Our DECODE robot is built for speed, precision, and reliability. It integrates a vectored intake, automated spindexer sorting system, and a servo-driven turret shooter. Using Pedro Pathing, goBILDA Pinpoint odometry, Limelight vision, and custom sensor algorithms, we achieve a consistent 57-point fully sorted autonomous and maintain 110+ average match scores

A 2-stage vectored + gecko wheel intake funnels artifacts toward the centerline for fast, jam resistant collection. Rubberband counter rotation and optimized wheel overlap allow intake from wide angles while minimizing bounce outs.

A servo-driven coaxial hood flywheel shooter enables dynamic shot angles independent of robot heading. Flywheel weights increase inertia for rapid fire, while PID control maintains consistent velocity within ±10 ticks for reliable scoring.

Our 10-inch spindexer turntable detects artifact color immediately upon intake and reorders in real time. Powered by a high-torque motor and encoder feedback, it ensures precise indexing for a fully sorted 12-artifact autonomous.

A belted dual gecko wheel transfer, powered by a high-speed servo, moves artifacts smoothly from the spindexer into the shooter. Dividers and optimized slot spacing reduce jams while maintaining cycle speed.