Trinity

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Trinity is the first official bot of Matrix Robotics.

The FIRST Tech Challenge (FTC) Into the Deep is the 2024-2025 season's underwater exploration-themed game where robots collect and score samples into baskets, create and score "specimens" in a submersible's chambers, and then ascend a two-level structure during the final seconds of a match.

The game featured an autonomous period followed by a two-minute teleoperated period, with human players assisting the alliances by attaching clips to samples to form specimens.

Our Mechs

Intake:

  • Goal: Smoothly and quickly intake 3 balls (<3s) and store them without interfering with other mechanisms.

  • Prototyping: Tested wheel rollers vs. surgical tubing; early designs used vertical rollers to push balls up a wall.

  • Final Design:Multi-roller intake (1 wheel + surgical tubing rollers) powered by one motor, moving balls up a 3D-printed ramp that stores 3 balls.

  • Improvements: Added center roller, larger intake opening, and rear curve with larger final roller to better feed balls to the outtake.

Transition:

  • Goal: Create a quick, reliable, and simple mechanism to move balls from intake to outtake.

  • Prototypes

    • Slide + directing wheel: Ball often fell out and couldn’t store 3 balls.

    • Cup holder (servo indexed):PID precision issues and unreliable ball transfer.

    • Dual ramp with gates: Balls bounced onto outtake plate and moved too slowly.

  • Final Design – Ramp Curve with Rollers (Gen 4)

    • Ball moves up a curved ramp, held by back wheels, then reverse wheels + roller send it to outtake.

    • Optimized ramp angle for smooth lift and consistent transfer.

    • Benefits: simple design, <2s transition, fewer jams, consistent ball placement.

Outtake:

  • Goal: Score quickly (7s cycle), consistently (95%+), and accurately.

  • Prototyping

    • Built early prototypes with cardboard and goBILDA channels, then tested designs in CAD animations.

    • Tested flywheel outtake spacing, hood, and RPM.

    • Iterated to a dual-wheel flywheel and improved compression and funneling.

  • Final Design – Flywheel Outtake

    • 6000 RPM flywheel + custom 3D-printed hood (55.7° launch angle) for fast, long-range shots.

    • Tuned compression, hood angle, and exit gap to reduce Magnus-effect backspin and improve consistency.

    • Achieved ~83% scoring accuracy in practice.

Software:

  • Road Runner: Used for precise autonomous path following with mecanum kinematics and PIDF-controlled trajectories, allowing smooth movement and consistent positioning.

  • Odometry Localization:GoBilda Pinpoint two-wheel odometry + IMU tracks the robot’s x, y, and heading, enabling real-time corrections and reliable autonomous navigation.

  • Vision Control (AprilTags): Detects distance, bearing, and heading to the goal to automatically rotate the robot, adjust flywheel RPM, and confirm alignment before shooting.

  • Driver Presets: Automation features reduce driver workload and speed up cycles.

    • Auto-Aim: Robot automatically aligns to the goal.

    • Three-Shot Burst: Fires staged balls with timed spacing for consistent speed.

    • Auto Intake: Runs intake until a ball is staged.

    • Clear Jam Macro: Reverses intake/elevator to remove jams.

Outreach:

  • Gracious Professionalism: Team identified gaps in FTC rules, consulted FIRST Washington, and influenced the creation of Rule E102 – Be Nice for clearer expectations.

  • Mentorship & STEM Guidance:

    • Purdue Engineer: Advised on navigating uncomfortable situations as women in STEM; helped reshape team structure and engineer connections.

    • Dr. Krishna Nadella (Qbic Materials, Inc.): Consulted on robot design, improving ball launch accuracy, torque optimization, and future efficiency.

    • UCLA Engineer & FTC Alum: Shared experiences with STEM stereotypes, offering feedback to expand outreach for girls in STEM.

  • Outreach Impact:

    • BollySteps Dance Workshop: Introduced 45 students to FLL robotics, teaching building, coding, and guiding new team participation.

    • Trajectory Engineering: Applied mentorship insights to refine robot performance and outreach programs.

  • Community Engagement:

    • Issaquah Salmon Days: Hosted booth since rookie year; interacted with 200+ families, let 5+ students drive our robot, collaborated with 90+ all-girls teams, and invited other FTC teams to participate.

  • #FIRSTLikeAGirl Ambassadors:

    • Promote STEM awareness by sharing stories of inspiring women in FIRST, through tabling, interviews, and social media.

    • Empower girls to pursue STEM and become leaders in the FIRST community.

  • Shifting the Stats in STEM:

    • Highlighted gender gaps with data-driven content; reached 10k+ accounts and 1,000+ followers across social media.

  • Women in STEM Interviews:

    • Conducted interviews with experienced FTC/FRC girls, providing visible role models and inspiring girls to pursue STEM careers.

Next

Gen 1