Core Hex Motor
x2)Rev 90mm Traction Wheels
Electronics:
x2) Rev Expansion Hub
x1) Rev 12V Slim Battery
Dimensions:
Approx:17.5”x12”x17”
Programming:
Blocks (Teleop)
Java (Autonomous)