# Intake

Intake

An intake is the mechanism your robot uses to gather game objects like balls, disks, cubes, or rings.

**Commpression**

Almost all intake methods rely on a mechanical principle called compression. Game pieces are rarely perfectly rigit and neither are intakes. To grab an object reliably without jamming, the intake mechanism must press tightly against an object squishing both slightly.

The compression creates friction, which allows the spinning wheels or rollers to pull an object into the robot.

**Roller / Conveyor intakes**

 A roller intake relies on one or more spinning shafts with high traction rubber wheels, soft silicon rollers, or interlocking tread flaps. When the robot drives into an object, the roller spins downward onto the top of the object, pulling it over the frame and into the robot.

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- How it works: The continuous rotation is often paired with a polycord belt or tank tread conveyor system to move the object deeper into the robots storage area.
- Pros: Fast and continuous. It can take multiple objects in quick sucession without needing to stop or reset.
- Cons: Designed specifically for one shape or size of game piece. If the game piece changes from a round ball to a flat disk, the intake would have to be redesigned or changed.

**Flex Wheel**

A flex wheel intake is a version of the roller intake, using flexible rubber wheels or rubber flaps attached to a spinning axel.

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- How it works: Instead of relying on the game piecce to squish, the intake deforms more. The flexible rubber bend out of the way when hit by an object, wrapping around it to create more contact area and more friction.
- Pros: More forgiving because the rubber can deform, allowing the robot to grab objects from further or from weird angles.
- Cons: Rubber flaps or wheels can wear down or stretch over a long period of time.

**Claws**

Claw intakes use mechanical arms powered by a motor or pseumatic to physically pinch and grab a game object.

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- How it works: The robot drives up to an object with an open claw, activates the motor/piston to close the claw around the object, and holds it using motor stalls or mechanical locking.
- Pros: Very precise and secure. Once it has grabbed an object, it is difficult for an opponent to steal it or you to drop it. It can also handle many irregularly shaped items easily.
- Cons: Very slow intake. The driver has to line up the claw, stop the robot, close the claw, move the object, then open the claw to score. They usually can only handle one object at a time.

**Passive/Wedge Intakes**

This intake uses no motors or power at all. It only relies on forward momentum of the [drivetrain](Drivetrains.md) and shapes like a wedge or ramp to scoop objects into the robot.

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- How it works: The robot drives directl into an object. The angled wedge forces the object into the robot.
- Pros: Uses no motors which gives more power to your [drivetrain](Drivetrains.md) or [lifts](Lifts.md). It is mechanically simple and easy to create.
- Cons: Requires a robot to be moving pretty fast to work well and cannot easily hold onto an object.


|Intake Style | Speed | Object Capacity | Ease of Use | Motor Cost | Best Use Case |
| - | - | - | - | - | - |
| Roller Conveyor | :green_circle: Very Fast | :green_circle: High (Multiple) | :yellow_circle: Medium | :red_circle: High | Small balls, disks, rapid cycling |
| Flex Wheel/Flap | :green_circle: Fast | :green_circle: High (Multiple) | :green_circle: Very High | :yellow_circle: Medium | Rings, cubes, objects on the floor |
| Passive/Wedge | :yellow_circle: Medium | :yellow_circle: Medium | :red_circle: Low | :green_circle: No Motors | Pushing objects into goals |
| Claw | :red_circle: Slow | :red_circle: Low (Usually 1) | :red_circle: Low | :yellow_circle: Medium | Large cubes, heavy or unique game objects |