The Beak Squad
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Updates

The Beak Squad 2019: Worlds Hype Video


FRC Team 4028, the Beak Squad, is excited to head to Detroit, MI with our robot, Calipso, to compete in the 2019 World Championship! Destination: Deep Space has been an incredibly fun game and we are excited to see all the other FRC teams in Detroit. Good luck to all teams!

Robot Specifications

2019 | Robot

EclipseRobot

Robot Overview

The Beak Squad 2019 robot was built to accomplish all tasks required for competition in an alliance.  It collects cargo and hatches; climbs to the third level of the habitat; and can place game pieces on the top level of the rocket.
  • We are an "every-robot", meaning our robot will attempt to place hatch panels, score cargo, and climb level 3
  • Our code optimizes path choices to maximize efficiency in piece placements
Sandstorm

Sandstorm

  • Autonomous programming helps us follow paths more efficiently and allows our team to score multiple game pieces without potentially using vision or controllers
  • The programs use path following (dynamic path generation) with waypoint-based path construction, nonlinear state estimation
  • The autonomous mode has an adaptive pure pursuit controller
  • Without driver vision, our Sandstorm system will help us score
Vision

Vision

  • The vision system calculates and models different angles that the robot uses to position relatively
  • Robot features a built-in camera with LED/processor called "Lime Light"
  • The system also looks for a specific reflection that can create shapes and patterns to create a target
  • The Vision feature is useful in both Sandstorm and Teleoperation
  • Vision feature useful both in Sandstorm and Teleoperation
Bucket and Beak

Bucket & Beak

  • Collects, contains, and places hatch panels on the hatch
  • Two pneumatic cylinders actuate the bucket and beak in and out to optimize cargo infeed
  • The three prongs open and close to clasp the hatches
  • The first plate moves the “beak” forward to place hatches
  • The second plate opens and closes to clasp the hatches
  • This part of the robot helps us earn a rank point as well as tons of points
  • Two pneumatic cylinders are activated to grab the cargo
  • Ten wheels attached to a shaft, driven by a bag motor, intake and place the cargo
Elevator and climber

Elevator & Climber

  • Allows scoring in the top and bottom rocket with high consistency, effectivity, and speed
  • Elevator cascades vertically
  • Similar to a rope and pulley system
  • Climbing allows our team to get a guaranteed rank point and to all 3 levels possible to climb
  • The climber is on a separate elevator that is contra to the other elevator
  • The climbing elevator is positioned in front of the center of gravity, so the robot does not trip while climbing
  • The climbing elevator is positioned behind the center of gravity, so the robot does not trip while climbing
Chassis

Chassis

  • Acts as the driving mechanism for the robot
  • Utilized a kit chassis to prioritize other functions and allow the control team maximum time to work
  • The mechanism uses a gearbox in the middle of the frame with timing belts to control 3 wheels per side
  • Wheels run on CIM motors

Meet the Team

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Nick Donahue - 2019

"I have learned valuable communications and technical skills with the Beak Squad. It has given me an avenue to utilize everything I was learning in class in a real-world setting. Additionally, it taught me how to be a leader, helping everyone achieve their goals."

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Patrick Bruns - 2019

"It's very important that high school students are exposed to this level of engineering. Robotics is surprisingly challenging. It looks easy, but as we get farther and farther into developing the robot, it becomes more and more difficult as challenges arise. What we are doing here is very important in exposing high school students to robotics."

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Ryan Keenan - 2020

"Robotics had taught me about life and engineering. I've learned how to make advanced parts in SolidWorks, which is helpful for someone going into mechanical engineering, plus being able to design whatever I want to print on my personal 3D printer. It has also taught me a lot about teamwork and sharing experiences. No one can build a robot in 6 weeks, so we need to work together."

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Abigail Friedstrom - 2021

"I don't think there's one specific experience that has had the most impact on me. Joining the team, in general, has greatly changed me. My focus, my interests, my work ethic, friend group, a lot has changed/impacted me by joining this team. I have a solid friend group, I've found that my passion is STEM, my work ethic/time management is better, and overall I am a better person."

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Kyle Reckamp - 2021

"Speed is the only acceptable substitute for accuracy, except if you're bad."

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Kaitlyn Rice - 2021

"Some of my favorite things about attending the competitions is the energy that is all around you. Everyone is so cheerful and the other teams are always helping other teams out and it’s nice to see. It’s also nice to help the rookie teams out and teach them what we know."

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Sam Thomas - 2021

"I would describe 4028 as a team of students who donate a lot of time and effort towards a robot."

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Marcus Daley - 2022

"An engineering, marketing, and programming experience you can't get anywhere else. A place where you build relationships with people and have fun."

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Ethan Shollenbarger - 2022

"My Beak Squad experience has been the most joyful of times and the most exciting. I also love how we always work best as a team."

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Luke Sikkema - 2022

"Being on the mechanical team, I have learned how to use a CAD software, Solidworks, having no previous experience with it. I also have been learning skills having to do with assembling, like using tools and more. I’ll be able to use these skills projects or my future career."

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Alex Nellis - 2019

"The Beak Squad is one of the greatest experiences I have had. It was an opportunity to be a part of something bigger and better than myself. The two years I have been on the team taught me incredible skills that I would not have been able to learn had I chosen not to join the team. The Beak Squad created new friendships and memories I would not trade for anything."

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Peter Nicholas - 2021

"The biggest impact that robotics has made on me is the overall teamwork that everybody uses to accomplish things that are (sometimes) impossible."

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Nathan Wetherington - 2021

"My most impactful experience was going to Worlds for the first time. This was my first time ever being in a competitive atmosphere where everyone was simultaneously fiercely loyal to their team but also very supportive of other teams."

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Connor Espenshade - 2022

"Pursuing a 9-month project from start to finish and adding it on this year’s robot is an incredibly rewarding experience. There were times where I wanted to give up, but the mentors always encouraged me to push through. The feeling when all of your sweat and tears works for the first time is unparalleled, and I had never pursued a project of this scope before. "

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Parker Johnson - 2022

"Robotics has taught me more than I ever thought I could know about coding, wiring, and technology. Before the Beak Squad I knew absolutely nothing about coding or anything the controls team does and now, I have grown as a member of the team."

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Isabella Li - 2022

"It's not only a place to learn new skills, but it's also a place to make friends. Spending time with the team makes me feel like we are a community."

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Will Reuter - 2022

"The unique learning atmosphere leads to an educational and fun experience for everyone, no matter how experienced you are, and everyone fits in."

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Alex Mays - 2020

"The Beak Squad has helped me learn lots of new skills and exposed me to new kinds of situations like incorporating different suggestions to improve my work and encompass everyone's opinions to reach a final product everyone likes."

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Burgess Doan - 2022

"My experience in the Beak Squad has been phenomenal. I learned the fundamentals of HTML, CSS, and JavaScript in the offseason and worked on our website during the build season."

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Kate Rice

Some of my favorite things about attending the competitions is the energy that is all around you. Everyone is so cheerful and the other teams are always helping other teams out and it’s nice to see. It’s also nice to help the rookie teams out and teach them what we know.

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Marcus Daley

"An engineering, marketing, and programming experience you can't get anywhere else. A place where you build relationships with people and have fun."

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