The sample collection system was required to expose samples from under rocks, collect samples,
and store samples a 10mm above the terrain while the robot returned to the lander. The design was
based on construction machinery consisting of a single 3D printed scoop with prongs extending in
front to flip rocks. This scoop was powered by a small 180 degree servo motor and the integrated
chassis storage was outfitted with a micro-switch to confirm successful collection with a simple true
or false output. The software was set up as several independent functions which moved the scoop to
a desired angle depending on the preselected PWM value. These functions could be called
independently by the navigation system to operate the scoop.