Ascent · 2022 Competition Robot
FRC Team 4079's Rapid React competition robot
Overview
Ascent was a 115 lb, 6-wheel drop-center tank drive robot designed for the 2022 FRC game Rapid React. The robot was built to score Cargo into the Upper Hub, collect Cargo from the floor, hold 2 Cargo at once, and climb to the traversal level during the endgame
The robot measured roughly 27 in wide, 32 in long, and 38 in tall, with a drivetrain speed of about 15.6 ft/s, or 10.6 mph. It was one of the most ambitious robots I had worked on at that point because it combined several new team capabilities into one competition-ready machine
Ascent also changed significantly during the season. Between Orange County Regional and Aerospace Valley Regional, we upgraded the robot from having no deployable ground intake to a spring-deploy, winch-retract intake, changed the climb from a passive High Rung concept to a powered pivoting Traversal Rung climb, and added an anti-backspin roller to improve Upper Hub shot consistency. That mid-season redesign became a major part of the project because it showed how much a robot can improve when match results, driver feedback, and mechanical issues are used to guide upgrades
My Role
FRC Captain. As Project Lead and FRC Captain, I led the robot from kickoff through competition. I worked on game analysis, strategy, subsystem research, prototyping, full-robot SolidWorks CAD, fabrication planning, electrical layout, robot assembly, testing, and competition preparation
I CADed the entire robot, coordinated subsystem assignments across the team, got prototype and final parts fabricated, led build and electrical wiring for the robot, and worked with the software team to define software capabilities and requirements
My main contributions were defining the robot architecture, packaging the shooter, intake, indexer, climber, drivetrain, electronics, and battery into one full assembly, coordinating who was responsible for each subsystem, releasing prototype and final parts for fabrication, and helping integrate the mechanical, electrical, and software systems into a competition-ready robot
I also helped guide the mid-season mechanical improvement work between OCR and AVR, where we used competition results to redesign the intake, upgrade the climber, and improve the shooter instead of treating the first-event robot as finished
Outcome
Ascent reached the Aerospace Valley Regional Semifinals and became one of the most ambitious robots I had worked on at that point. It completed most of Rapid React's major scoring tasks and pushed the team into new technical areas, especially high-goal shooting, deployable intakes, custom climber mechanisms, serviceable robot packaging, and full-robot subsystem integration
The robot also gave the team a foundation for future improvements by proving out new systems, exposing reliability issues, and giving us real competition data to build from. The biggest improvement arc was between OCR and AVR, where the robot mechanically evolved through a new intake, a more capable powered climb system, and shooter changes that improved Cargo scoring consistency
Competition Results
Problem & Goal
Rapid React rewarded robots that could score Cargo quickly and climb reliably at the end of the match. Upper Hub Cargo was especially valuable because it scored more than Lower Hub Cargo, and the Traversal Rung was the highest-value climb level in the Hangar
The goal for Ascent was to build a robot that could complete the major scoring tasks in the game while pushing the team into new technical areas. We prioritized Upper Hub shooting, floor pickup, 2 Cargo storage, and a high-value climb because those capabilities gave the robot the best path to meaningful match contribution
Game Context
Rapid React was built around two major scoring objectives: scoring Cargo into the Hub and climbing in the Hangar. Cargo scored more during autonomous than teleoperated play, and Upper Hub shots were worth more than Lower Hub shots. Endgame climbs were also high-value, with the Traversal Rung being the highest climb level
Because of that scoring structure, Ascent was designed around three major priorities:
- Score Cargo into the Upper Hub
- Collect and store 2 Cargo from the floor
- Complete a high-value climb before the match ended
Design Requirements
- Build a reliable Upper Hub shooter for high-value Cargo scoring
- Reduce shot inconsistency caused by excessive backspin
- Use a ground intake to collect Cargo without relying only on human player loading
- Hold 2 Cargo at once to reduce cycle time
- Package the shooter, intake, indexer, climber, electronics, and drivetrain into one competition-ready robot
- CAD the full robot as one integrated assembly before final fabrication
- Build toward a high-value climb, with the final goal of reaching the Traversal Rung
- Stay within FRC extension and frame perimeter constraints while using deployable mechanisms
- Design around service access so electronics and mechanisms could be repaired during events
- Coordinate subsystem ownership across mechanical, electrical, fabrication, and software work
- Define software requirements for shooter control, intake actuation, climber sequencing, driver controls, and vision alignment
- Make the robot serviceable enough for pit repairs during competition
- Improve reliability between events through testing, driver feedback, and match review
- Continue improving the robot after the first event based on real competition performance
Process
- 1Analyzed the Rapid React game manual and scoring priorities at kickoff
- 2Prioritized Upper Hub scoring, floor pickup, 2 Cargo storage, and high-value climbing
- 3Split early work into Cargo manipulator prototyping, climber prototyping, drivetrain work, field element construction, CAD, electrical, and software
- 4Prototyped Cargo handling, shooter behavior, intake geometry, and climber concepts
- 5Modeled the full robot in SolidWorks using an organized COTS library and part naming structure
- 6Coordinated subsystem assignments so prototyping, CAD, fabrication, electrical, and software work could happen in parallel
- 7Created custom plates, climber hooks, intake links, winch plates, electrical mounts, and shooter parts
- 8Released prototype and final parts for fabrication and supported the build team during assembly
- 9Integrated the shooter, intake, Cargo path, climber, drivetrain, electronics, and controls onto one robot
- 10Worked with the software team to define shooter, intake, Cargo handling, climb, driver control, sensor, and vision requirements
- 11Tested shooter behavior, Cargo handling, climb sequencing, vision, and autonomous routines before OCR
- 12Reviewed match performance and reliability issues after Orange County Regional
- 13Added an anti-backspin roller after OCR to reduce the amount of backspin on Cargo and improve Upper Hub shot consistency
- 14Redesigned the intake into a spring-deploy, winch-retract mechanism between OCR and AVR
- 15Upgraded the climb from a passive High Rung concept to a powered pivoting Traversal Rung climb
- 16Prepared for Aerospace Valley Regional with pit packing, checklists, spares, match review, and driver practice
Technical Decisions
- Used a 6-wheel drop-center tank drive for a simple, durable, and maneuverable drivetrain
- Geared the drivetrain for about 15.6 ft/s to support fast Cargo cycles while staying controllable
- CADed the full robot assembly in SolidWorks to manage subsystem packaging, service access, and interference between mechanisms
- Designed for Upper Hub shooting because it gave the robot higher scoring potential than only targeting the Lower Hub
- Built the shooter around a high-speed flywheel capable of reaching roughly 5000 rpm
- Designed the shooter to pivot upward like a car hood so the electrical board under it could be accessed for servicing
- Added an anti-backspin roller after OCR because Cargo was rolling up and out of the Upper Hub after hitting the back wall with too much backspin
- Designed the robot to hold 2 Cargo, matching the Rapid React possession limit
- Started the season without a deployable ground intake, then upgraded to a spring-deploy, winch-retract intake between events
- Used a winch-retract intake design so the mechanism could extend to collect Cargo and retract safely back inside the frame perimeter
- Started with a passive High Rung climb concept, then upgraded to a powered pivoting Traversal Rung climb between OCR and AVR
- Used spring-powered passive High Rung hooks with servo linear actuator pin releases in the first climb concept
- Reused the telescoping climber tubes for the Traversal climb upgrade, but changed the hook geometry and added powered pivoting hooks
- Powered the Traversal climb pivot with two NEO motors through a 100:1 reduction so the robot could rotate itself from rung to rung
- Created custom electrical mounting and battery mounting to fit the robot layout
- Coordinated prototype and final part fabrication so design work could move into real build work quickly
- Worked with the software team to define mechanism states, driver controls, sensor needs, and subsystem behavior before competition
- Used match testing and driver feedback to improve shooting, intake behavior, vision alignment, and climb reliability
Challenges
- Integrating several new mechanisms onto one robot at the same time
- Packaging the shooter, intake, Cargo path, climber, wiring, and controls around each other
- Reducing excessive shooter backspin after OCR so Cargo would stay in the Upper Hub instead of rolling up and out
- Redesigning the intake between events into a spring-deploy, winch-retract mechanism
- Upgrading from a passive High Rung climb concept to a powered pivoting Traversal Rung climb
- Building a reliable Traversal Rung climber within the robot frame and extension limits
- Designing the shooter to pivot for electrical service access while still staying rigid enough for consistent shooting
- Coordinating prototype fabrication, final part fabrication, build work, electrical wiring, and software requirements across the team
- Tuning the shooter for different shot distances, spin behavior, and field positions
- Improving the over-the-bumper intake and Cargo path during the season
- Making the CAN line more robust after reliability issues
- Getting vision-assisted alignment and autonomous routines working reliably
- Balancing ambitious design goals with build season time, driver practice, and event preparation
Robot Specs
| Spec | Value |
|---|---|
| Weight | 115 lb |
| Size | 27 in x 32 in x 38 in |
| Drivetrain | 6-wheel drop-center tank drive |
| Drivetrain speed | 15.6 ft/s, or 10.6 mph |
| Cargo capacity | 2 Cargo |
| Primary scoring target | Upper Hub |
| Shooter upgrade | Anti-backspin roller added after OCR |
| Final intake style | Spring-deploy, winch-retract ground intake |
| Final climb target | Traversal Rung |
| Target climb time | 45 seconds |
Drivetrain
Ascent used a 6-wheel drop-center tank drive. This gave the robot a simple, durable, and maneuverable base for crossing the field, lining up shots, and positioning near the Hangar. The drivetrain was geared for a top speed of about 15.6 ft/s, which helped the robot cycle Cargo quickly while still staying controllable for climbing
Shooter
The shooter was designed for Upper Hub scoring and used a high-speed flywheel capable of reaching roughly 5000 rpm. This was a major step up for the team because it was the first high-goal flywheel shooter we built for an FRC competition robot
The shooter was also designed with serviceability in mind. Because the main electrical board was packaged under the shooter, the shooter assembly pivoted upward like a car hood so we could access wiring, motor controllers, and electronics for repairs without removing the full mechanism from the robot
At Orange County Regional, we found that the shooter was putting too much backspin on the Cargo. On some Upper Hub shots, the Cargo would hit the back wall of the Hub, roll upward, and fall back out instead of staying scored. After OCR, we added an anti-backspin roller to reduce the spin on the ball and make shots more likely to stay in the Hub
The shooter required tuning around wheel speed, ball compression, shot angle, distance, spin, and service access. Late-season testing included shooter pulsing, fender shots, non-fender shots, vision-assisted alignment, and improvements to shot consistency after the backspin issue was identified
Intake and Cargo Handling
Ascent's intake system changed during the season. At Orange County Regional, the robot did not have a deployable ground intake, which limited how quickly and consistently we could collect Cargo from the floor
Between OCR and AVR, we redesigned the intake into a slapdown ground intake with a spring-deploy and winch-retract mechanism. This allowed the robot to extend the intake for floor pickup and retract it safely inside the frame perimeter. It was one of the team's first major deployable intake systems and helped make the robot more useful during teleoperated Cargo cycles
The robot was designed to hold 2 Cargo at once, which matched Rapid React's robot possession limit and allowed the drive team to reduce the number of trips needed between collection and scoring
Climber
Ascent's climber changed significantly between events. The first version was built around a passive High Rung climb concept. The robot used telescoping spring-extend and winch-retract arms to reach the Low Rung, while passive High Rung hooks were intended to catch the High Rung during the climbing motion
The passive High Rung hooks were spring powered and deployed by small servo linear actuators that released retaining pins. In theory, the telescoping hooks would climb to the Low Rung first, then the passive hook bar would catch the High Rung as the robot rotated through the climb
After Orange County Regional, we moved toward a powered pivoting Traversal Rung climb so the robot could attempt the highest-value climb in the game. The upgraded climb reused the same telescoping tubes but changed the hook geometry and added a powered pivoting hook system
The Traversal climb sequence started by grabbing the Low Rung with the telescoping tubes. A newly added pivoting hook, powered by two NEO motors through a 100:1 reduction, then grabbed the Low Rung and rotated the entire robot forward. Once the robot rotated forward, the telescoping tubes extended again to reach the next rung. Repeating that sequence allowed the robot to work its way toward the Traversal Rung
The climber was one of the most difficult parts of the robot because it had to lift the full robot weight, remain compact during the match, deploy reliably, and interact with the Hangar rungs consistently. The design used custom climber plates, pivoting hook components, MaxPlanetary mounting plates, winches, springs, servo-actuated pin releases, and support structure
Electrical and Controls
The robot included custom electrical mounting plates and a battery mount integrated into the robot packaging. During the season, the team worked through CAN reliability, sensor mounting, camera mounting, vision testing, autonomous climbing, and driver controls
System Integration & Team Coordination
A major part of Ascent was coordinating the robot as a complete system instead of designing each mechanism separately. I CADed the entire robot in SolidWorks, which let me package the shooter, intake, indexer, climber, drivetrain, electronics, and battery into one integrated assembly before final fabrication
I also coordinated subsystem assignments across the team, making sure students had clear ownership over prototyping, CAD, fabrication, electrical wiring, assembly, and software support. This included getting prototype parts fabricated, releasing final parts for fabrication, tracking what still needed to be built, and helping keep the robot moving from design into assembly
Because the robot had several moving mechanisms, I worked with the software team to define what each subsystem needed to do. This included shooter behavior, intake deployment and retraction, Cargo handling, climb sequencing, driver controls, sensor needs, and vision alignment goals
Serviceability
Ascent had to be repairable at competition, so service access became a major design consideration. The main electrical board was packaged under the shooter, which made the electronics difficult to reach if the shooter was fixed in place. To solve this, the shooter assembly pivoted upward like a car hood, giving the team access to wiring, motor controllers, and the electrical board without removing the full shooter from the robot
This was one of the first times I had to think beyond whether a mechanism worked and also consider whether it could be inspected, repaired, and modified quickly in the pit during an event
Climb Sequence
The first climb concept used telescoping spring-extend and winch-retract arms to reach the Low Rung, while spring-powered passive hooks were intended to catch the High Rung. The passive hooks were deployed by small servo linear actuators that released retaining pins
After OCR, we upgraded to a powered pivoting Traversal Rung climb. The upgraded version reused the same telescoping tubes but changed the hook geometry and added a powered pivoting hook driven by two NEO motors through a 100:1 reduction
The climb sequence was designed to work rung by rung. The telescoping tubes first grabbed the Low Rung, then the powered pivoting hook grabbed the same rung and rotated the entire robot forward. Once the robot rotated forward, the telescoping tubes extended to reach the next rung. Repeating that motion allowed the robot to progress toward the Traversal Rung
Testing & Validation
Testing focused on making each subsystem reliable enough for competition, then improving the robot between events based on real match performance. Shooter testing included flywheel speed, ball compression, shot distance, backspin, fender shots, non-fender shots, and vision-assisted alignment
Intake testing focused on deployment, retraction, frame perimeter clearance, Cargo acquisition, and handoff into the robot. Climber testing focused on hook engagement, winch routing, spring force, powered pivot motion, and whether the robot could safely move from rung to rung under load
The biggest validation step came after Orange County Regional, when match performance showed where the robot needed to improve. Those results led directly to the anti-backspin shooter roller, the spring-deploy winch-retract intake, and the powered Traversal climb upgrade
Mid-Season Mechanical Improvements
Between Orange County Regional and Aerospace Valley Regional, Ascent went through major mechanical upgrades based on what we learned from our first event. The robot started the season without a deployable ground intake, which limited how quickly and consistently we could collect Cargo from the floor. After OCR, we redesigned the intake into a spring-deploy, winch-retract mechanism so the robot could extend to pick up Cargo and retract safely inside the frame perimeter
We also changed the climb from a passive High Rung climb concept to a powered pivoting Traversal Rung climb. The passive climb used spring-powered hooks released by small servo linear actuators, but the geometry was difficult to make reliable. The powered version reused the telescoping tubes, added new hook geometry, and used a pivoting hook driven by two NEO motors through a 100:1 reduction to rotate the robot through the climb sequence
The shooter also changed after OCR. We noticed that excessive backspin was causing some Upper Hub shots to roll up and out after contacting the back wall of the Hub. To fix this, we added an anti-backspin roller that reduced spin on the Cargo and improved shot consistency
These changes reflected one of the biggest parts of the season: continuous improvement. Instead of treating the first-event robot as finished, we used match performance, driver feedback, and mechanical issues to guide upgrades before AVR
Major Iterations
| Issue Found | Change Made | Why It Mattered |
|---|---|---|
| Cargo rolled up and out of the Upper Hub due to backspin | Added an anti-backspin roller | Improved shot consistency |
| No deployable ground intake at OCR | Added a spring-deploy, winch-retract intake | Improved floor pickup and Cargo cycles |
| Passive High Rung climb was not reliable enough | Upgraded to a powered pivoting Traversal climb | Gave the robot a path to the highest-value climb |
| Electrical board was packaged under the shooter | Made the shooter pivot upward like a car hood | Improved service access during events |
Manufacturing and Fabrication
A large portion of Ascent was custom fabricated. The fabrication list included aluminum Cargo plates, steel flywheel masses, electrical board supports, climber plates, pivoting climber hooks, intake side plates, intake links, winch plates, and gearbox plates
This project gave me more experience turning CAD into real manufactured parts. It required thinking through material choice, part thickness, bearing fits, CNC router constraints, part naming, service access, and how each fabricated part would be assembled on the robot
Season Results
| Event | Result |
|---|---|
| Orange County Regional | Rank 39 with a 4-7-0 record |
| Aerospace Valley Regional | Rank 25 with a 7-9-0 record |
| Aerospace Valley Playoffs | Alliance 4 second pick, Semifinalists |
| 2022 official play | 11-16-0 |
| 2022 overall record | 14-23-0 |
What I Learned
- How to lead a full FRC robot project across strategy, CAD, manufacturing, wiring, testing, and competition
- How to own the full robot CAD while coordinating subsystem work across a larger team
- How to model and package a complete competition robot in SolidWorks
- How to calculate gear ratios and design mechanisms around real loads
- How shooter spin, ball compression, and field interaction can affect whether a shot actually stays scored
- How to design mechanisms around service access, not just performance
- How to package electronics under a moving mechanism while still making them reachable for repairs
- How passive mechanisms can be mechanically simple but difficult to make reliable under real match conditions
- How powered climber geometry, hook shape, gear reduction, and robot center of gravity affect whether a rung-to-rung climb works
- How to integrate multiple subsystems into one serviceable robot
- How to use springs and winches in deployable mechanisms
- How to turn robot strategy into mechanical, electrical, fabrication, and software requirements
- How to release prototype and final parts for fabrication while keeping the build moving
- How to communicate mechanism behavior clearly enough for software to build controls around it
- How system integration can become harder than the individual mechanisms themselves
- How to manage fabrication lists, part naming, and CNC-routed components
- How to troubleshoot electrical reliability issues during a competition season
- How to use competition results and driver feedback to guide major mechanical upgrades between events
- How to keep improving a robot after the first competition instead of treating the first event version as final
- How to balance ambitious design goals with the reality of build season time, reliability, driver practice, and competition pressure
