For our first ever robot, we decided to go with the GoBilda starter robot and then build from there as we had no prior experience to FTC. We decided to go with GoBilda because the parts were fairly simple and easy to use.

For our drivetrain, we have two wheels connected through a chain for movement on both sides. In the front, we have two Omni wheels for the support of the robot. 

For our arm, we have a standard U-Channel which goes up and down. Our robot can hang on the lower rung and score samples into the lower basket. 

For the intake, we cut two gecko wheels and put them together. This way, we can easily collect samples by simply rotating the wheels and deposit them by rotating it the other direction. The intake system is connected to a torque servo to allow it to pivot.

Some Challenges we faced with this version were that the Drive-Train was really hard to control for the drivers as we could only turn left and right. Another Challenge that we faced was that it was really hard to intake samples from the submersible and our scoring was extremely inaccurate.

For our second version, we updated the drive train to Mechanum wheels for sideways movement. We also added the Viper Slide to achieve the high-level ascent and score samples into the high basket. 

Some Challenges we faced with this version were that the wire from the intake kept snapping off which eventually led us to put a plastic chain. The plastic chain also brought its own problems as whenever we would try to intake, the plastic chain would come down and it would be extremely hard to intake and very inefficient.

For our third version, we updated the intake design to also support a 3D printed claw attachment. This way we could hang specimens onto the higher rung quickly and efficiently.