Daisy Saurus

Features

Turret-Style Shooter: Rotates up to 360° independently of the drivetrain, allowing the robot to aim and shoot from any orientation.
Variable-Angle Hood: Adjusts the shot angle to support accurate scoring from multiple field distances.
Vision Auto-Aiming: Uses vision targeting to automatically detect goals and align the turret for accurate scoring.
Dual-Wheel Flywheel System: Uses two 1.625-inch Colson wheels and two Banebots wheels powered by 2 Kraken X60 motors and 2 Kraken X44 motors, with 2 4-inch brass flywheels added to increase rotational inertia for more consistent shot velocity.

Four-Bar Hopper Expansion: Uses a four-bar linkage to expand the hopper and increase fuel storage capacity during operation.
Intake: Uses two Kraken X60 motors driving a 2-inch roller to capture and move fuel into the hopper.
High-Speed Collection: Collects up to 10 fuel per second to support rapid scoring cycles.

Kraken X60 Drive: Uses Kraken X60 motors to power the feeder and hopper mechanisms for reliable fuel transfer.
High-Speed Roller System: Uses seven 1.5-inch rollers with a surface speed of 43 ft/s to move fuel efficiently toward the feeder.
Active Tunnel Feeder: Uses a belt-driven tunnel system to serialize and shuttle fuel efficiently into the shooter for consistent feeding.

Swerve Drive System: Uses an omnidirectional swerve drivetrain to enable precise movement in any direction without rotating the robot.
X2C Swerve Modules: Operates on WestCoast Products X2C modules, designed for high performance, simplified assembly, and improved drivetrain versatility.
High-Traction Wheels: Uses wider swerve wheels to improve traction and acceleration during fast maneuvers.
High-Speed Drive: Reaches a top speed of 16.1 ft/s using a 6.48:1 gear ratio.

C++ Control Software: Uses C++ as the primary programming language for robot control and subsystem coordination.
Multi-Camera Vision System: Uses multiple cameras and custom computer vision software running on an onboard LattePanda single-board computer for real-time vision processing and field pose estimation.
Adaptive Shot Control: Uses vision-based pose estimation and a physics-based model to automatically adjust shooter velocity and hood angle while compensating for robot motion.

Failure Tracking System: Tracks component failures to calculate mean time between failures (MTBF) and improve system reliability.
Predictive Maintenance: Uses failure data to generate maintenance schedules for critical robot systems.
Cycle & Runtime Monitoring: Tracks maximum part and assembly cycles along with subsystem runtime to guide preventative maintenance and replacements.

Official match and district performance through the 2026 FIRST California district season.