Team 1391 - The Metal Moose • Team Captain, Lead Builder & Robot Operator • 2022-2024
About Team 1391 - The Metal Moose
As Team Captain, Lead Builder, and Robot Operator for FRC Team 1391 (The Metal Moose), I led our team
through three successful competition seasons, developing innovative robots that competed at the highest
levels including World Championships. My journey with FIRST Robotics has been defined by iterative
design, technical excellence, and leadership growth—from learning the fundamentals in 2022 to leading
comprehensive robot development and achieving top 3% global rankings by 2024.
In the 2024 FIRST Robotics Competition season (CRESCENDO), I served as Team Captain, Lead Builder,
and Robot Operator for Team 1391. Our team designed and built a highly competitive robot capable of
efficiently acquiring and scoring game pieces with remarkable consistency. The robot featured a
cutting-edge four-bar intake mechanism of my design that incorporated advanced sensor systems and
automated controls. Under my leadership, we achieved multiple awards including Engineering
Excellence and competed at the World Championship, ranking in the top 3% globally.
Leadership & Responsibilities
Team Captain: Managed overall robot design and build process, coordinated
between sub-teams, led daily build meetings and progress reviews
Lead Builder: Developed advanced four-bar intake mechanism with sensor-based
detection and automated controls
Robot Operator: Operated robot during competitions, achieving consistent high
performance
Documentation Lead: Created detailed engineering notebook covering entire
development process, establishing new standards for technical documentation
Mentorship: Trained and mentored new team members in CAD, machining, and design
processes
Key Mechanical Systems
Advanced Four-Bar Intake Mechanism
Led the development through seven major design iterations (V1-V7), creating an innovative intake
system with ground pickup capability and automatic collision response.
Ground Pickup: Automatic wall detection and sensor-based game piece tracking
Virtual Four-Bar Geometry: Compact storage within frame perimeter, extending 12
inches for collection
Self-Protecting Design: Collision response system using 1/4" polycarbonate arms
with chain drive
Sensor Integration: Beam break sensors for automated detection and consistent
piece acquisition
Optimized Performance: 10 polyurethane belts (5 per side) for reliable note
collection at any robot speed
Adjustable Shooter System
Designed through multiple prototyping iterations to achieve consistent long-range shooting with
automated targeting.
Dual Flywheel Design: Two rows of wheels with independent speed control for
ball spin
Optimized Compression: 1.5" compression distance found through extensive
testing
Centered Pivot Point: Low center of gravity for balanced operation
3D Printed Hood: Custom geometry for optimal ball trajectory
Vision Integration: Limelight-based targeting with distance calculation
Elevator & Climber System
Two-Stage Design: Inner rails sliding on outer rails using bearings
Shooter Mount: Through-bore encoder for precise rotation control
Improved Stability: Redesigned after first competition with C-channel support
and chain drive
Maximum Height: Capable of reaching amp and trap scoring positions
26" x 26" Swerve Drive Base
Compact Design: Minimal footprint while fitting all subsystems
Low Center of Gravity: Belly pan positioned as low as possible
Lightweight Construction: 1/16" box on inner rails with strategic weight
reduction
Easy Mounting: End caps for clean box connections without angle brackets
Development Process
V1
First Prototype - Basic flywheel testing
V2
Compression Testing - Optimizing wheel spacing
V3
Hood Geometry - Adjusting trajectory and testing wheel spacing
accuracy at target
V4
Motor Gearing - Refining power delivery
V5 FINAL
Competition Ready - Dual flywheel with automated targeting and
funnel like intake
V1
First Concept - Testing different grip thickness
V2
Wheel Configuration - Testing different grip wheels and active
vs passive
V3
Arm Geometry - Optimizing virtual four bar linkage
V4
Machining - Trying out a machined version based on collected
data
V5
Belt Optimization - Increasing from 6 to 10 belts and
shortening them for the virtual four bar linkage
As Team Captain, Lead Builder, and Robot Operator for FRC Team 1391 during the 2023 season
(CHARGED
UP), I led our team through designing and building a highly competitive robot featuring both
cube
and cone handling mechanisms. My primary focus was the development of our multi-stage arm
system
and
intake mechanisms. The robot, named "BAMI," showcased innovation in game piece manipulation
with
a
two-rotation point arm and advanced gripper system.
Key Mechanical Systems
Advanced Gripper Mechanism (V1-V4)
Developed through four major iterations to create a dual-purpose gripper for both cones and
cubes.
Dual-Purpose Design: Handles both game piece types with
pressure-sensitive
gripping
Sheet Metal Construction: Final V4 design machined from sheet metal for
durability
Linear Actuation: Dual pneumatic pistons for variable grip strength
Sorbothane Pads: Optimized grip material replacing initial wheel design
Sensor Integration: Automated control for consistent piece acquisition
Compact Design: Smaller paddles on V4 to reduce cube grip and prevent
sticking
Two-Rotation Point Arm
Engineered a sophisticated arm system with shoulder and elbow joints for precise game piece
positioning.
Optimized Weight Distribution: Lightweight 1x2 box construction with
strategic
material reduction
Chain-Driven Joints: Shoulder motors mounted low with chain drive to
lower
center of gravity
Through-Bore Encoders: Precise angle monitoring for shoulder and elbow
joints
Inverse Kinematics: Automated positioning using x,y coordinate input
Multiple Scoring Heights: Capable of ground pickup to high scoring
positions
Independent Operation: Can function without intake if needed
Upgraded Chain: #35 chain on shoulder joint (upgraded from #25) for
reliability
Over-the-Bumper Intake System
Led development through seven major design iterations to create a reliable game piece
collection
system.
As a key member of FRC Team 1391 (The Metal Moose) during the 2022 season, I contributed
significantly to developing our innovative robot "Gustavo." The robot featured breakthrough
designs
in climbing and shooting mechanisms, including a unique unlimited-rotation turret and a
sophisticated multi-stage climbing system capable of reaching the traversal bar. These
innovations
helped our robot demonstrate exceptional performance throughout the season, making it all
the
way to
the World Championship in Houston, Texas.
Key Mechanical Systems
Unlimited Rotation Turret with Vision Tracking
Innovative shooting system with continuous rotation capability and automated targeting.
Slip Ring Design: Limelight camera powered through slip ring for
continuous
rotation
Vision-Based Targeting: Retroreflective tape detection with real-time
angle
calculations
NEO Motor Control: Built-in encoder for precise angle positioning
One-to-One Gear Ratio: Limelight rotates synchronously with turret
Four-Flywheel System: Consistent ball propulsion with variable speed
control
3D-Printed Hood: Custom geometry for optimal trajectory (CNC cut and 3D
printed)
Automated Distance Calculation: RoboRIO integration for dynamic power
adjustment
Three-Stage Climbing System
Sophisticated elevator mechanism for traversal bar ascent with anti-swing features.
Belt and Piston Design: Advanced system enabling rapid bar-to-bar
traversal
Swing Reduction: Piston mechanism pulls robot to lower center of mass
during
climb
Dual Hook System: Fixed and moving hooks with precision tilt angles
Spring-Loaded Fixed Hooks: Allow bar to slide through during
transitions
Aluminum Channel Construction: Integrated belts and bearings for smooth
operation
Custom Manufacturing: Components made with CNC router, mill, 3D
printing,
and
lathe
Intelligent Cargo Management System
Advanced indexer with sensor-based sorting and automated ball handling.
30-Wheel Indexer: Precise cargo control and guidance to flywheels
Integrated Color Sensors: Real-time cargo tracking and identification
Automated Enemy Rejection: System inverts to eject incorrect colored
cargo
Dynamic Speed Adjustment: Flywheel speed varies based on cargo type
Position Monitoring: Tracks cargo location within robot
Driver Feedback: Visual indicators for cargo status
Dual-Arm Collection System
Pneumatic Polycarbonate Arms: Compliant yet durable construction
Wheel Collection: Active intake wheels on arm fronts
Secondary Limelight: Automated ball recognition and tracking
Driver-Assist Features: Auto-rotation to center on nearest cargo
Five-Ball Autonomous: Consistent autonomous operation without precise
alignment
Tank Drive with Omni Wheels
Mixed Wheel Configuration: Four Versa wheels with two front Omni wheels
Enhanced Turning: Omni wheels ease rotation while maintaining speed
Single-Speed Gearbox: Simple but effective drive system
Integrated Ball Recognition: Works seamlessly with vision-based
collection
CNC Manufactured: Precision components from CNC mill and router
Manufacturing & Build
Competition Results
World Championship Qualification - Houston, Texas
Competition 1: Rank 10 (11-6-0 record) - Creativity Award sponsored
by
Rockwell Automation
Competition 2: Rank 5 (10-7-0 record) - Autonomous Award sponsored
by
Ford
Competition 3: Rank 12 (8-6-0 record)
Consistent Playoff Performance: Semifinals and Quarterfinals
appearances
Key Innovations
Slip Ring Integration: First on our team to implement continuous
rotation
vision tracking
Multi-Stage Climbing: Sophisticated traversal mechanism with anti-swing
control
Advanced Sensor Integration: Color sensors for cargo sorting and dual
Limelight
setup
Automated Game Piece Handling: Driver-assist features for collection
and
shooting
Robust Manufacturing: CNC routing, milling, 3D printing, and lathe work
Three-Year Impact & Growth
My three-year journey with FIRST Robotics Competition represents a progression from
contributor
to
leader, from learning fundamentals to teaching others, and from implementing designs to
creating
comprehensive documentation that sets new team standards. Each season built upon the last,
culminating in World Championship appearances, top 3% global rankings, and multiple
Engineering
Excellence awards.
Technical Skills Developed
CAD & Simulation: Fusion 360, SolidWorks - from basic modeling to
inverse
kinematics
Manufacturing: CNC mill, CNC router, lathe, 3D printing, sheet metal
fabrication
Mechanical Design: Iterative prototyping, weight optimization, center
of
gravity management
Control Systems: Motor controllers, encoders, sensors, pneumatics
integration
Team Management: Led 30+ member team across mechanical, electrical,
programming, and business sub-teams
Project Planning: Managed build schedules, prototyping timelines, and
competition deadlines
Mentorship: Trained new members in CAD, machining, and design processes
Competition Strategy: Coordinated with alliance partners and adapted to
field
conditions
Documentation Standards: Established comprehensive engineering notebook
practices
Key Learnings
My three seasons with FIRST Robotics Competition transformed how I approach engineering
challenges.
The six-week build season forced rapid iteration and decision-making under pressure—there's no
time
to perfect every detail in CAD when you need a working prototype to test. This taught me to
build
physical mockups early, fail fast, and iterate based on real-world performance rather than
theoretical perfection.
Leading a team of 30+ students across mechanical, electrical, programming, and business
sub-teams
showed me that technical excellence alone doesn't win competitions. Communication between
subsystems,
clear documentation, and shared understanding of design constraints matter just as much as
innovative
mechanisms. When our intake team couldn't coordinate with programmers, even the best hardware
failed.
Competing at World Championships and earning multiple Engineering Excellence awards validated
that
thorough documentation and design process matter to judges and clients alike. The comprehensive
engineering notebooks I created became team standards because they forced us to articulate not
just
*what* we built, but *why* each design decision was made and *how* we validated it.
Most importantly, FRC taught me that setbacks on the competition field are inevitable—mechanisms
break, sensors fail, and alliance partners have off-matches. The teams that succeed are those
that
can quickly diagnose problems in the pits, make field repairs under time pressure, and adapt
their
strategy based on what's actually working. This resilience and adaptability has proven
invaluable in
every engineering project since.
