Intake Overview

Intakes are in some way a part of every robot, which means there are many ways to go about designing and programming them. All intakes fall into two main categories: Over the bumper and under the bumper.

Under the Bumper Intakes

when the size and shape of the game piece allows, Under the bumper intakes can be useful in several scenarios, especially when a robot is taking heavy hits from other things on the field.

Over the Bumper Intakes

Over the bumper intakes are a good solution for many game challenges. They can add an extra bit of reach for a robot, or guide game pieces into a robots' frame.

Programming an over the bumper intake

An over-the-bumper intake can use a variety of hardware, though it is typical for one to have:

• A wrist turning motor
• An intake turning motor
• An encoder to track wrist movement
• A sensor to detect when a game piece enters the intake

The next pages will detail how each of these hardwares can be programmed together to create a robust Intake subsystem.