The purpose of the Smart Field Controller is to stop the robot when it reaches the time limit. This is meant for the autonomous period which is 15 seconds and the driving period which is 1 minute 45 seconds. The Smart Field Controller connects to all four robots in the playing field and when the timer stops the Smart Field Controller stops all four robots so they cannot move anymore.

We tested the pneumatics out and we successfully make the double acting cylinder go in and out. First we added air to the reservoir and then we turned on the on and off switch to successfully release air into the double acting cylinder. We programmed the reservoir to release air when we press a button on the controller and then suck the air out when press another button. So when we pressed a button on the controller the double acting cylinder moved and when we pressed another button it went back.

After deciding that the Mecanum drive was not suitable for this mission, we decided to change to the Tank drive. We made a 3d model on Fusion 360 and we debated about where the six wheels would be used in our drivetrain. Eventually we settled on 4 omni wheels that are placed on the corners of the drivetrain because it would be able to turn easier and we put friction wheels in the middle because wheels in the middle can turn easier.