Ann Arbor, MI 48103, USA

2016 – Qbot


Qbot was originally named long before it was built. Following the tradition of naming the robot after our top mentors allowed to pick a name before the season started. It also, you know, honors our leaders and teachers, as a good side effect. Qbot in particular was named after Quentin Weir.



FIRST STRONGHOLDSM is played by two alliances of three teams each. Alliances compete against each other to breach their opponents’ defenses, known as outer works, and capture their tower. They score points by crossing elements of their opponents’ outer works, scoring boulders in their opponents’ tower goals, and surrounding and scaling their opponents’ tower itself. Click here for the game release video.



At first (no pun intended) we thought a robot capable of shooting the defences was more important that one that could cross the low bar, the permanent element of the outer works. As it turns out it was possible to build one to do both, which we succeeded in doing.

Drive Train

  • Driven by 4 CIM motors
  • High and low gear
  • 8 wheel drive with dropped center
  • Can cross all defenses
  • Pit self-test command checks for system faults with minimal human interaction


  • Powered by 2 mini CIMs
  • 2 stages, each with two Colson wheels
  • High accuracy
  • Closed loop PID control using 2 CTRE magnetic encoders
  • Custom OpenCV image processing to detect high goal reflective tape
  • Multiple autonomous modes enables bypass of multiple
  • Can hit high goal from 15 feet


  • 2 roller bars, with BaneBot wheels, powered by mini CIMs
  • Arms rotate by 2 AndyMark 775 motors with PG71 gearboxes, geared down to 106:1
  • Pulls boulder over bumper
  • Board is closed loop PID control on shooter, intake & category A manipulators
  • Custom HTML5 operator interface
2016 frc ann arbor