In the winter of 2017, The Robocubs decided to build PROJECT: T-Shirt Cannon, a project designed, programmed, and built by students.  The cannon's first debut was at a rally at the University of Detroit Jesuit High School. The cannon is used at many games and events to promote STEM and FIRST, as well as the Robocubs. It showcases student designed butterfly drivetrain, consisting of both traction and mecanum wheels. This gives the advantage of omni-directional movement with the option to switch to traction wheels for higher torque.

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PROJECT: T-Shirt Cannon

In the winter of 2017, The Robocubs decided to build PROJECT: T-Shirt Cannon, a project designed, programmed, and built by students.  The cannon's first debut was at a rally at the University of Detroit Jesuit High School. The cannon is used at many games and events to promote STEM and FIRST, as well as the Robocubs. It showcases student designed butterfly drivetrain, consisting of both traction and mecanum wheels. This gives the advantage of omni-directional movement with the option to switch to traction wheels for higher torque.

CAD Files Code
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Feature Overview

  • Traction & Mecanum Butterfly Drivetrain
  • 360 Rotating Turret w/ 180 Pan
  • Front Loading Barrels
  • Qty 6 - 60PSI Pnuematic Barrels
  • Quick manuvering while maintaing traction

Wheel Assembly

  • Custom Designed All-In-One Butterfly Module
  • 8:1 Gear Ratio Traction 
  • 4.5:1 Gear Ration Mecanum
  • Pnuematic Piston Switching Mechanisim
  • Seamless switching between mecanum and differential
  • Qty 1 - CIM per Wheel
  • Composed of 1/8" aluminium
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Wheel Assembly

  • 8:1 Gear Ratio Traction
  • 4.5:1 Gear Ration Mecanum
  • Pnuematic Actuators for switching wheels
  • CIM Motors
  • Composed of 1/8" aluminium

General

  • Dimensions: 32.25" Wide, 27" Long, 5" Tall
  • Weight: xxx Pounds
  • Speed: (Txx/Mxx) Feet per Second
  • Six T-Shirts at once
  • Front loading barrels

Electrical

  • Power: 12 Volt, Lead Acid 18 AMP Battery
  • Controller: RoboRIO
  • navX MXP module for field orintation and stabilization
  • CTRE TalonSRX Motor Controllers
  • CTRE Pnuematics Control Module
  • Closed-Loop pnuematic sensor system detecting leaks, and filling rate
  • REV Robotics Blinkin LED Driver
  • CTRE Canifier Controller

Mechanical

  • 360

    °

     Rotating Turret
  • Custom 120psi Pnuematic Modules
  • Qty 4 - 4" Colson Preforma Traction Wheels
  • Qty 4- 4" VEXpro Mecanum Wheels
  • Lead-Screw Turret Pitch Control
  • Compact All-In-One Multi-Cannon Mount Points
  • Qty 2 - Regulated Pressure Tanks at ~120 psi.
  • Clippard Pnuematic Tanks for Drive Train
  • Vlair Compresser Tank
  • 7/8" Bimba Dual Actuator w/ 1.5" Stroke
  • Butterfly Drive w/ Traction and Mecanum