Our mineral scoring system includes the arm, filter, and intake. To pick up minerals we use a set of surgical tubes attached to an axel on a continuous servo. The minerals get put into a box that that drops when over the lander. It empties into the filter that sorts out the silver and gold to prevent cross-contamination. Not having to fear cross-contamination allows us to score quickly and easily.
 

       Our lift takes approximately five seconds to hang on the lander and landing is slightly quicker. We have one hit buttons on our controllers to help us position correctly each time. The lift uses a single rope pulley along with surgical tubing to go up and down. The simple design worked better than previous iterations and the simple design has shown good results. 

       Our autonomous is coded to land, sample, claim, and park scoring us the full 80 points. The robot uses its phone camera to sense objects based on color and then acts accordingly. During claiming, a small servo drops our marking using a color sensor once it detects the box and drives away. For parking, it just stops on the crater and ends auto. 

       For our sampling, we use tensor flow, and use the phone camera to detect objects. At the beginning of the match we detect if minerals on the field, and have set limits of pixel height so that minerals in the crater can't be detected. Our camera is upright so that it's not intrusive to the rest of the robot function, so we can only see the left two minerals.  When the code is run in autonomous and does one of the three-movement options based on gold position. 

       Our robot has a team marker that we use in autonomous. The design is a flag for a variety of reasons; it can be easily held and dropped, it’s a fairly simple design that can be put into made into two parts for easy assembly, and it also looks nice with our team logo at the top. For dropping the marker during autonomous we have a color sensor equipped that shows where the depot box is so that we can always be sure it’s where we want it.