Hephaestus
Technical Specifications
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Swerve Modules (MK4n)
L1+ gear ratio to maximize acceleration on shorter cycle paths
Shock-absorbing 3D-printed TPU camera mounts for reliable AprilTag localization
Kraken X60s with FOC for high torque driving and Falcon 500s for steering
Chassis
¼” offset from maximum frame perimeter on all sides to allow for mounting intake plates and bumper hardware.
Custom 3D-printed sliding dovetail joints secure bumper ends to robot frame while still allowing for easy removal
Electronics
Angled battery underneath superstructure to make swapping easy
Brainpan (electronics upside down underneath the bellypan) to make wiring easier, as we planned to make a short and compact robot.
Holes running through frame rails and lightening holes keep wire management tidy
Keyed cover panel keeps electronics protected from fuel during match while being quickly removable
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Mechanical
1x Kraken x60 for the intaking rollers running 1:1
Needed for the fastest intaking speed possible
1x Kraken x44 pivots the intake on a 45:1 reduction
10DP gear pivot ensures ease of assembly and robustness
Wide intake facilitates driving and fuel pick up.
Thick stock 2x1 beater bar for increased durability and torsional rigidity
The intake pivot is on a dead axle for modularity and robustness
Hopper walls are ⅛” polycarbonate sheets with flanges to prevent bending
Drawer slides are used on either side of the extendable hopper
Controls
Hardstops are used for ease of software
Bumpers act as the extended position hardstop
Limelight camera used for game piece detection, easing the load on the driver
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The main wheel, driven by a Kraken x60 on a 3:1 reduction, quickly index balls into the feeder.
A conical wheel was chosen based on prototyping due to its ability to quickly
[Spinny part details and gearing here]
Two custom ¼ inch aluminum plates alongside a motor mounting plate make up the feeder
Custom 3D-printed ramp for compact packaging and consistent compression
Two custom active rollers driven by a Kraken x60 with a 2:1 reduction for a balance between speed and sufficient force to drive fuel into the shooter
Custom 3D-printed feeder mounts printed from Polymaker Fiberon filament, allowing for the feeder to mount at a specific angle
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Mechanical
1x Kraken x44 powers turret rotation on a 35.42:1 reduction
Chosen since the turret can rotate faster than drivetrain and allows quick unwinding for e-chain.
Turret base is supported by 1x1 tube superstructure mounted to the Drivetrain
7” ID X-Contact bearing clamped into base plate provides stiff connection while also being removable in case of damage
Custom ¼” thick aluminum 85T gear pivots the turret which allows for minimal backlash and is easy to maintain
Plays a dual role, acting as the base of the shooter assembly
Controls
Custom 3D printed Twister E-Chain allows for compact and robust wire management for shooter electronics while increasing range of motion substantially
2 CAN wires are implemented but only one is used, while the other is a backup.
Two gears, 13T and 14T, run directly off of the main gear
CTRE CANCoders are attached to each, calculating the rotation of the turret using Chinese Remainder Theorem. This allows us to find the exact heading of the turret through the entire 600 degrees.
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Coming Soon
OUR 2026 SEASON.
District Events
3x Event Winners
Autonomous Award at Salem
Excellence in Engineering Award at Wilsonville
PNW District Championship
Event Finalists
World Championships
Round 3 of Division Playoffs

