NAME: Sir Nicholas
    (Do not call him nearly headless!)
    AKA: Kuzco, Llama!
    YEAR: 2013
    TAGLINE:"Point and Shoot"

  • Ranking and Awards:

    San Diego Regional:

    39 out of 60

    Los Angeles Regional:

    20 out of 65
    Chosen to Quarter Finals, eliminated in 2 matches.
  • Drivetrain:

    6 inch direct driven Mecanum Wheel Omni-Drive
    1x3 inch extruded aluminum frame with 1 1/4 inch holes to reduce weight
  • Mechanism:

    dual direct driven (without gear reduction) flywheel frisbee launcher
    (powered by the "Circuit of Life")
    Dual Chain driven hook and lift pyramid drive system
  • **REMOVED**

    Second set of hooks for additional height on pyramid drive
    Folding Pyramid stabilizing arm
    Chain driven Polycord "Llama" frisbee dropping mechanism
  • Software and Control

    Language: Windriver C++
    Driver interface: XBOX360 Controller/Logitech "PS2" style controller
    Sensors: none
  • Autonomous function:

    Deploy frisbee launcher and fire frisbees at 2 point goal
    Result: 8 points
    Reliability: 90%


  • Field:

    4 rectangular frisbee goals on each side. 2 steel pipe pyramids 10 feet from each side aliance colored and each with an additional goal on top.

    Primary Scoring:

    Throw frisbees into the goals. The center highest goal is worth 3, the 2 goals on either side worth 2, the low goal near the floor worth 1. The goal on top of the pyramid is worth 5, however only alliance colored frisbees may be used on the pyramid goal. Both white and colored frisbees are allowed in the wall goals. Robots may only carry 4 frisbees maximum at one time.

    Bonus Endgame:

    Robots may at any time climb up the pyramid for points. The scoring for this is as follows: Off the ground is worth 10, the robot above the first and and not the second horizontal bar is worth 20, All parts of the robot above the second bar is worth 30. Climbing must be seqential. Robot on the ground may only touch the first bar and below. Once the robot leaves the ground it may be touching the second bar and below. The robot may not touch the 3rd bar until it is no longer in contact with the first bar or below.

    Autonomous Scoring

    Points are doubled for each frisbee scored. Pyramid goals are not available in autonomous due to lack of alliace colored frisbees available


    (Penalties are 3 points awarded to the opposing alliance) Robot contact in protected zones at the Human loading zone or touching your alliance pyramid. Pinning another robot. extending above 5 feet tall in the opposing alliance half of the field. Technical Foul of 20 points awarded should a robot make contact with a climbing robot. An additional 30 points is awarded if a robot is judged to have interfered with another robots climb
  • Watch the Game Animation here.

Coach's Notes

    This was one of the most difficult games I have seen since I became the coach of team 702. Our lack of automated targeting system made us wary of any shooting aspects of a game. (Besides, I can barely throw a frisbee straight let alone make a robot that can do it.) Our original strategy was to buld a climber that could deposit frisbees in the 5 point pyramid goal with the ability to dismount, reload, and climb a second time. Although the drivetrain, climber, and frisbee handling components really did not change, the robot went through 5 redesigns throughout the course of the 6 week build season changing how the components went together. One final redesign happened in the week and a half between the San Diego Regional and the Lo Angles Regional. Click on a button to see each step in the course of evolution of our robot:

    On Thursday of the Los Angeles Regional, the final design had to be implemented. The robot was totally stripped. Not only did we have to install the new frisbee shooter that was built in the week between competitions, but now that the robot had to be able to cross the field multiple times at high speed without tipping. The frame was lowered bringing the wheels up inside more. The climber mounts were shortened dropping it down lower into the frame. Also, the old vertical electronics board that was plagued with loose wires and bad connections was removed and stripped. The new electronics system wasn't so much a board, as a bunch of components stuck wherever there was space. The shooter was put on top on a spring loaded hinge that was released by the same motor arm that pushed frisbees into the flywheels. This made autonomous easy. It was two commands, spin the flywheels, then shoot. This turned the pusher motor which deployed the spring loaded shooter as well as delivering the first frisbee to the flywheels. The shooter was calibrated to fire forward at a specific distance removing any need to aim. The robot need only park in one of 2 spots on the field facing the goals and the frisbee would go in. It was remarkably accurate with an error margin of plus or minus an inch side to side. This final version of our robot was able to make it to the quarter finals. It could both climb for 10 and score frisbees reliably for an average total score of 30 points.

    The team and mentors were amazing, never giving up through all the redesigns, extended hours, late nights and rough first regional. Special thank yous go to the members that were involved in the brutal 1 week shooter build: Mentor Ray (and also to his fiancee Katie who let us have him for that week), Geronimo "Gopher", Chris "Mostaza", Aly "Fluffy Headed Fiend", Lani "80s Rewind", Nina "The Nibbler", Bianca "Scraps". The two biggest thank yous go to FIRST team #3925 "Circuit of Life", a team that truly exemplifies the ideals of FIRST and one we are proud to call friend. The other goes to team member Anneliese "The Joker" who did most of adapting the design and building the device as well as installing it.