Team 2590, Nemesis is proud to present our 2025 Robot “Leonidas”!

Leonidas uses a swerve drivetrain that allows it to move efficiently. The swerve modules are SDS MK4i using L2 gearing that increases their acceleration and maneuverability. This drivetrain makes Leonidas very agile and capable of scoring. 

Leonidas’ floor intake auto-centers the coral and passes it to the claw. The intake is retracted behind the bumpers to pass coral to the claw or articulated to also score L1.
 
Leonidas’ elevator allows it to complete various aspects of the game such as placing coral at all levels of the reef and supporting the climb mechanism. It has two stages that reach a height of 87.5 inches.

Leonidas’ shoulder joint positions the Claw to score efficiently. It is powered by one Kraken x60. The Claw is placed on the elevator and pivots around an X60 Kraken motor for quicker scoring. The Claw uses polyurethane flex wheels to receive the coral from the intake handoff, pickup algae, and score on all levels.

Leonidas’ climb mechanism consists of a backpack grabber and stinger powered by torsion springs that latch onto the cage and prevent it from sliding. A winch pulls on the elevator to pivot the robot off of the ground to deep climb. 

In autonomous, Leonidas has a three-coral autonomous routine. It begins with a pre-loaded coral and Leonidas picks the other two pieces from the ground and scores on L4. Our ability to score this many pieces in the autonomous period gives us a bamboozling advantage in the game. Leonidas sees the field april tags using Photon Vision, OV9281 cameras, and Orange Pi 5s to know its position on the field and score automatically.

Leonidas was a finalist at Hatboro-Horsham District and a winner at Robbinsville District. 

The Challenge