Totes can be picked up in only two ways: from the field or from the human player. The human player will place totes in a closed chute before raising a door which will allow the tote to fall out onto the field.
In order to quickly get totes from the chute and ready for pickup, the team created an entire subsystem for this method of intaking totes. The human loader component is perhaps the simplest design on the bot. A ramp with guides is mounted on the back of the robot, which matches the inclined angle of the chute. Sets of wheels on the ramp pull the chute forward and down into the correct position for holding. To make the degree of incline correct, the ramp had to extend beyond the maximum dimensions of the robot. This issue was resolved by rotating the back end of the ramp up to fit within the allowed dimensions. A small gearbox mounted on the frame is powered to raise and lower the ramp.
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