The Lift

We’re using a 5 stage belt driven lift (angled at 30 degrees) actuated by a goBilda 312 RPM motor. At the end of the lift there is a servo mounted at a 60 degree angle;
The servo is attached to the claw and this specific pivot point allows the claw to pick up and deposit pixels from the same side of the claw.

The lift on V4 is critically different from the previous versions.

The new lift is using 5 224 mm goBilda Viper slides and is angled towards the front of the robot as opposed to using 336 mm Viper slides and being angled toward the back of the robot in the previous versions. This allows the robot to be more agile and fast around the field reducing the cycle time from 30s to only 15s!
Our previous robot versions also used the lift as a suspension system. By changing this we were able to trade a complicated 2 motor helical gearbox into a simple motor-pulley system.