Pancake FRC Turret

Its been a long time huh. I basically finished the whole thing, however to catch yall up to speed I have created the ultimate devlog.

PLS look at this google doc if you can. I made a whole essentially an ESSAY trying to make a recap with at most info as needed but its too long to post so here is the google doc with it in https://docs.google.com/document/d/19otRmG-d0zHCSDyZ5glDNmW7cP3afZkpb5Q3BmI4kPE/edit?tab=t.0 4

The Turret Sketch of everything is complete.

Turret Gearing:
The turret gearing is geared to 1:56.25, powered by one kraken x44. The turret is supported by 4 box tubes (2 1x1 and 2 2x1)

Shooter Geometry:
Using very similar to team 4414. 3 inch flywheel/ stealth wheel with a 1 inch sushi roller on the other side powered 1:1 by 2 kraken x60s. 1 inch compression between the roller and the flywheel. Bottom bearing is an 8 inch bearing for dye rotor.

Wiring:
Wiring a turret can be difficult, since no slip ring means no free rotation. That’s why I have this e-chain. This allows the turret to spin a 360 full rotation before spinning back. the e-chain is constantly tensioned with an 8 lb spring to help it reset its position when the turret needs it