Combining Mechanisms

Integration is a dial, not a switch. How much you fuse depends on space and motor budget that season.

Integrate when two functions can share a motor without their motions conflicting. Fusing costs independent control, only pay it when nothing's lost.

Stay modular when a function needs its own timing, direction, or speed.

Full Volume — fully separate

Modular by design. One mechanism to pick up. One to sort and score by color. Tuning details in Chapter 6. Result: scored both colors better. No fusion needed.

Slapshot — one fusion

Mostly modular. Flywheel shared a motor with the dispenser to save space. Tuned so the dispenser didn't slow the flywheel's shot. Result: freed motors and space, shot speed held.

Mix and Match — two mechanisms fused

Started modular: one to stake the pin, one to clamp the beam. A shared motor link tied the drivetrain to the back beam arm. Pivot and rotation point changed so the pin slipped cleanly onto the standoff goal. Result: pin and beam scored in one pass.

Rapid Relay — nearly the whole robot

Modular first: one to pick up, one to score. A shared motor link tied intake, drivetrain, and catapult together. Gears deformed under catapult tension. Fixed by changing the pull-down method. Result: more consistent scoring.