├── run_server.sh ├── _main ├── site_data.json ├── people.md ├── tech.md ├── history.md ├── nontech.md ├── index.md └── all_pages.md ├── _nontech ├── first │ ├── FLL.md │ ├── FTC.md │ ├── FRC.md │ ├── FIRST_Robotics_Competition.md │ ├── FIRST_Tech_Challenge.md │ ├── FIRST_Lego_League.md │ ├── FRC_regional.md │ ├── FIRST.md │ └── FRC_championship_event.md ├── culture │ ├── build_season.md │ ├── spirit.md │ ├── mascots.md │ ├── FIRST_culture.md │ ├── kickoff.md │ ├── chiefdelphi.md │ ├── FIRST_philosophy.md │ └── gracious_professionalism.md ├── game │ ├── Recycle_Rush.md │ ├── Aerial_Assist.md │ ├── Ultimate_Ascent.md │ ├── FIRST_Steamworks.md │ ├── Ladder_Logic.md │ ├── Toroid_Terror.md │ ├── Hexagon_Havoc.md │ ├── Rebound_Rumble.md │ ├── Ramp_n_Roll.md │ ├── Maize_Craze.md │ ├── Tower_Power.md │ ├── FRC_Games.md │ ├── Rug_Rage.md │ ├── autonomous_mode.md │ ├── FRC_Field.md │ └── FIRST_Stronghold.md ├── team │ ├── sponsorship.md │ ├── rookie_teams.md │ ├── team_website.md │ ├── drive_team.md │ ├── human_players.md │ ├── team_management.md │ ├── build_season.md │ ├── veteran_teams.md │ └── pit_crew.md └── companies │ ├── andymark.md │ └── innovation_first.md ├── _tech ├── electrical │ ├── sensors │ │ ├── gyro.md │ │ ├── gyroscope.md │ │ ├── limit_switch.md │ │ ├── navx.md │ │ ├── potentiometer.md │ │ ├── sensor.md │ │ ├── accelerometer.md │ │ └── encoder.md │ ├── speed_controllers │ │ ├── talon.md │ │ ├── sd540.md │ │ ├── dmc60.md │ │ ├── victor.md │ │ ├── tekin_rebel.md │ │ ├── spark.md │ │ ├── sd540c.md │ │ ├── talon_srx.md │ │ ├── victor_sp.md │ │ ├── victor_888.md │ │ ├── venom.md │ │ ├── speed_controller.md │ │ ├── jaguar.md │ │ ├── victor_883.md │ │ └── victor_884.md │ ├── aux_control_system │ │ ├── psd.md │ │ ├── rsl.md │ │ ├── pcm.md │ │ ├── pdb.md │ │ ├── pdp.md │ │ ├── vrm.md │ │ ├── power_distribution_board.md │ │ ├── om5p_ac.md │ │ ├── power_distribution_panel.md │ │ ├── om5p_an.md │ │ ├── pneumatic_control_module.md │ │ ├── digital_sidecar.md │ │ ├── voltage_regulator_module.md │ │ └── robot_signal_light.md │ ├── can.md │ ├── analog.md │ ├── circuit_breaker.md │ ├── pwm.md │ ├── digital.md │ ├── electrical.md │ ├── pwm_signal.md │ ├── servo.md │ ├── pwm_cable.md │ ├── historical │ │ ├── cmucam2.md │ │ └── tsop34840.md │ ├── spike_relay.md │ └── connectors.md ├── control_system │ ├── field-management-system.md │ ├── FMS.md │ ├── robot_controllers │ │ ├── robot_controller_2009.md │ │ ├── robot_controller_2010.md │ │ ├── robot_controller_2015.md │ │ ├── robot_controller_1993.md │ │ ├── robot_controller_1996.md │ │ ├── robot_controller_2006.md │ │ ├── crio_modules │ │ │ ├── ni_9201.md │ │ │ ├── ni_9472.md │ │ │ └── ni_9403.md │ │ ├── robot_controller_2003.md │ │ ├── robot_controller_2004.md │ │ ├── crio_ii.md │ │ ├── robovation.md │ │ ├── robot_controller.md │ │ ├── robot_controller_2000.md │ │ └── crio.md │ ├── operator_interface │ │ ├── operator_interface_2003.md │ │ ├── operator_interface_2004.md │ │ ├── operator_interface_2009.md │ │ ├── operator_interface_2010.md │ │ └── operator_interface.md │ ├── control_system.md │ └── driver_station.md ├── mechanical │ ├── pneumatics │ │ ├── cylinder.md │ │ ├── pressure_regulator.md │ │ ├── rotary_actuator.md │ │ ├── storage_tank.md │ │ ├── compressor.md │ │ ├── pressure_switch.md │ │ ├── pneumatic_cylinder.md │ │ └── solenoid.md │ ├── motors │ │ ├── banebots_rs_775_12_motor.md │ │ ├── banebots_rs_775_18_motor.md │ │ ├── banebots_rs_390_motor.md │ │ ├── banebots_rs_545_motor.md │ │ ├── banebots_rs_395_motor.md │ │ ├── mabuchi_rs_545sh_2485_motor.md │ │ ├── minicim_motor.md │ │ ├── van_door_motor.md │ │ ├── banebots_rs_550_motor.md │ │ ├── denso_window_motor.md │ │ ├── banebots_rs_540_motor.md │ │ ├── window_motor.md │ │ ├── globe_motor.md │ │ ├── drill_motor.md │ │ ├── fisher_price_motor.md │ │ ├── motors.md │ │ └── cim_motor.md │ ├── planetary_gearbox.md │ ├── tools │ │ ├── lathe.md │ │ ├── eye_protection.md │ │ ├── grinder.md │ │ └── drill.md │ ├── mecanum.md │ └── wheel.md ├── obsolete_parts.md ├── programming │ ├── vcs │ │ ├── svn.md │ │ ├── mercurial.md │ │ ├── cvs.md │ │ ├── version_control.md │ │ └── git.md │ ├── concepts │ │ ├── open_loop.md │ │ ├── closed_loop.md │ │ └── dead_reckoning.md │ ├── software │ │ ├── ntcore.md │ │ ├── ccre.md │ │ ├── robotdotnet.md │ │ ├── strongback.md │ │ ├── grip_software.md │ │ ├── mjpg_streamer.md │ │ ├── software.md │ │ ├── smartdashboard.md │ │ ├── robotpy.md │ │ ├── opencv.md │ │ ├── wpilib.md │ │ ├── qdriverstation.md │ │ ├── networktables.md │ │ └── openrio.md │ └── programming.md └── design │ ├── intake │ ├── intake.md │ └── conveyor.md │ ├── manipulator │ └── manipulator.md │ ├── drivetrain │ ├── skid_steer.md │ └── west_coast_drive.md │ ├── shooter │ ├── shooter.md │ └── flywheel.md │ └── design.md ├── .gitmodules ├── contributing.md ├── _people ├── Dean_Kamen.md ├── Woodie_Flowers.md └── Kevin_Watson.md ├── Gemfile ├── .travis.yml ├── .gitignore ├── _config.yml └── README.md /run_server.sh: -------------------------------------------------------------------------------- 1 | _common/_scripts/run_server.sh -------------------------------------------------------------------------------- /_main/site_data.json: -------------------------------------------------------------------------------- 1 | --- 2 | layout: blank 3 | --- 4 | {% include site_data.json %} -------------------------------------------------------------------------------- /_nontech/first/FLL.md: -------------------------------------------------------------------------------- 1 | --- 2 | layout: redirect 3 | redirect_to: first-lego-league 4 | --- -------------------------------------------------------------------------------- /_nontech/first/FTC.md: -------------------------------------------------------------------------------- 1 | --- 2 | layout: redirect 3 | redirect_to: first-tech-challenge 4 | --- -------------------------------------------------------------------------------- /_tech/electrical/sensors/gyro.md: -------------------------------------------------------------------------------- 1 | --- 2 | layout: redirect 3 | redirect_to: gyroscope 4 | --- -------------------------------------------------------------------------------- /_tech/control_system/field-management-system.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Field Management System 3 | --- 4 | -------------------------------------------------------------------------------- /_tech/control_system/FMS.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: FMS 3 | redirect_to: field-management-system 4 | --- 5 | -------------------------------------------------------------------------------- /_nontech/first/FRC.md: -------------------------------------------------------------------------------- 1 | --- 2 | layout: redirect 3 | redirect_to: first-robotics-competition 4 | --- 5 | 6 | -------------------------------------------------------------------------------- /_tech/electrical/speed_controllers/talon.md: -------------------------------------------------------------------------------- 1 | --- 2 | layout: redirect 3 | redirect_to: talon-sr 4 | --- 5 | -------------------------------------------------------------------------------- /_tech/mechanical/pneumatics/cylinder.md: -------------------------------------------------------------------------------- 1 | --- 2 | layout: redirect 3 | redirect_to: pneumatic-cylinder 4 | --- -------------------------------------------------------------------------------- /.gitmodules: -------------------------------------------------------------------------------- 1 | [submodule "_common"] 2 | path = _common 3 | url = https://github.com/firstwiki/_common.git 4 | -------------------------------------------------------------------------------- /_nontech/culture/build_season.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Build Season 3 | --- 4 | 5 | {% include stub %} 6 | 7 | In FIRST -------------------------------------------------------------------------------- /_nontech/game/Recycle_Rush.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Recycle Rush™ 3 | tags: frc_games 4 | --- 5 | {% include TODO %} 6 | -------------------------------------------------------------------------------- /_tech/electrical/speed_controllers/sd540.md: -------------------------------------------------------------------------------- 1 | --- 2 | layout: redirect 3 | 4 | redirect_to: sd540c 5 | --- 6 | -------------------------------------------------------------------------------- /contributing.md: -------------------------------------------------------------------------------- 1 | See the [FIRSTwiki contribution guidelines](http://firstwiki.github.io/docs/contributing). 2 | -------------------------------------------------------------------------------- /_nontech/game/Aerial_Assist.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Aerial Assist™ 3 | tags: frc_games 4 | --- 5 | {% include TODO %} 6 | -------------------------------------------------------------------------------- /_tech/electrical/aux_control_system/psd.md: -------------------------------------------------------------------------------- 1 | --- 2 | layout: redirect 3 | redirect_to: robot-signal-light 4 | --- 5 | -------------------------------------------------------------------------------- /_tech/electrical/aux_control_system/rsl.md: -------------------------------------------------------------------------------- 1 | --- 2 | layout: redirect 3 | redirect_to: robot-signal-light 4 | --- 5 | -------------------------------------------------------------------------------- /_nontech/game/Ultimate_Ascent.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Ultimate Ascent™ 3 | tags: frc_games 4 | --- 5 | {% include TODO %} 6 | -------------------------------------------------------------------------------- /_tech/control_system/robot_controllers/robot_controller_2009.md: -------------------------------------------------------------------------------- 1 | --- 2 | layout: redirect 3 | redirect_to: crio 4 | --- 5 | -------------------------------------------------------------------------------- /_tech/electrical/aux_control_system/pcm.md: -------------------------------------------------------------------------------- 1 | --- 2 | layout: redirect 3 | redirect_to: pneumatic-control-module 4 | --- 5 | -------------------------------------------------------------------------------- /_tech/electrical/aux_control_system/pdb.md: -------------------------------------------------------------------------------- 1 | --- 2 | layout: redirect 3 | redirect_to: power-distribution-board 4 | --- 5 | -------------------------------------------------------------------------------- /_tech/electrical/aux_control_system/pdp.md: -------------------------------------------------------------------------------- 1 | --- 2 | layout: redirect 3 | redirect_to: power-distribution-panel 4 | --- 5 | -------------------------------------------------------------------------------- /_tech/electrical/aux_control_system/vrm.md: -------------------------------------------------------------------------------- 1 | --- 2 | layout: redirect 3 | redirect_to: votage-regulator-module 4 | --- 5 | -------------------------------------------------------------------------------- /_tech/control_system/robot_controllers/robot_controller_2010.md: -------------------------------------------------------------------------------- 1 | --- 2 | layout: redirect 3 | redirect_to: crio-ii 4 | --- 5 | -------------------------------------------------------------------------------- /_tech/control_system/robot_controllers/robot_controller_2015.md: -------------------------------------------------------------------------------- 1 | --- 2 | layout: redirect 3 | redirect_to: roborio 4 | --- 5 | -------------------------------------------------------------------------------- /_tech/obsolete_parts.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Obsolete Parts 3 | --- 4 | 5 | {% include by_tag collection=site.tech tag="obsolete-part" %} 6 | -------------------------------------------------------------------------------- /_tech/control_system/operator_interface/operator_interface_2003.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Operator Interface (2003) 3 | --- 4 | 5 | {% include stub %} -------------------------------------------------------------------------------- /_tech/control_system/operator_interface/operator_interface_2004.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Operator Interface (2004) 3 | --- 4 | 5 | {% include stub %} 6 | 7 | -------------------------------------------------------------------------------- /_tech/control_system/operator_interface/operator_interface_2009.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Operator Interface (2009) 3 | --- 4 | 5 | {% include stub %} 6 | 7 | -------------------------------------------------------------------------------- /_tech/control_system/operator_interface/operator_interface_2010.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Operator Interface (2010) 3 | --- 4 | 5 | {% include stub %} 6 | 7 | -------------------------------------------------------------------------------- /_tech/electrical/can.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: CAN 3 | tags: communication 4 | --- 5 | 6 | {% include stub %} 7 | {% include wikilink topic="CAN bus" %} 8 | -------------------------------------------------------------------------------- /_tech/mechanical/motors/banebots_rs_775_12_motor.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Banebots Motor (RS-775-12) 3 | tags: [obsoletemotor, obsolete-part] 4 | --- 5 | 6 | -------------------------------------------------------------------------------- /_tech/mechanical/motors/banebots_rs_775_18_motor.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Banebots Motor (RS-775-18) 3 | tags: motor 4 | --- 5 | 6 | {% include stub %} 7 | -------------------------------------------------------------------------------- /_tech/electrical/analog.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Analog 3 | tags: communication 4 | --- 5 | 6 | {% include stub %} 7 | {% include wikilink topic="Analog signal" %} 8 | -------------------------------------------------------------------------------- /_tech/mechanical/planetary_gearbox.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Planetary Gearbox 3 | --- 4 | 5 | {% include stub %} 6 | {% include wikilink topic="Planetary gearbox" %} 7 | -------------------------------------------------------------------------------- /_tech/mechanical/tools/lathe.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Lathe 3 | tags: mechanicaltools 4 | --- 5 | 6 | {% include stub %} 7 | {% include wikilink topic="Lathe" %} 8 | -------------------------------------------------------------------------------- /_tech/programming/vcs/svn.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: SVN 3 | tags: programming vcs 4 | --- 5 | 6 | {% include stub %} 7 | 8 | {% include wikilink topic="Apache Subversion" %} 9 | -------------------------------------------------------------------------------- /_tech/electrical/aux_control_system/power_distribution_board.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Power Distribution Board 3 | tags: [aux-cs, obsolete-part] 4 | --- 5 | 6 | {% include stub %} 7 | -------------------------------------------------------------------------------- /_tech/programming/vcs/mercurial.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Mercurial 3 | tags: programming vcs 4 | --- 5 | 6 | {% include stub %} 7 | 8 | {% include wikilink topic="Mercurial" %} 9 | -------------------------------------------------------------------------------- /_tech/mechanical/tools/eye_protection.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Eye protection 3 | tags: mechanicaltools 4 | --- 5 | 6 | {% include stub %} 7 | {% include wikilink topic="Eye protection" %} -------------------------------------------------------------------------------- /_people/Dean_Kamen.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Dean Kamen 3 | --- 4 | 5 | {% include stub %} 6 | 7 | Dean Kamen is the founder of [FIRST](first). 8 | 9 | {% include wikilink topic="Dean Kamen" %} -------------------------------------------------------------------------------- /_main/people.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: People of FIRST 3 | --- 4 | 5 | {% include stub %} 6 | 7 | {% assign collection = site['people'] %} 8 | {% include collection_idx.html collection=collection %} 9 | -------------------------------------------------------------------------------- /_tech/programming/vcs/cvs.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: CVS 3 | tags: programming vcs 4 | --- 5 | 6 | {% include stub %} 7 | {% include wikilink topic="Concurrent Versions System" %} 8 | 9 | Don't use this. -------------------------------------------------------------------------------- /_people/Woodie_Flowers.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Woodie Flowers 3 | --- 4 | 5 | {% include stub %} 6 | 7 | Woodie Flowers helped to start [FIRST](first). 8 | 9 | {% include wikilink topic="Woodie Flowers" %} -------------------------------------------------------------------------------- /_tech/control_system/robot_controllers/robot_controller_1993.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Robot Controller (1993) 3 | tags: [robot-controllers, obsolete-part] 4 | --- 5 | 6 | {% include stub %} 7 | {% include historical %} 8 | -------------------------------------------------------------------------------- /_tech/control_system/robot_controllers/robot_controller_1996.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Robot Controller (1996) 3 | tags: [robot-controllers, obsolete-part] 4 | --- 5 | 6 | {% include stub %} 7 | {% include historical %} 8 | -------------------------------------------------------------------------------- /_tech/electrical/speed_controllers/dmc60.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: DMC60 3 | 4 | tags: speed-controller 5 | --- 6 | 7 | {% include stub %} 8 | 9 | The DMC60 is a new motor controller making its debut in 2017. 10 | -------------------------------------------------------------------------------- /_main/tech.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Technical subjects 3 | --- 4 | {% include stub %} 5 | 6 | All Pages 7 | --------- 8 | {% assign collection = site['tech'] %} 9 | {% include collection_idx.html collection=collection %} 10 | -------------------------------------------------------------------------------- /_main/history.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: FIRST History 3 | --- 4 | 5 | {% include stub %} 6 | 7 | All Pages 8 | --------- 9 | {% assign collection = site['history'] %} 10 | {% include collection_idx.html collection=collection %} 11 | -------------------------------------------------------------------------------- /_main/nontech.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Non-Technical subjects 3 | --- 4 | {% include stub %} 5 | 6 | All Pages 7 | --------- 8 | {% assign collection = site['nontech'] %} 9 | {% include collection_idx.html collection=collection %} 10 | -------------------------------------------------------------------------------- /_tech/design/intake/intake.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Intakes 3 | --- 4 | {% include TODO %} 5 | 6 | Intakes are commonly used to place game objects into your robot for shooting in a [shooter](shooter). 7 | 8 | {% include by_tag collection=site.tech tag="intake" %} 9 | -------------------------------------------------------------------------------- /_tech/design/manipulator/manipulator.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Manipulators 3 | --- 4 | {% include TODO %} 5 | 6 | Manipulators usually have some sort of game piece manipulator at the end of them. 7 | 8 | {% include by_tag collection=site.tech tag="manipulator" %} 9 | -------------------------------------------------------------------------------- /_nontech/team/sponsorship.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Sponsorship 3 | --- 4 | 5 | {% include stub %} 6 | 7 | Sponsorship is an important part of FIRST. Most teams will need some form of sponsorship instead of or, more commonly, in addition to [fundraising](fundraising). 8 | -------------------------------------------------------------------------------- /_main/index.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: /wiki/ 3 | permalink: / 4 | --- 5 | 6 | {% include stub %} 7 | 8 | * [History](history) 9 | * [People](people) 10 | 11 | * [Non technical subjects](nontech) 12 | * [Technical subjects](tech) 13 | 14 | 15 | Additional links: 16 | 17 | * [All pages](/wiki/all-pages) -------------------------------------------------------------------------------- /Gemfile: -------------------------------------------------------------------------------- 1 | source 'https://rubygems.org' 2 | 3 | # don't add github-pages to the jekyll_plugins group! 4 | gem 'github-pages', '134' 5 | 6 | gem 'jekyll-paginate' 7 | gem 'jekyll-admin', group: :jekyll_plugins 8 | 9 | # TODO 10 | #gem 'html-proofer' 11 | 12 | # Needed for validation plugin 13 | gem 'json-schema' 14 | -------------------------------------------------------------------------------- /_tech/electrical/circuit_breaker.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Circuit Breaker 3 | tags: aux-cs 4 | --- 5 | 6 | {% include stub %} 7 | {% include wikilink topic="Circuit breaker" %} 8 | 9 | A **circuit breaker** is used to literally break a circuit and prevent the flow of electricity. This is often used as a safety device. 10 | -------------------------------------------------------------------------------- /_nontech/first/FIRST_Robotics_Competition.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: FIRST Robotics Competition 3 | --- 4 | 5 | {% include stub %} 6 | 7 | The FIRST Robotics Competition (or FRC) is a robotics competition aimed at 8 | high school ages persons. 9 | 10 | FRC was founded in 1992, four years after the creation of 11 | [FIRST](first). -------------------------------------------------------------------------------- /_people/Kevin_Watson.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Kevin Watson 3 | --- 4 | 5 | {% include stub %} 6 | 7 | Kevin Watson is a programmer who works for NASA Jet Propulsion Laboratories and is the one who developed the Default Code for FIRST Robotics for a number of years. His website is , a code repository for VEX and FRC. -------------------------------------------------------------------------------- /_tech/mechanical/motors/banebots_rs_390_motor.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Banebots motor (M3-RS390-12) 3 | 4 | tags: [obsoletemotor, obsolete-part] 5 | --- 6 | 7 | {% include historical %} 8 | {% include stub %} 9 | 10 | The RS-390 motor is not legal for use anymore. It was legal in 2013 and 2014, but was never provided in the KOP. 11 | -------------------------------------------------------------------------------- /_tech/control_system/control_system.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Control System 3 | --- 4 | 5 | {% include stub %} 6 | 7 | {% include by_tag collection=site.tech tag="control-system" %} 8 | 9 | * For questions or research, [ChiefDelphi](chiefdelphi) has a [Control System forum](http://www.chiefdelphi.com/forums/forumdisplay.php?f=177). 10 | -------------------------------------------------------------------------------- /_tech/electrical/aux_control_system/om5p_ac.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: OM5P-AC 3 | 4 | tags: aux-cs 5 | --- 6 | 7 | The OM5P-AC radio was introduced in 2017 because the OM5P-AN ran into some difficulties with FCC regulation. It is manufactured by Open 8 | Mesh. 9 | 10 | ## Kit of Parts 11 | 12 | ### 2017 13 | 14 | The OM5P-AC makes its debut in FRC. 15 | -------------------------------------------------------------------------------- /_tech/programming/concepts/open_loop.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Open Loop 3 | tags: programming 4 | --- 5 | 6 | {% include stub %} 7 | 8 | An open loop control system signifies a program that calculates its output (to [motors](motors), for example) relying solely on user input (from the [Operator Interface's](operator-interface) [joysticks](joystick), for example). -------------------------------------------------------------------------------- /_nontech/team/rookie_teams.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Rookie Teams 3 | --- 4 | 5 | {% include stub %} 6 | 7 | A rookie team is a team which is competing in its very first FIRST 8 | competition. Teams that existed at one point, then left FIRST for one or more 9 | years before competing again are not considered rookies. 10 | 11 | _See also_: [Veteran Teams](veteran-teams) -------------------------------------------------------------------------------- /_tech/design/intake/conveyor.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Conveyor 3 | tags: intake 4 | --- 5 | 6 | While not usually a part of an intake outside the robot frame, conveyors are usually used to transport game pieces from certain areas inside the robot 7 | 8 | 9 | ## Refrences 10 | 11 | [Cheesy Poofs Conveyor Presentation](https://www.team254.com/documents/conveyors/) 12 | -------------------------------------------------------------------------------- /_nontech/team/team_website.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Team Website 3 | --- 4 | 5 | {% include stub %} 6 | 7 | Most FIRST teams maintain websites for various reasons: outreach, fundraising, 8 | team communications. There are various practices for maintaining team websites. 9 | Some are maintained by adult or professional webmasters, and some are 10 | student-designed and maintained. 11 | -------------------------------------------------------------------------------- /_tech/control_system/driver_station.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Driver Station 3 | --- 4 | 5 | {% include stub %} 6 | 7 | Introduced in 2010, the Driver Station can mean one of two things: 8 | 9 | * Software developed by [National Instruments](national-instruments) to control 10 | the [robot controller](robot-controller) 11 | * The laptop that the driver station software runs on 12 | -------------------------------------------------------------------------------- /_tech/design/drivetrain/skid_steer.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Skid Steer 3 | --- 4 | 5 | {% include stub %} 6 | 7 | **Skid steer**, or **Tank drive**, is the most common form of [drive train](drive-train) on robots. It involves two sets of wheels (or treads), one on the left and one on the right, which are individually powered. This allows turning by driving each side at unequal velocities. 8 | -------------------------------------------------------------------------------- /_tech/programming/software/ntcore.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: ntcore 3 | tags: programming frc-official-software software 4 | 5 | layout: software_project 6 | project: 7 | name: ntcore 8 | sourcecode: https://github.com/wpilibsuite/ntcore 9 | created: 2015 10 | creator: Peter Johnson 11 | 12 | --- 13 | 14 | {% include stub %} 15 | 16 | ntcore is the official implementation of NetworkTables v3. -------------------------------------------------------------------------------- /_tech/electrical/sensors/gyroscope.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Gyroscope 3 | tag: sensors 4 | --- 5 | 6 | {% include stub %} 7 | {% include wikilink topic="Gyroscope" %} 8 | 9 | A **gyroscopic sensor** or **gyro** is a [sensor](sensor) that detects angular acceleration. Gyroscopes are typically used in FIRST to adjust your robots heading towards a target, or to keep it steady towards a particular heading. 10 | -------------------------------------------------------------------------------- /_tech/programming/concepts/closed_loop.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Closed Loop 3 | tags: programming 4 | --- 5 | 6 | A closed loop control system signifies a program that calculates its output (to [motors](motors), for example) based on user input (from the [Operator Interface's](operator-interface) [joysticks](joystick), for example) and feedback from output devices using sensors. 7 | 8 | _See also [PID Controller](pid-controller)_ -------------------------------------------------------------------------------- /_nontech/team/drive_team.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Drive Team 3 | --- 4 | 5 | {% include stub %} 6 | 7 | Recent FRC games allow 4 members of a team on the field to drive the robot 8 | during a match. Three of the members must be "pre-college" students: 9 | 10 | * 2 drivers/operators 11 | * 1 [human player](human-players) 12 | 13 | Additionally, a coach is allowed on the field, which may be a student or an 14 | adult. 15 | -------------------------------------------------------------------------------- /_nontech/team/human_players.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Human Players 3 | --- 4 | 5 | {% include stub %} 6 | 7 | In recent years FRC [Drive Teams](drive-team) have consisted of 4 members, one 8 | of which is called the "human player". These players do various tasks during the 9 | match as the game rules allow. 10 | 11 | Historical roles of human players 12 | --------------------------------- 13 | 14 | {% include TODO %} 15 | 16 | -------------------------------------------------------------------------------- /_tech/control_system/robot_controllers/robot_controller_2006.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Robot Controller (2006) 3 | tags: [robot-controllers, obsolete-part] 4 | --- 5 | {% include stub %} 6 | {% include historical %} 7 | 8 | Identical to the [2005 robot 9 | controller](robot-controller-2005), except that the processors were changed from 10 | [PIC18F8520](PIC18F8520 "PIC18F8520" ) to 11 | [PIC18F8722](PIC18F8722 "PIC18F8722" ). 12 | -------------------------------------------------------------------------------- /_main/all_pages.md: -------------------------------------------------------------------------------- 1 | --- 2 | layout: page 3 | title: All wiki pages 4 | --- 5 | 6 | This is an index of all wiki pages under /wiki/ 7 | 8 | {% assign items = site.collections | sort: 'label' %} 9 | {% for c in items %} 10 | {% if c.label != "posts" and c.label != "common" %} 11 | ### {{ c.label }} 12 | {% assign docs = site[c.label] %} 13 | {% include collection_idx.html collection=docs %} 14 | {% endif %} 15 | {% endfor %} 16 | -------------------------------------------------------------------------------- /_nontech/team/team_management.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Team Management 3 | --- 4 | 5 | {% include stub %} 6 | 7 | If you are a FIRST Adult or College mentor, you may be interested in joining 8 | [FIRST NEMO (non-engineering Mentor Organization)](http://www.firstnemo.org/). 9 | NEMO was formed as a support group to help mentors with the non-technical 10 | aspects of the team. For more information contact KathieK on Chief Delphi. 11 | -------------------------------------------------------------------------------- /_tech/design/shooter/shooter.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Shooters 3 | --- 4 | {% include TODO %} 5 | 6 | Shooters are commonly used to shoot ball-shaped game pieces through the air. Usually given game pieces through an [intake](intake) and sometimes placed on another [manipulator](manipulator). For shooting into a goal on the ground, many teams just reverse their [intake](intake). 7 | 8 | {% include by_tag collection=site.tech tag="shooter" %} 9 | -------------------------------------------------------------------------------- /_tech/electrical/speed_controllers/victor.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Victor 3 | tags: speed-controller 4 | --- 5 | 6 | {% include outdated-warning %} 7 | 8 | In FIRST Robotics, Victor is the name of a series of motor controllers developed 9 | by InnovationFIRST, and later by VEX Robotics. Models include: 10 | 11 | * [Victor 883](victor-883) 12 | * [Victor 884](victor-884) 13 | * [Victor 888](victor-888) 14 | * [Victor SP](victor_sp) 15 | -------------------------------------------------------------------------------- /_tech/programming/software/ccre.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: CCRE (Framework) 3 | tags: programming community-software software framework 4 | 5 | layout: software_project 6 | project: 7 | name: CCRE 8 | sourcecode: https://github.com/solar-engine/common-chicken-runtime-engine 9 | --- 10 | 11 | {% include stub %} 12 | 13 | The CCRE is Team 1540's powerful open-source robot code framework, primarily for FIRST Robotics Competition robots. 14 | -------------------------------------------------------------------------------- /_tech/programming/vcs/version_control.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Version Control 3 | tags: programming cots-software 4 | --- 5 | 6 | {% include stub %} 7 | {% include wikilink topic="Version control" %} 8 | 9 | Version control is a very important topic for programmers. One day, it might 10 | even be important enough for someone to write an article here about it. 11 | 12 | ## Topics 13 | 14 | {% include by_tag collection=site.tech tag="vcs" %} -------------------------------------------------------------------------------- /_nontech/team/build_season.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Build Season 3 | --- 4 | 5 | {% include stub %} 6 | 7 | In FIRST Robotics, the "build season" is the period of time between 8 | [kickoff](kickoff) and when teams are no longer allowed to work on their robot. 9 | 10 | In the past, teams had to ship their robot at the end of build season to their 11 | Regional. In recent years, teams keep their robot at home and put it in a bag 12 | instead. 13 | -------------------------------------------------------------------------------- /_tech/programming/software/robotdotnet.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: RobotDotNet 3 | tags: programming community-software software 4 | 5 | layout: software_project 6 | project: 7 | name: RobotDotNet 8 | language: .NET 9 | sourcecode: https://github.com/robotdotnet 10 | website: http://robotdotnet.github.io/ 11 | created: 2015 12 | --- 13 | 14 | {% include stub %} 15 | 16 | RobotDotNet allows you to write robot programs using the .NET Framework. 17 | -------------------------------------------------------------------------------- /_tech/programming/software/strongback.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Strongback (Framework) 3 | tags: programming community-software framework 4 | 5 | layout: software_project 6 | project: 7 | name: Strongback 8 | sourcecode: https://github.com/strongback 9 | website: http://strongback.org 10 | language: Java 11 | --- 12 | 13 | {% include stub %} 14 | 15 | A [Java](java) library that aims to make it easier for you to write and test code for your FRC robot. 16 | -------------------------------------------------------------------------------- /_nontech/team/veteran_teams.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Veteran Teams 3 | --- 4 | 5 | {% include stub %} 6 | 7 | Veteran teams are teams that have previously participated in a FRC game (i.e. 8 | not [Rookie Teams](rookie-teams)). There's some question as to what constitutes 9 | a veteran team versus a rookie team; some teams (i.e. [1727](/frc1000/1727)) 10 | started with rookie status, even though they had a veteran coach. 11 | 12 | _See also_: [Rookie Teams](rookie-teams) -------------------------------------------------------------------------------- /_nontech/team/pit_crew.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Pit Crew 3 | --- 4 | 5 | {% include stub %} 6 | 7 | Often teams will assign a group of students or mentors to be the Pit Crew, and 8 | they will be responsible to fix the robot if it gets damaged during the 9 | competition. 10 | 11 | At the FRC Championship event, only members of the [Drive Team](drive-team) and 12 | valid members of the pit crew are allowed in the field-specific pits during the 13 | elimination rounds. 14 | -------------------------------------------------------------------------------- /_tech/mechanical/motors/banebots_rs_545_motor.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Banebots motor (M5-RS545-12) 3 | 4 | tags: [obsoletemotor, obsolete-part] 5 | --- 6 | 7 | {% include historical %} 8 | {% include stub %} 9 | 10 | The RS-545 motor was legal for use in 2009, 2013 and 2014. 11 | 12 | ## Kit of Parts 13 | 14 | ### 2013-2014 15 | 16 | The RS-545 is legal for use, but is not included in the KOP. 17 | 18 | ### 2009 19 | 20 | Two RS-545 motors are provided in the KOP. 21 | -------------------------------------------------------------------------------- /_nontech/companies/andymark.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: AndyMark 3 | --- 4 | 5 | {% include stub %} 6 | 7 | [Andy Baker](andy-baker) and Mark Koors started **AndyMark**, Inc., a for-profit 8 | company that sells parts and assemblies geared specifically towards FIRST teams. 9 | Products have included [mecanum wheels](mecanum-wheel), [omni 10 | wheels](omni-wheel) dongles, battery plugs, and gearboxes. 11 | 12 | 13 | ## External links 14 | 15 | * [AndyMark website](https://www.andymark.com/) 16 | -------------------------------------------------------------------------------- /_tech/programming/software/grip_software.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: GRIP (software) 3 | tags: programming frc-official-software 4 | 5 | layout: software_project 6 | project: 7 | name: GRIP 8 | sourcecode: https://github.com/WPIRoboticsProjects/GRIP 9 | created: 2015 10 | --- 11 | 12 | {% include stub %} 13 | 14 | GRIP (the Graphically Represented Image Processing engine) is an application for 15 | rapidly prototyping and deploying computer vision algorithms, primarily for 16 | robotics applications. -------------------------------------------------------------------------------- /_tech/control_system/robot_controllers/crio_modules/ni_9201.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: NI Analog Input Module (NI 9201) 3 | tags: [obsolete-part, control-system] 4 | --- 5 | 6 | {% include historical %} 7 | {% include stub %} 8 | 9 | The Analog Input module allowed eight inputs of analog data with 12-bit resolution. 10 | 11 | [Module and Breakout](https://web.archive.org/web/20170720202106/http://first.wpi.edu/FRC/analog.html "https://web.archive.org/web/20170720202106/http://first.wpi.edu/FRC/analog.html") 12 | -------------------------------------------------------------------------------- /_tech/programming/software/mjpg_streamer.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: mjpg-streamer 3 | tags: programming cots-software software 4 | project: 5 | name: mjpg-streamer 6 | sourcecode: https://github.com/robotpy/mjpg-streamer 7 | language: C, Python 8 | --- 9 | 10 | mjpg-streamer is a command line application that copies JPEG frames from one or more input plugins to multiple output plugins. It can be used to stream JPEG files over an IP-based network from a webcam to various types of viewers such as a web browser. 11 | 12 | -------------------------------------------------------------------------------- /.travis.yml: -------------------------------------------------------------------------------- 1 | language: ruby 2 | cache: bundler 3 | rvm: 4 | - 2.3.3 5 | 6 | # Assume bundler is being used, therefore 7 | # the `install` step will run `bundle install` by default. 8 | script: ./_common/_scripts/cibuild 9 | 10 | env: 11 | global: 12 | - NOKOGIRI_USE_SYSTEM_LIBRARIES=true # speeds up installation of html-proofer 13 | 14 | # travis-ci ignores gh-pages by default 15 | branches: 16 | only: 17 | - gh-pages 18 | - /.*/ 19 | 20 | sudo: false # route your build to the container-based infrastructure for a faster build 21 | -------------------------------------------------------------------------------- /_nontech/culture/spirit.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Spirit 3 | --- 4 | 5 | {% include stub %} 6 | 7 | **Spirit** is organized enthusiasm. 8 | 9 | Many teams have dedicated Spirit sub-teams. These teams provide a defined and 10 | enthusiastic team image at competitions. Often this involves handing out 11 | promotional items (such as buttons) to other teams, which help make a team 12 | memorable when it comes time to pick alliance partners. 13 | [Mascots](mascots), team costumes (including face paint 14 | and dye), and banners are also involved with this area. -------------------------------------------------------------------------------- /_tech/electrical/pwm.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: PWM (Pulse Width Modulation) 3 | tags: communication 4 | --- 5 | 6 | {% include wikilink topic="Pulse-width_modulation" %} 7 | 8 | **PWM** stands for _**Pulse Width Modulation**_. A PWM signal is a square wave that transmits data by varying the width of the signal, or time which it is high, creating an [analog](analog) signal with limits, so to speak (any value between 0 and 1 inclusively). By varying the width of the signal, the [speed controller](speed-controller) can make changes to the speed the [motors](motor) are run at. 9 | -------------------------------------------------------------------------------- /_tech/electrical/sensors/limit_switch.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Limit Switch 3 | tag: sensors 4 | --- 5 | 6 | {% include stub %} 7 | 8 | 9 | A **limit switch** is a [digital](digital) [sensor](sensor). It has a value of 10 | _open_ or _closed_, i.e., whether or not the switch lever has been hit to 11 | depress the switch on the sensor. It can be wired as _normally open (NO)_ or 12 | _normally closed (NC)_ to change how the values are interpreted. 13 | 14 | On the [Robot Controller](robot-controller) a 15 | closed switch gives a 0 while an open switch gives a 1. 16 | -------------------------------------------------------------------------------- /_tech/electrical/speed_controllers/tekin_rebel.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Tekin REBEL 3 | tags: obsolete-part 4 | --- 5 | 6 | {% include historical %} 7 | {% include stub %} 8 | 9 | The Tekin REBEL was a motor controller used from 1995-1999 (no data for 1994). 10 | 11 | ## Kit of Parts 12 | 13 | ### 1999 14 | 15 | Two REBELs are provided in the KOP along with two Victor 883 controllers 16 | 17 | ### 1997-1998 18 | 19 | Four REBELs are provided in the KOP. 20 | 21 | ### 1995-1996 22 | 23 | Two REBELs are provided in the KOP. 24 | 25 | ### 1994 26 | 27 | No data. 28 | -------------------------------------------------------------------------------- /_tech/mechanical/motors/banebots_rs_395_motor.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Banebots motor (M3-RS395-12) 3 | 4 | tags: [obsoletemotor, obsolete part] 5 | --- 6 | 7 | {% include historical %} 8 | {% include stub %} 9 | 10 | 11 | The RS-395 motor is not legal for use anymore. They were legal from 2011 to 2014. 12 | 13 | ## Kit of Parts 14 | 15 | ### 2012-2014 16 | 17 | The RS-395 is legal for use but is not provided in the KOP. 18 | 19 | ### 2011 20 | 21 | One Banebots RS-395 motor is provided in the KOP along with three other Banebots motors (RS-540, RS-550 and RS-775). 22 | -------------------------------------------------------------------------------- /_tech/electrical/digital.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Digital 3 | tags: communication 4 | --- 5 | 6 | {% include stub %} 7 | {% include wikilink topic="Digital" %} 8 | 9 | A **digital** signal is a signal that is intended to be used in discrete 10 | increments. It is different from an [analog](analog) 11 | signal which does not have any discrete value assigned to it but has the 12 | possibility of continuous values. In terms of [FIRST](first), and specifically the [Robot Controller](robot-controller), digital refers to a type of input where the interpreted value 13 | is either _true_ or _false_ (1 or 0). 14 | -------------------------------------------------------------------------------- /_tech/programming/software/software.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Software 3 | --- 4 | 5 | {% include stub %} 6 | 7 | {% comment %} 8 | TODO: display a table more specific to this topic by iterating frontmatter --> 9 | {% endcomment %} 10 | 11 | ### FRC supported software 12 | 13 | {% include by_tag collection=site.tech tag="frc-official-software" %} 14 | 15 | ### Community supported software 16 | 17 | {% include by_tag collection=site.tech tag="community-software" %} 18 | 19 | ### Other COTS software useful in FIRST 20 | 21 | {% include by_tag collection=site.tech tag="cots-software" %} 22 | 23 | -------------------------------------------------------------------------------- /_tech/programming/software/smartdashboard.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: SmartDashboard 3 | tags: programming frc-official-software software 4 | 5 | layout: software_project 6 | project: 7 | name: SmartDashboard 8 | sourcecode: https://github.com/wpilibsuite/SmartDashboard 9 | --- 10 | 11 | {% include stub %} 12 | 13 | The SmartDashboard typically runs on the Driver Station computer and will do two functions: 14 | 15 | * View robot data that is displayed as program status as your program is running. 16 | * View sensor data and operate actuators in Test mode for robot subsystems to verify correct operation. 17 | -------------------------------------------------------------------------------- /_tech/control_system/robot_controllers/crio_modules/ni_9472.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: NI Digital Output (Solenoid) Module (NI 9472) 3 | tags: [obsolete-part, control-system] 4 | --- 5 | 6 | {% include historical %} 7 | {% include stub %} 8 | 9 | The NI 9472 Solenoid module allowed connections to a pneumatics relay. Connections are provided through the Solenoid Breakout. This module provided a maximum output of 30V. 10 | 11 | [Module and Breakout](https://web.archive.org/web/20170720201939/http://first.wpi.edu/FRC/solenoid.html "https://web.archive.org/web/20170720201939/http://first.wpi.edu/FRC/solenoid.html") 12 | -------------------------------------------------------------------------------- /_tech/electrical/aux_control_system/power_distribution_panel.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Power Distribution Panel (PDP) 3 | 4 | tags: aux-cs 5 | --- 6 | 7 | {% include stub %} 8 | 9 | The Power Distribution Panel (PDP) was introduced in 2015 to replace the Power Distribution Board. 10 | 11 | ## Kit of Parts 12 | 13 | ### 2017 14 | 15 | One PDP is available to veteran teams via FIRST Choice. 16 | 17 | ### 2016 18 | 19 | One PDP is provided to rookie teams only. One PDP is available to veteran teams via FIRST Choice. 20 | 21 | ### 2015 22 | 23 | The PDP makes its debut in FRC. One is provided to all teams. 24 | -------------------------------------------------------------------------------- /_tech/mechanical/motors/mabuchi_rs_545sh_2485_motor.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Mabuchi Motor (RS-545SH-2485) 3 | 4 | tags: [obsoletemotor, obsolete-part] 5 | --- 6 | 7 | {% include historical %} 8 | {% include stub %} 9 | 10 | [Specifications](https://web.archive.org/web/20050204230126/http://www2.usfirst.org/2005comp/Specs/MMotor.pdf "https://web.archive.org/web/20050204230126/http://www2.usfirst.org/2005comp/Specs/MMotor.pdf") 11 | 12 | ## Kit of Parts 13 | 14 | ### 2006-2007 15 | One RS-545SH is provided in the KOP. 16 | 17 | ### 2005 18 | 19 | The RS-545SH makes its debut in FRC. One is provided in the KOP. 20 | -------------------------------------------------------------------------------- /_tech/electrical/speed_controllers/spark.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: SPARK 3 | 4 | tags: speed-controller 5 | --- 6 | 7 | {% include stub %} 8 | 9 | The SPARK is a motor controller designed and sold by REV Robotics. It has PWM inputs for forward and reverse 10 | limit switches. It communicates to the robot controller via PWM. The SPARK was made legal in 2016 and is legal in 2017. 11 | 12 | ## Kit of Parts 13 | 14 | ### 2017 15 | 16 | Two SPARKs are provided to all teams, with two additional SPARKs provided to rookie teams. 17 | 18 | ### 2016 19 | 20 | The SPARK makes its debut in FRC, but is not provided in the KOP. 21 | -------------------------------------------------------------------------------- /_tech/electrical/sensors/navx.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: NavX MXP Robotics Navigation Sensor 3 | tag: sensors 4 | --- 5 | 6 | {% include stub %} 7 | 8 | navX MXP 2.0 combines a 9-axis sensor (3-axis [accelerometers](accelerometer), [gyroscopes](gyroscope) and magnetometers) with sophisticated data fusion, motion processing and sensor calibration algorithms. 9 | 10 | Key specifications include: 11 | 12 | * High-accuracy pose (yaw/pitch/roll), with minimal yaw drift of ~1 degree per minute 13 | * Tilt-corrected absolute compass heading with magnetic disturbance detection 14 | * 9-axis heading fusing pose and magnetically-valid compass heading data -------------------------------------------------------------------------------- /_tech/electrical/speed_controllers/sd540c.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: SD540C 3 | 4 | tags: speed-controller 5 | --- 6 | 7 | {% include stub %} 8 | 9 | The SD540 and SD540C motor controllers are manufactured by Mindsensors. The difference is that SD540 communicates with the robot 10 | controller via PWM, while the SD540C communicates via CAN. The SD540 was made legal in 2016 and is legal in 2017. 11 | The SD540C was made legal for 2017. 12 | 13 | ## Kit of Parts 14 | 15 | ### 2017 16 | 17 | The SD540C makes its debut in FRC alongside the SD540. 18 | 19 | ### 2016 20 | 21 | The SD540 makes its debut in FRC, but is not included in the KOP. 22 | -------------------------------------------------------------------------------- /_tech/electrical/aux_control_system/om5p_an.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: OM5P-AN Radio 3 | 4 | tags: aux-cs 5 | --- 6 | 7 | The OM5P-AN radio was introduced in the 2016 season to replace the DAP-1522 D-link radio. It is manufactured by Open Mesh. 8 | It currently cannot be sold due to FCC regulation, but will be legal for use in 2017. The radio that can be purchased for 2017 9 | is the OM5P-AC. 10 | 11 | ## Kit of Parts 12 | 13 | ### 2017 14 | 15 | The OM5P-AN is replaced by the OM5P-AC as the purchasable radio for 2017. The OM5P-AN is still legal for use. 16 | 17 | ### 2016 18 | 19 | The OM5P-AN makes its debut in FRC. One is provided to all teams. 20 | -------------------------------------------------------------------------------- /_tech/mechanical/motors/minicim_motor.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: MiniCIM 3 | 4 | tags: motor 5 | --- 6 | 7 | The MiniCIM is a smaller version of the CIM motor, with the same diameter and output shaft, but shorter and with 2/3 power. CIMs and MiniCIMs are interchangable on robot mechanisms, they will work together just fine. 8 | 9 | MiniCIMs are sold by [VEX Robotics](http://www.vexrobotics.com/vexpro/all/217-3371.html "http://www.vexrobotics.com/vexpro/all/217-3371.html") and [West Coast Products](http://www.wcproducts.net/motors "http://www.wcproducts.net/motors"). 10 | 11 | ## Kit of Parts 12 | 13 | ### 2013-2017 14 | 15 | One miniCIM is provided in the KOP. 16 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | # Ignore docs files 2 | _gh_pages 3 | _site 4 | .ruby-version 5 | .jekyll-metadata 6 | Gemfile.lock 7 | 8 | # Numerous always-ignore extensions 9 | *.diff 10 | *.err 11 | *.orig 12 | *.log 13 | *.rej 14 | *.swo 15 | *.swp 16 | *.zip 17 | *.vi 18 | *~ 19 | 20 | # OS or Editor folders 21 | .DS_Store 22 | ._* 23 | Thumbs.db 24 | .cache 25 | .project 26 | .settings 27 | .tmproj 28 | *.esproj 29 | nbproject 30 | *.sublime-project 31 | *.sublime-workspace 32 | .idea 33 | 34 | # Komodo 35 | *.komodoproject 36 | .komodotools 37 | 38 | # grunt-html-validation 39 | validation-status.json 40 | validation-report.json 41 | 42 | # Folders to ignore 43 | node_modules 44 | -------------------------------------------------------------------------------- /_nontech/game/FIRST_Steamworks.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: FIRST Steamworks℠ 3 | tags: frc_games 4 | --- 5 | {% include TODO %} 6 | 7 | *FIRST* Steamworks℠ is the 2017 game. The official game was released on January 7th 2017. *FIRST* Steamworks℠ features 5-member drive teams, rather than the usual 4; 2001 - Diabolical Dynamics was the last FRC game to feature 5-member drive teams. 8 | 9 | ### Trailer 10 | 11 | On September 20th, 2016, [a short one minute trailer](https://www.youtube.com/watch?v=37GBEBLfhWA) was released on the FRC Facebook account revealing the steam punk theme. The trailer featured several potential game hints, including the FIRST branded blimps and submarines. 12 | -------------------------------------------------------------------------------- /_tech/electrical/speed_controllers/talon_srx.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Talon SRX 3 | tags: speed-controller 4 | --- 5 | 6 | {% include stub %} 7 | 8 | The Talon SRX was created to replace the Talon and Talon SR. It is legal for use in 2017 and has been legal since 2015. 9 | 10 | ## Kit of Parts 11 | 12 | ### 2017 13 | 14 | Four Talon SRX controllers are available to veteran teams via FIRST Choice. 15 | 16 | ### 2016 17 | 18 | The Talon SRX is legal but is not provided in the KOP. Two Talon SRX controllers or three Victor SP controllers are available to teams via the Virtual KOP. 19 | 20 | ### 2015 21 | 22 | The Talon SRX makes its debut in FRC, but is not provided in the KOP. 23 | -------------------------------------------------------------------------------- /_tech/mechanical/pneumatics/pressure_regulator.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Pressure Regulator 3 | tags: pneumatics 4 | --- 5 | 6 | {% include stub %} 7 | 8 | **Pressure regulators** are [pneumatics](pneumatics) components used to regulate 9 | the system air pressure to a set pressure. 10 | 11 | ## Connections 12 | 13 | Brass fittings can be connected 1/8" NPT threads on opposite sides. 14 | 15 | ## Adjustment 16 | 17 | The regulated pressure can be adjusted by the knob at the bottom. The knob 18 | should be set to 60psi to follow FIRST safety regulations. To adjust the 19 | regulation connect it to the system and raise or lower the pressure until the 20 | needle points to the desired pressure. 21 | -------------------------------------------------------------------------------- /_tech/mechanical/motors/van_door_motor.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Van Door Motor 3 | tags: obsoletemotor 4 | --- 5 | 6 | {% include outdated-warning %} 7 | 8 | Note that the Van Door motor for 2005 is different from previous years. The Shaft is longer and the threads are positioned differently. The casing has flat sides and the motor head is shaped a little differently (although the mounting hole pattern is the same). 9 | 10 | It should also be noted that this year's van door motors appear to be the same as the motors from a few years back, but this years turn a diferent number of RPM's so it's not a good idea to run this year's and a previous year's van door motors together. They may not get alone well. ;) -------------------------------------------------------------------------------- /_tech/mechanical/pneumatics/rotary_actuator.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Rotary Actuator 3 | tags: pneumatics 4 | --- 5 | 6 | {% include stub %} 7 | 8 | A **rotary actuator** is a [pneumatics](pneumatics) component used to turn air pressure into rotational energy. The ones used by [FIRST](first) are manufactured by [Bimba](http://www.bimba.com "http://www.bimba.com"). 9 | 10 | ## Connections 11 | 12 | ### Air 13 | 14 | Brass fittings can be connected onto both ends to apply pressure to the actuator. 15 | 16 | ### Load 17 | 18 | {%include outdated-warning %} 19 | 20 | The shaft is 0.375" x 1.000" and uses a 0.0625" x 0.032" woodruff key. The actuator can be secured using two 10-32 bolts on the base. 21 | -------------------------------------------------------------------------------- /_tech/electrical/speed_controllers/victor_sp.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Victor SP 3 | tags: speed-controller 4 | --- 5 | 6 | {% include stub %} 7 | 8 | The Victor SP was made legal in 2015. It was designed to replace the Victor 884 and Victor 888 controllers. It is legal in the 2017 season. 9 | 10 | ## Kit of Parts 11 | 12 | ### 2017 13 | 14 | Two Victor SP controllers are available to veteran teams via FIRST Choice. 15 | 16 | ### 2016 17 | 18 | Two Victor SP controllers are provided to rookie teams only. Three Victor SP controllers or two Talon SRX controllers are available to teams via the Virtual KOP. 19 | 20 | ### 2015 21 | 22 | The Victor SP makes its debut in FRC but is not provided in the KOP. 23 | -------------------------------------------------------------------------------- /_nontech/culture/mascots.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Mascots 3 | --- 4 | 5 | {% include stub %} 6 | 7 | Mascots are the the teams physical representation of their teams logo. Commonly 8 | a robot, animal, or a various creature/object. Although they don't fill an 9 | actual role in Robot Construction (although they can), they contribute to [team 10 | spirit](spirit); much like a cheerleader does. 11 | 12 | # Types 13 | 14 | There are many types of team mascots, these include but are not limited to: 15 | 16 | * Actual Robots 17 | * Robots representatives of animals 18 | * Animals 19 | * Dancing Hats 20 | * Robotics Chairs 21 | * People who take various clothing and objects and put them on themselves and dance 22 | -------------------------------------------------------------------------------- /_tech/design/drivetrain/west_coast_drive.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: West Coast Drive 3 | --- 4 | 5 | ### What Is West Coast Drive 6 | West Coast Drive (WCD) is typically characterized by using a certain set of features to make it a true WCD. 7 | 8 | * 6/8/10 wheels 9 | * All wheels are [cantilevered](http://www.dictionary.com/browse/cantilever) 10 | * One wheel on each side is directly driven, while the rest are linked via chain 11 | * Tank drive with a center drop 12 | 13 | ### Assembly 14 | 15 | ### Mounting Wheels 16 | 17 | ### Chain Vs. Belts 18 | 19 | ### Tensioning Chain 20 | 21 | ### Encoder Mounting 22 | 23 | ### Optimal Structure 24 | 25 | ### Advantages and Disadvantages 26 | 27 | 28 | 29 | {% include stub %} 30 | -------------------------------------------------------------------------------- /_tech/programming/software/robotpy.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: RobotPy 3 | tags: programming community-software software 4 | 5 | layout: software_project 6 | project: 7 | name: RobotPy 8 | created: 2010 9 | creator: Peter Johnson 10 | maintainer: Dustin Spicuzza 11 | sourcecode: https://github.com/robotpy 12 | website: https://robotpy.github.io 13 | language: Python 14 | --- 15 | 16 | RobotPy is a community of FIRST mentors and students dedicated to developing python-related projects for the FIRST Robotics Competition. The primary project we develop is a port of Python 3 and WPILib to the RoboRIO & cRio (obsolete) platforms, intended for use in FRC. Teams can use this to write their robot code in Python, a powerful dynamic programming language. 17 | -------------------------------------------------------------------------------- /_tech/electrical/speed_controllers/victor_888.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Victor 888 3 | tags: speed-controller 4 | --- 5 | 6 | {% include stub %} 7 | 8 | The Victor 888 was added as a replacement for the Victor 884. It is manufactured by VEX Robotics, a division of Innovation First Robotics. The Victor 888 has been legal since 2013. 9 | 10 | ## Kit of Parts 11 | 12 | ### 2017 13 | 14 | Four Victor 888 controllers are available to veteran teams via FIRST Choice. 15 | 16 | ### 2015-2016 17 | 18 | Victor 888 controllers are still legal, but none are provided in the KOP. 19 | 20 | ### 2014 21 | 22 | Two controllers are provided in the KOP to all teams. 23 | 24 | ### 2013 25 | 26 | The Victor 888 makes its debut in FRC. Two are provided in the KOP to rookie teams only. 27 | -------------------------------------------------------------------------------- /_tech/electrical/aux_control_system/pneumatic_control_module.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Pneumatic Control Module (PCM) 3 | 4 | tags: aux-cs 5 | --- 6 | 7 | {% include stub %} 8 | 9 | The Pneumatic Control Module (PCM) is used to control pneumatics. It was introduced in 2015 and replaced the 9472 Solenoid Module and 10 | Solenoid Breakout Board. It has outputs for 8 solenoids, a compressor and a pressure switch. It gets signals from the robot controller 11 | via CAN. 12 | 13 | ## Kit of Parts 14 | 15 | ### 2017 16 | 17 | One PCM is available to veteran teams via FIRST Choice. 18 | 19 | ### 2016 20 | 21 | One PCM is provided to rookie teams only. One PCM is available to veteran teams via FIRST Choice. 22 | 23 | ### 2015 24 | 25 | The PCM makes its debut in FRC. One PCM is provided to all teams. 26 | -------------------------------------------------------------------------------- /_nontech/culture/FIRST_culture.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: FIRST culture 3 | --- 4 | 5 | {% include stub %} 6 | 7 | The **FIRST subculture** is based largely on the idea of [gracious 8 | professionalism](gracious-professionalism), extending from the more general [FIRST 9 | philosophy](first-philosophy). FIRST is largely 10 | made up into the culture by the people who occupy it. 11 | 12 | The FIRST community is surprisingly tight knit for a group so widely spread 13 | across the country. Part of what makes this unity are uniquely FIRST inside 14 | jokes and other traditions. It is not uncommon for FIRSTers to meet via 15 | [ChiefDelphi](chiefdelphi) or some other online 16 | communication and then arrange meetings at Regionals or in non-FIRST related 17 | activities. 18 | 19 | _See also:_ [FIRST philosophy](first-philosophy) 20 | -------------------------------------------------------------------------------- /_nontech/game/Ladder_Logic.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Ladder Logic 3 | tags: frc_games 4 | --- 5 | {% include TODO %} 6 | 7 | Ladder Logic was the 1998 FRC game. 8 | 9 | ### Official Game Summary[[1]](https://web.archive.org/web/20150316194933/http://www3.usfirst.org/sites/default/files/uploadedFiles/Who/FIRST_History/FRC_Game_Summaries_Photos.pdf "https://web.archive.org/web/20150316194933/http://www3.usfirst.org/sites/default/files/uploadedFiles/Who/FIRST_History/FRC_Game_Summaries_Photos.pdf") 10 | In two minutes matches, the three robots and human players score points by placing the balls onto the side goals or into the central goal. The balls are color-coded to identify team ownership. A human player, located outside the perimeter of the field, is allowed to hand balls to the robot or throw balls directly at the goals. 11 | -------------------------------------------------------------------------------- /_nontech/game/Toroid_Terror.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Toroid Terror 3 | tags: frc_games 4 | --- 5 | {% include TODO %} 6 | 7 | Toroid Terror was the 1997 FRC game. 8 | 9 | ### Official Game Summary[[1]](https://web.archive.org/web/20150316194933/http://www3.usfirst.org/sites/default/files/uploadedFiles/Who/FIRST_History/FRC_Game_Summaries_Photos.pdf "https://web.archive.org/web/20150316194933/http://www3.usfirst.org/sites/default/files/uploadedFiles/Who/FIRST_History/FRC_Game_Summaries_Photos.pdf") 10 | In two minute matches, the three robots and human players score points by placing the inner tubes onto pegs in the goal, or around the top of the goal. The tubes are color coded to identify team ownership. Human players are not allowed onto the field, but they may hand tubes to the robots or throw tubes directly onto the goal. 11 | -------------------------------------------------------------------------------- /_tech/control_system/robot_controllers/robot_controller_2003.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Robot Controller (2003) 3 | tags: [robot-controllers, obsolete-part] 4 | --- 5 | {% include stub %} 6 | {% include historical %} 7 | 8 | The 2003 [Robot Controller](robot-controller) 9 | is basically the same as the [2000 RC](Robot_Controller_%282000%29 10 | "Robot Controller \(2000\)" ) except that it added support for [Autonomous 11 | mode](autonomous-mode). 12 | 13 | It uses the [BS2sx](BS2sx "BS2sx" ) microcontroller, as does the 14 | [Robovation (2003)](robovation). 15 | [InnovationFirst.com](http://innovationfirst.com "http://innovationfirst.com" 16 | ) has [Documentation for 2001 through 2003 Control 17 | Systems](http://innovationfirst.com/FIRSTRobotics/documentation-legacy.htm 18 | "http://innovationfirst.com/FIRSTRobotics/documentation-legacy.htm" ). 19 | -------------------------------------------------------------------------------- /_tech/design/design.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Design 3 | --- 4 | There are several important portions of a robot that are commonly used each year. This section of the wiki has several common designs with comments on all of them. Some of these types of designs are: 5 | 6 | * [Drive Trains](drive-train) 7 | * [Intakes](intake) 8 | * [Manipulators](manipulator) 9 | * [Shooters](shooter) 10 | 11 | There are many designs yet to be documents on this wiki. You can find some of these on some powerhouse team's resource pages such as these: 12 | 13 | [Team 1114: Simbotics](http://www.simbotics.org/resources) 14 | 15 | [Team 254: The Cheesy Poofs](https://www.team254.com/resources/) 16 | 17 | [Team 610: Crescent Robotics](http://team610.com/frc-resources/) 18 | 19 | On whatever page you get your information, it's useful to cite the original source as well. 20 | -------------------------------------------------------------------------------- /_tech/programming/software/opencv.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: OpenCV 3 | tags: programming cots-software software 4 | 5 | layout: software_project 6 | project: 7 | name: OpenCV 8 | sourcecode: https://github.com/opencv/opencv 9 | website: http://opencv.org/ 10 | created: 2000 11 | --- 12 | 13 | {% include wikilink topic="OpenCV" %} 14 | 15 | OpenCV (Open Source Computer Vision Library) is an open source computer vision 16 | and machine learning software library. Many FIRST teams have used OpenCV 17 | successfully in competition. 18 | 19 | ### Related projects 20 | 21 | * [roborio-opencv](https://github.com/robotpy/roborio-opencv): Compiled OpenCV 22 | distribution for the [RoboRIO](roborio) 23 | 24 | ### Related Video Tutorials 25 | 26 | * [Machine Vision with the Raspberry Pi | TE Sessions 2016](https://www.youtube.com/watch?v=ZNIlhVzC-4g) 27 | -------------------------------------------------------------------------------- /_nontech/culture/kickoff.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Kickoff 3 | --- 4 | 5 | {% include stub %} 6 | 7 | The kickoff is [FIRST](first)'s chance to reveal the season's new [FIRST 8 | Robotics Competition](FRC) game. The actual kickoff is held in Manchester, NH at 9 | a location near [FIRST headquarters](FIRST_headquarters "FIRST headquarters" ), 10 | but remote kickoffs are held all around the country so team members can attend 11 | local broadcasts and learn about the new game from the mouths of the people who 12 | came up with it. FIRST celebrities like [Dean Kamen](dean-kamen) and [Woodie 13 | Flowers](woodie-flowers) announce new features of the competition and stress the 14 | importance of [gracious professionalism](gracious-professionalism). A 15 | demonstration of the new game is also sometimes done, and a model of that year's 16 | field is unveiled. Then, each team is given their kit of parts. -------------------------------------------------------------------------------- /_tech/electrical/electrical.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Electrical Overview 3 | --- 4 | 5 | The Electrical system is consisted up of everything that gets controlled by the [Controls System](control-system). The main three parts are located below. The Speed Controllers, which control [motors](motors) when given instruction from the Control System through any of the communication methods listed below. Also listed are various electronic components that go in hand with the Control System. 6 | 7 | ## [Speed Controllers](speed-controller) 8 | 9 | {% include by_tag collection=site.tech tag="speed-controller" %} 10 | 11 | ## [Sensors](sensor) 12 | 13 | {% include by_tag collection=site.tech tag="sensors" %} 14 | 15 | ## Communication 16 | 17 | {% include by_tag collection=site.tech tag="communication" %} 18 | 19 | ## Auxiliary Control System 20 | 21 | {% include by_tag collection=site.tech tag="aux-cs" %} 22 | -------------------------------------------------------------------------------- /_tech/control_system/robot_controllers/crio_modules/ni_9403.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: NI Digital I/O Module (NI 9403) 3 | tags: [obsolete-part, control-system] 4 | --- 5 | 6 | {% include historical %} 7 | {% include stub %} 8 | 9 | The Digital I/O Module, along with the [Digital SideCar](/wiki/digital-sidecar), provided general purpose input/output for the cRIO control systems during the 2009 through 2014 seasons. 32 channels of data are sent to the Digital SideCar. A digital output can output a maximum of 5.2V. 10 | 11 | [Digital I/O Module](https://web.archive.org/web/20170720195845/http://first.wpi.edu/FRC/digital.html "https://web.archive.org/web/20170720195845/http://first.wpi.edu/FRC/digital.html") 12 | [Digital SideCar](https://web.archive.org/web/20170720201529/http://first.wpi.edu/FRC/digitalsidecar.html "https://web.archive.org/web/20170720201529/http://first.wpi.edu/FRC/digitalsidecar.html") 13 | -------------------------------------------------------------------------------- /_tech/electrical/speed_controllers/venom.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Venom 3 | tags: speed-controller 4 | --- 5 | 6 | ## Technical 7 | 8 | Venom is an integrated motor and [Speed Controller](speed-controller) designed and manufactured by Playing With Fusion. It is legal for use in the FIRST Robotics Competition. It may be controlled through PWM or CAN from the [roboRIO](roborio) or other [robot controller](robot-controller). 9 | 10 | ## Programming links 11 | 12 | * [roboRIO Driver Installation](https://www.playingwithfusion.com/docview.php?docid=1205) 13 | * [Java - Official documentation](https://www.playingwithfusion.com/frc/2020/javadoc/com/playingwithfusion/package-summary.html) 14 | * [C++ - Official documentation](https://www.playingwithfusion.com/frc/2020/cppdoc/html/annotated.html) 15 | 16 | ## Kit of Parts 17 | 18 | ### 2020 19 | 20 | Venom makes its debut in FRC, but is not provided in the KOP. -------------------------------------------------------------------------------- /_tech/mechanical/pneumatics/storage_tank.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Storage Tank 3 | tags: pneumatics 4 | --- 5 | 6 | **Storage tanks** are [pneumatics](Pneumatics "Pneumatics" ) components used to store air pressurized (from a [compressor](Compressor "Compressor" )) up to 120psi for later use. Prior to 2007, a maximum of two were allowed on a [robot](Robot "Robot" ). In 2007, that maximum was increased to four. 7 | 8 | 9 | ## Connections 10 | 11 | On either end of the tanks is a 1/4" NPT threading for a brass fitting. 12 | 13 | 14 | ## Current Product Info 15 | 16 | {%include outdated-warning %} 17 | 18 | ### Supplier 19 | 20 | Supplied by [Clippard](http://www.clippard.com "http://www.clippard.com" ). 21 | 22 | 23 | ### Model Number 24 | 25 | AVT-32-16 [Supplier 26 | Data](http://www.clippard.com/store/display_details.asp?sku=AVT-32-16 27 | "http://www.clippard.com/store/display_details.asp?sku=AVT-32-16" ) -------------------------------------------------------------------------------- /_tech/mechanical/tools/grinder.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Grinder 3 | tags: mechanicaltools 4 | --- 5 | 6 | {% include stub %} 7 | {% include wikilink topic="Grinder" %} 8 | 9 | A **grinder** or **grinding machine** is a machine used for producing very fine finishes or making very light cuts, using an abrasive wheel as the cutting device. Depending on the grade of the grinding wheel it may be used for sharpening cutting tools such as [lathe](lathe "Lathe") tools or [drill](drill "Drill") bits. Alternatively it may be used to roughly shape metal prior to [welding](welding "Welding") or fitting. 10 | 11 | ## Safety 12 | 13 | - Always wear [eye protection](eye-protection "Eye protection") 14 | - NEVER allow loose clothing near the spinning abrasive wheels, as they are likely to be sucked in and injure the user 15 | - Heavy duty gloves are recommended because the grinder produces lots of white-hot sparks and carbon scoring 16 | -------------------------------------------------------------------------------- /_tech/electrical/speed_controllers/speed_controller.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Speed Controller 3 | --- 4 | 5 | {% include stub %} 6 | 7 | A Speed Controller, also sometimes called a Motor Controller, is a electronics device to take an input voltage, a control signal, usually [PWM](pwm) or [CAN](can), and outputs a voltage to be taken to a [motor](motors). The list varies year by year for legal FIRST controllers, but the current list for 2020 is here: 8 | 9 | * [DMC60](dmc60) 10 | * [Jaguar](jaguar) 11 | * [SD540](sd540) 12 | * [SD540C](sd540c) 13 | * [SPARK](spark) 14 | * [Talon SR](talon-sr) (and older Talon) 15 | * [Talon SRX](talon-srx) 16 | * [Venom](venom) 17 | * [Victor 884](victor-884) 18 | * [Victor 888](victor-888) 19 | * [Victor SP](victor-sp) 20 | 21 | 22 | In previous years, the following motor controllers have been legal, but no longer are: 23 | 24 | * [Tekin REBEL](tekin-rebel) 25 | * [Victor 883](victor-883) 26 | -------------------------------------------------------------------------------- /_tech/electrical/aux_control_system/digital_sidecar.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Digital SideCar 3 | 4 | tags: [aux-cs, control-system, obsolete-part] 5 | --- 6 | 7 | {% include historical %} 8 | {% include stub %} 9 | 10 | The [Digital SideCar](https://web.archive.org/web/20170720201529/http://first.wpi.edu/FRC/digitalsidecar.html "https://web.archive.org/web/20170720201529/http://first.wpi.edu/FRC/digitalsidecar.html") was used with the cRIO-FRC and cRIO-FRC II to provide PWM outputs, DIO outputs, among others. It was introduced in 2009 and decommissioned prior to the 2015 season. 11 | 12 | 13 | 14 | ## Kit of Parts 15 | 16 | ### 2012-2014 17 | 18 | One Digital SideCar is provided to all teams. 19 | 20 | ### 2010-2011 21 | 22 | One Digital SideCar is provided to all teams, with one additional provided to rookie teams. 23 | 24 | ### 2009 25 | 26 | The Digital SideCar makes its debut in FRC. One is provided to all teams. 27 | -------------------------------------------------------------------------------- /_tech/mechanical/motors/banebots_rs_550_motor.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Banebots motor (M2-RS550-120) 3 | tags: motor 4 | --- 5 | 6 | {% include outdated-warning %} 7 | 8 | Stall current (amps) | 85 9 | Stall torque (in-lb) | 4.409 (0.4982 N-m) 10 | Max power output (watts) |? 11 | Free speed (rpm) | 19300 12 | 13 | The RS-550 Banebots motor. The heavier, stronger, slightly larger sibling to the RS-540. The specifics of the data is available at [[1]](http://banebots.com/p/M2-RS550-120 "http://banebots.com/p/M2-RS550-120") 14 | 15 | ## Kit of Parts 16 | 17 | ### 2012-2016 18 | 19 | The RS-550 motor is legal for use but not provided in the KOP. 20 | 21 | ### 2011 22 | 23 | One RS-550 is supplied in the KOP with one RS-540 and one RS-775. 24 | 25 | ### 2009-2010 26 | 27 | The RS-550 is not legal for use. 28 | 29 | ### 2008 30 | 31 | One RS-550 along with one RS-540 was supplied separately from the packages of parts at pickup. 32 | -------------------------------------------------------------------------------- /_tech/mechanical/pneumatics/compressor.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Air Compressor 3 | tags: pneumatics 4 | --- 5 | 6 | {% include wikilink topic="Air compressor" %} 7 | 8 | An **air compressor** is a [pneumatics](pneumatics) 9 | component used to compress air for powering pneumatics systems. 10 | 11 | 12 | ## Connections 13 | 14 | ### Air 15 | 16 | Air is output via a quick connector. 17 | 18 | 19 | ### Electrical Power 20 | 21 | A voltage of +12v is necessary to run the compressor. Damage to the compressor 22 | will result if the polarity is reversed. The compressor should be connected to 23 | a [spike relay](spike-relay) to allow the robot controller to automatically 24 | control the compressor with the help of a [pressure 25 | switch](pressure-switch). 26 | 27 | 28 | ## Current Product Info 29 | 30 | {% include outdated-warning %} 31 | 32 | ### Suppliers 33 | 34 | * [Thomas Industries](http://www.thomasind.com "http://www.thomasind.com" ). 35 | -------------------------------------------------------------------------------- /_tech/programming/programming.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Programming 3 | --- 4 | 5 | {% include stub %} 6 | {% include wikilink topic="Computer programming" %} 7 | 8 | **Programming** is an integral part of building a [robot](robot). [Fabrication](fabrication "Fabrication") is necessary to have something to work with; but, without the brains, the robot is impotent. This is where programming comes in. A program is simply a set of instructions to the computer (the [Robot Controller](robot-controller) in this case). The computer then responds, based on these instructions. The response might be effecting an actuator, sending power to a motor, or anything else the programmer desires. 9 | 10 | ## Programming topics on FIRSTwiki 11 | 12 | {% include by_tag collection=site.tech tag="programming" %} 13 | 14 | ## See also 15 | 16 | * [Control System](control-system) 17 | * [ChiefDelphi's Programming Forum](http://www.chiefdelphi.com/forums/forumdisplay.php?f=51) 18 | -------------------------------------------------------------------------------- /_nontech/game/Hexagon_Havoc.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Hexagon Havoc 3 | tags: frc_games 4 | --- 5 | {% include TODO %} 6 | 7 | Hexagon Havoc was the 1996 FRC game. 8 | 9 | ### Official Game Summary[[1]](https://web.archive.org/web/20150316194933/http://www3.usfirst.org/sites/default/files/uploadedFiles/Who/FIRST_History/FRC_Game_Summaries_Photos.pdf "https://web.archive.org/web/20150316194933/http://www3.usfirst.org/sites/default/files/uploadedFiles/Who/FIRST_History/FRC_Game_Summaries_Photos.pdf") 10 | In two minute matches, the three robots, with their human partners, score points by placing the balls in the central goal. The balls may be carried, pushed or thrown into the goal by the robots. The human players are not allowed on the playing field as they are seat-belted down at their stations, but they may score points by throwing ball(s) into the central goal. Points are awarded for balls located in the central goal at the conclusion of each two minute match. 11 | -------------------------------------------------------------------------------- /_tech/electrical/pwm_signal.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: PWM Signal 3 | tags: communication 4 | --- 5 | 6 | {% include stub %} 7 | 8 | A PWM signal, pulse-width-modulated signal, is an analog output value 9 | used to control motors through [Victors](victor) or 10 | [Jaguars](jaguar). 11 | 12 | 13 | ## Programming 14 | 15 | On the [robot controller](robot-controller), a PWM signal has a range from -127 16 | to 127 in where -127 corresponds to full power "backwards" on the motor and 127 17 | to full power "forwards" on the motor. Some controllers may use a range from -1 18 | to 1 with the same actions occurring at the minimums and maximums of the range. 19 | Zero is neutral in both cases and does not move send any current to the motor 20 | (though the [Victor](victor) or [Jaguar](jaguar) can change what exactly happens 21 | at this signal). 22 | 23 | 24 | ## External Links 25 | 26 | * [Explanation of PWM Signals](https://learn.sparkfun.com/tutorials/pulse-width-modulation) 27 | -------------------------------------------------------------------------------- /_nontech/game/Rebound_Rumble.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Rebound Rumble™ 3 | tags: frc_games 4 | --- 5 | {% include TODO %} 6 | 7 | Rebound Rumble™ was the 2012 FRC game. 8 | 9 | ### Official Game Summary[[1]](https://web.archive.org/web/20150316194933/http://www3.usfirst.org/sites/default/files/uploadedFiles/Who/FIRST_History/FRC_Game_Summaries_Photos.pdf "https://web.archive.org/web/20150316194933/http://www3.usfirst.org/sites/default/files/uploadedFiles/Who/FIRST_History/FRC_Game_Summaries_Photos.pdf") 10 | In the 2012 game, Rebound Rumble™, two Alliances of three teams compete by trying to score as many basketballs in the hoops as possible during the two minute and 15-second match. Balls scored in higher hoops score Alliances more points. Alliances are awarded bonus points if they are balanced on bridges at the end of the match. In matches where opponent Alliances work together to balance on the white “Coopertition®” bridge, all participating teams earn additional valuable seeding points. 11 | -------------------------------------------------------------------------------- /_nontech/game/Ramp_n_Roll.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Ramp N' Roll 3 | tags: frc_games 4 | --- 5 | {% include TODO %} 6 | 7 | Ramp N' Roll was the 1995 FRC game. 8 | 9 | ### Official Game Summary[[1]](https://web.archive.org/web/20150316194933/http://www3.usfirst.org/sites/default/files/uploadedFiles/Who/FIRST_History/FRC_Game_Summaries_Photos.pdf "https://web.archive.org/web/20150316194933/http://www3.usfirst.org/sites/default/files/uploadedFiles/Who/FIRST_History/FRC_Game_Summaries_Photos.pdf") 10 | In two minute matches, three robots race down a 30-foot raceway, over a speed bump just wide enough for two to pass through, to retrieve their 24” and 30” vinyl balls. To score, they must carry the ball(s) back up the raceway and push or shoot the ball over a nine-foot field goal from either the playing floor or a raised platform area, all the while trying to keep their opponents from scoring. Teams may score more than once with each ball – the smaller ball is worth two points and the larger ball is worth three points. 11 | -------------------------------------------------------------------------------- /_tech/electrical/aux_control_system/voltage_regulator_module.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Voltage Regulator Module (VRM) 3 | 4 | tags: aux-cs 5 | --- 6 | 7 | {% include stub %} 8 | 9 | The Voltage Regulator Module (VRM) is used mainly to power the robot's radio. Introduced in 2015, it replaced the DC/DC Power Converter. 10 | It can also be used to power custom circuits. It has power outputs of 12V/2A, 12V/500mA, 5V/2A and 5V/500mA. 11 | 12 | ## Connecting the Robot Radio 13 | 14 | Some VRMs may have a "radio" sticker on the 5V/2A output label (mainly 2015 VRMs). This is because the D-Link radio used in 2015 used a 5V 15 | input. Current radios (OM5P-AN and OM5P-AC) use the **12V/2A** output. 16 | 17 | ## Kit of Parts 18 | 19 | ### 2017 20 | 21 | One VRM is available to veteran teams via FIRST Choice. 22 | 23 | ### 2016 24 | 25 | One VRM is provided to rookie teams only. One VRM is available to veteran teams via FIRST Choice. 26 | 27 | ### 2015 28 | 29 | The VRM makes its debut in FRC. One VRM is provided to all teams. 30 | -------------------------------------------------------------------------------- /_tech/electrical/servo.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Servo 3 | tags: aux-cs 4 | --- 5 | 6 | {% include wikilink topic="Servomechanism" %} 7 | 8 | A **servomechanism**, usually called a **servo** is like a [motor](Motor "Motor"), expcept that it's axle goes to a specific place instead of just spinning. They are connected to the [robot controller](robot-controller) through a [PWM](pwm) interface. 9 | 10 | ## Continuous Rotation Servo 11 | 12 | A Continuous Rotation Servo is a servo capable of rotation past 360°. This allows one to use a continuous rotation servo as a small motor. Such servos are capable of only full forward, stopped, or full reverse motion. Most servos of this type are controlled by a [PWM](pwm) signal whose width controls the rate of turn. 13 | 14 | ## Standard Rotation Servo 15 | 16 | Most servos are capable of only 90, 180, or 270 degrees of rotation. Such servos are used for accurate angular positioning of a mechanism. Most servos of this type are controlled by a [PWM](pwm) signal whose width controls the angular position of the servo. 17 | -------------------------------------------------------------------------------- /_tech/programming/concepts/dead_reckoning.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Dead Reckoning 3 | tags: programming 4 | --- 5 | 6 | {% include stub %} 7 | {% include cleanup %} 8 | 9 | **Dead reckoning** refers to a system operating without awareness of its absolute position. Instead, path integration is used based on a previous known location. In [FIRST](first), [robots](robot) may use dead reckoning if they do not have [sensors](sensor) to measure absolute position (for example, rangefinders). Dead reckoning can be used in [autonomous mode](autonomous-mode) to track approximate robot field position for autonomous operations. Accuracy depends on the rate of the integration loop as well as the accuracy of the [sensors](sensor), and error accumulates over time. 10 | 11 | One method of dead reckoning uses a [gyroscope](gyroscope) and [encoders](encoder) to track 2D field position. On each step, the robot can integrate its current position from its starting position by advancing the position by the change in the [encoder](encoder) value in the direction measured by the [gyroscope](gyroscope) value. 12 | -------------------------------------------------------------------------------- /_tech/control_system/robot_controllers/robot_controller_2004.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Robot Controller (2004-2008) 3 | tags: [robot-controllers, obsolete-part] 4 | --- 5 | 6 | {% include historical %} 7 | 8 | The FIRST [Robot Controller](robot-controller) 9 | is the required onboard computer that controls robots. It can be 10 | programmed in C using the [MCC18](MCC18 "MCC18" ) compiler. The RC 11 | has a corresponding [Operator Interface](operator-interface) (OI) that takes inputs and transmits them via a 900mhz 12 | radio to the FRC. The FRC is similar in design and use to the [2004 13 | Robovation](robovation). This RC 14 | includes a [TTL port](TTL_port). 15 | 16 | Note that in previous years, the RC was very different. 17 | 18 | ## Changes in 2005 19 | 20 | The 2005 robot controller is identical to the 2004 one, except that: 21 | 22 | * It has two pins for the backup battery instead of the socket 23 | * It comes with version 10 of the [firmware](firmware). 24 | 25 | ## Changes in 2006 26 | 27 | The primary change in 28 | [2006](robot-controller-2006) was changing the processor from PIC18F8520 to a 29 | PIC18F8722. 30 | -------------------------------------------------------------------------------- /_nontech/game/Maize_Craze.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Maize Craze 3 | tags: frc_games 4 | --- 5 | {% include TODO %} 6 | 7 | Maize Craze was the 1992 and first FRC game. It is notable for having a field covered in corn kernels.[[1]](https://web.archive.org/web/20150316194933/http://www3.usfirst.org/sites/default/files/uploadedFiles/Who/FIRST_History/FRC_Game_Summaries_Photos.pdf "https://web.archive.org/web/20150316194933/http://www3.usfirst.org/sites/default/files/uploadedFiles/Who/FIRST_History/FRC_Game_Summaries_Photos.pdf") 8 | 9 | ### Official Summary [[1]](https://web.archive.org/web/20150316194933/http://www3.usfirst.org/sites/default/files/uploadedFiles/Who/FIRST_History/FRC_Game_Summaries_Photos.pdf "https://web.archive.org/web/20150316194933/http://www3.usfirst.org/sites/default/files/uploadedFiles/Who/FIRST_History/FRC_Game_Summaries_Photos.pdf") 10 | Four contestants vie in a round to see who can collect the highest point value total of tennis balls, return to home base, and defend their cache successfully. Each round is two minutes long. The game is played on a 16’ X 16’ square playing arena covered with 1-1/2” layer of whole corn kernels. 11 | -------------------------------------------------------------------------------- /_tech/mechanical/motors/denso_window_motor.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Denso Window Motor 3 | tags: obsoletemotor 4 | --- 5 | 6 | {% include outdated-warning %} 7 | 8 | Stall current (amps) | 24.8 9 | Stall torque (in-lb) | 81.4 (9.2 N-m) 10 | Max power output (watts) | 22 11 | Free speed (rpm) | 92 12 | 13 | These motors come in left-side and right-side verities. 14 | 15 | One 12V, right or left (random), part number 262100-3030 (Right-hand) or -3040 (Left-hand) was supplied in (at least) the 2006 through 2008 seasons. 16 | 17 | ## Kit of Parts 18 | 19 | ### 2010 20 | 21 | Two Right and Two Left motors were supplied in the KOP along with their couplers. 22 | 23 | ### 2008 24 | 25 | One right or left motor was supplied in the grey tote along with a black coupler in the black tote. 26 | 27 | ### 2007 28 | 29 | One right or left motor and a coupler were supplied in the red tote. 30 | 31 | ### 2006 32 | 33 | One of each a right and left motor were supplied loose in the red tote, and two couplers in the blue tote in the coupler bag. [[1]](http://www2.usfirst.org/2006comp/Manual/5-The_Robot_Rev_F.pdf "http://www2.usfirst.org/2006comp/Manual/5-The_Robot_Rev_F.pdf") -------------------------------------------------------------------------------- /_nontech/game/Tower_Power.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Tower Power 3 | tags: frc_games 4 | --- 5 | {% include TODO %} 6 | 7 | Tower Power was the 1994 FRC game. Few official documents have been found. Only the official game summary and a [team update](http://team358.org/history/1992-1999/94_updates1.PDF "http://team358.org/history/1992-1999/94_updates1.PDF") have been shared online. If you have something, please add a link to it. 8 | 9 | ### Official Game Summary[[1]](https://web.archive.org/web/20150316194933/http://www3.usfirst.org/sites/default/files/uploadedFiles/Who/FIRST_History/FRC_Game_Summaries_Photos.pdf "https://web.archive.org/web/20150316194933/http://www3.usfirst.org/sites/default/files/uploadedFiles/Who/FIRST_History/FRC_Game_Summaries_Photos.pdf") 10 | Contestants attempt to place as many of their soccer balls possible inside one of two goals. In each match, three-team alliances compete to place 12 balls of their team color inside either the high goal, worth 3 points, or in the low goal, worth one point per ball. The winner is the team that has the highest total point value of soccer balls within the two goals at the end of the two minute match. In the case of a tie, the team with more balls in the upper goal wins. 11 | -------------------------------------------------------------------------------- /_tech/mechanical/motors/banebots_rs_540_motor.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Banebots motor (M2-RS540-120) 3 | tags: [obsoletemotor, obsolete-part] 4 | --- 5 | 6 | {% include historical %} 7 | {% include outdated-warning %} 8 | 9 | Stall current (amps) | 42 10 | Stall torque (in-lb) | 2.467 (39.48 oz-in, 0.2788 N-m) 11 | Max power output (watts) |? 12 | Free speed (rpm) | 16800 13 | 14 | The RS-540 is not legal for use anymore. It was legal from 2008 to 2014, with some gaps. 15 | 16 | Information for the 2008 motor supplied in the kit of parts is available at [[1]](http://banebots.com/pc/MOTOR-BRUSH/M2-RS540-120 "http://banebots.com/pc 17 | /MOTOR-BRUSH/M2-RS540-120") [[2]](http://banebots.com/p/M2-RS550-120 "http://banebots.com/p/M2-RS550-120") 18 | 19 | ## Kit of Parts 20 | 21 | ### 2013-2014 22 | 23 | The RS-540 is legal for use but is not provided in the KOP. 24 | 25 | ### 2012 26 | 27 | The RS-540 was not legal for use. 28 | 29 | ### 2011 30 | 31 | One RS-540 was provided with one RS-550 and one RS-775. 32 | 33 | ### 2009-2010 34 | 35 | The RS-540 was not legal for use. 36 | 37 | ### 2008 38 | 39 | One RS-540 was provided in the KOP along with one RS-550. 40 | 41 | ### 2007 42 | 43 | One RS-540 was provided in the KOP. 44 | -------------------------------------------------------------------------------- /_tech/electrical/aux_control_system/robot_signal_light.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Robot Signal Light (RSL) 3 | 4 | tags: aux-cs 5 | --- 6 | 7 | The Robot Signal Light (RSL) has been in FRC since at least 2007. It is used to inform FTAs and teams about the status of the robot. 8 | It was originally named the Panel Signal Device. 9 | 10 | ## Kit of Parts 11 | 12 | ### 2017 13 | 14 | One RSL is available to veteran teams via FIRST Choice at a cost of 50 credits. 15 | 16 | ### 2015-2016 17 | 18 | One RSL is provided to all teams. It is listed as *Robot Signal Light (i.e. Panel Signal Device)* in the KOP list. 19 | 20 | ### 2013-2014 21 | 22 | One RSL is provided to all teams. It is listed as *Panel Signal Device for use as Robot Signal Light* in the KOP list. 23 | 24 | ### 2010-2012 25 | 26 | One RSL is provided to all teams. It is listed as *Panel Signal Device* in the KOP list. 27 | 28 | ### 2009 29 | 30 | The RSL makes a return to FRC. It is listed as *Panel Signal Device* in the KOP list. One is provided to all teams. 31 | 32 | ### 2008 33 | 34 | The RSL is replaced by a LED light cluster. 35 | 36 | ### 2007 37 | 38 | The RSL makes its debut in FRC. It is listed as *Panel Signal Device* in the KOP list. One is provided to all teams. 39 | -------------------------------------------------------------------------------- /_nontech/companies/innovation_first.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Innovation First, Inc. 3 | --- 4 | 5 | {% include outdated-warning %} 6 | {% include stub %} 7 | 8 | **Innovation First, Inc.**, or **IFI**, is an official supplier of custom [electronics](Electronics_and_circuitry "Electronics and circuitry" ) for the [FIRST Robotics Competition](FIRST_Robotics_Competition "FIRST Robotics Competition" ). IFI provides the main parts of the [control system](Control_system "Control system" ). 9 | 10 | ## Products 11 | 12 | * [Robot Controller](robot-controller) 13 | * [Operator Interface](operator-interface) 14 | * [Spike relays](spike-relay) 15 | * [Victor 884](victor-884) 16 | * [Radio modem](radio-modem) 17 | * [Robovation](robovation) 18 | * [Vex](vex) 19 | * and other accessories 20 | 21 | ## Rack Solutions 22 | 23 | Rack Solutions is a division of Innovation First. They specialize in racks for 24 | rack-mount computers. They provided the racks for the field computers in the 25 | [2004 game](Game_%282004%29 "Game \(2004\)" ). 26 | 27 | ## External Links 28 | 29 | * [innovationfirst.com](http://www.innovationfirst.com) 30 | * [ifirobotics.com](http://www.ifirobotics.com/) 31 | * [racksolutions.com](http://www.racksolutions.com/) 32 | -------------------------------------------------------------------------------- /_nontech/game/FRC_Games.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: FRC Games 3 | --- 4 | 5 | ## FRC Games By Year 6 | 7 | * 2017: [FIRST Steamworks℠](first-steamworks) 8 | * 2016: [FIRST Stronghold™](first-stronghold) 9 | * 2015: [Recycle Rush™](recycle-rush) 10 | * 2014: [Aerial Assist™](aerial-assist) 11 | * 2013: [Ultimate Ascent™](ultimate-ascent) 12 | * 2012: [Rebound Rumble™](rebound-rumble) 13 | * 2011: [LOGO MOTION™](logo-motion) 14 | * 2010: [BREAKAWAY™](breakaway) 15 | * 2009: [LUNACY™](lunacy) 16 | * 2008: [FIRST Overdrive](first-overdrive) 17 | * 2007: [Rack 'N' Roll](rack-n-roll) 18 | * 2006: [Aim High](aim-high) 19 | * 2005: [Triple Play](triple-play) 20 | * 2004: [FIRST Frenzy](first-frenzy) 21 | * 2003: [Stack Attack](stack-attack) 22 | * 2002: [Zone Zeal](zone-zeal) 23 | * 2001: [Diabolical Dynamics](diabolical-dynamics) 24 | * 2000: [Co-Opertition FIRST](co-opertition-first) 25 | * 1999: [Double Trouble](double-trouble) 26 | * 1998: [Ladder Logic](ladder-logic) 27 | * 1997: [Toroid Terror](toroid-terror) 28 | * 1996: [Hexagon Havoc](hexagon-havoc) 29 | * 1995: [Ramp N' Roll](ramp-n-roll) 30 | * 1994: [Tower Power](tower-power) 31 | * 1993: [Rug Rage](rug-rage) 32 | * 1992: [Maize Craze](maize-craze) 33 | 34 | ## FRC Games Alphabetically 35 | 36 | {% include by_tag collection=site.nontech tag="frc_games" %} 37 | -------------------------------------------------------------------------------- /_tech/mechanical/pneumatics/pressure_switch.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Pressure Switch 3 | tags: pneumatics 4 | --- 5 | 6 | A **pressure switch** is a [pneumatics](pneumatics) 7 | switch whose state changes depending on the pressure. 8 | 9 | 10 | ## Data 11 | 12 | Sends a digital signal. The two terminals are shorted together when the 13 | pressure is greater than 95psi after hitting a peak of 115psi. The terminals 14 | are disconnected when the pressure is less than 115psi after dropping below 15 | 95psi. 16 | 17 | 18 | ## Connections 19 | 20 | 21 | ### Air 22 | 23 | Connects to the system via a 1/8" NPT thread on the bottom. 24 | 25 | 26 | ### Signal 27 | 28 | Two terminals on the top that are connected to a digital input on the robot 29 | controller, connecting on the black and white wires. 30 | 31 | 32 | ## Current Product Info 33 | 34 | {% include outdated-warning %} 35 | 36 | ### Supplier 37 | 38 | * Supplied by [[The Nason Company](http://www.nasonptc.com 39 | "http://www.nasonptc.com" )]. 40 | 41 | 42 | ### Model Number 43 | 44 | SM-2B-115R 45 | 46 | 47 | ## Programming 48 | 49 | The Robot Controller needs to check the pressure switch and react accordingly 50 | by applying power to the compressor when needed. [WPILib](wpilib) contains a 51 | compressor object that will do this automatically for you. 52 | 53 | -------------------------------------------------------------------------------- /_tech/mechanical/pneumatics/pneumatic_cylinder.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Pneumatic Cylinder 3 | tags: pneumatics 4 | --- 5 | 6 | A **pneumatic cylinder** is a [pneumatics](pneumatics) part that converts air 7 | pressure into linear force. 8 | 9 | ## Connections 10 | 11 | ### Air 12 | 13 | Air pressure connectors are at either end of the cylinder and are threaded for 14 | either a 1/4" or 1/8" NPT connector. 15 | 16 | ### Load 17 | 18 | The static end of the cylinder has a mounting hole at the end which can be 19 | used with a supplied bracket. The rod end of the cylinder is a threaded end, 20 | where a clevis can be added. 21 | 22 | ## Terms 23 | 24 | * Stroke - Refers to the difference between the extended and retracted pin-to-pin distances. 25 | * Bore - The diameter of the internal chamber of the cylinder. 26 | * Clevis - A connect that can be attached to the end of a rod to mount it to a surface or other object. 27 | 28 | ## Current Product Info 29 | 30 | {% include outdated-warning %} 31 | 32 | ### Suppliers 33 | 34 | * [Parker](http://www.parker.com "http://www.parker.com" ) 35 | * [Bimba Manufacturing](http://www.bimba.com "http://www.bimba.com" ) 36 | 37 | 38 | ### Models 39 | 40 | * Parker: 1.5DPSR8.00 (1.5" x 8" cylinder) with L071310300 (Pivot bracket) and L071300400 (Clevis) 41 | * Bimba: # Custom cylinder 42 | -------------------------------------------------------------------------------- /_tech/programming/software/wpilib.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: WPILib 3 | tags: programming frc-official-software software 4 | 5 | layout: software_project 6 | project: 7 | name: WPILib 8 | sourcecode: https://github.com/wpilibsuite/allwpilib 9 | --- 10 | 11 | {% include stub %} 12 | 13 | The WPI Robotics library (WPILib) is a set of classes that interfaces to the 14 | hardware in the FRC [control system](control-system) and your robot. There are 15 | classes to handle sensors, motors, the driver station, and a number of other 16 | utility functions like timing and field management. The library is designed to: 17 | 18 | * Deal with all the low level interfacing to these components so you can 19 | concentrate on solving this year’s “robot problem”. This is a philosophical 20 | decision to let you focus on the higher-level design of your robot rather 21 | than deal with the details of the processor and the operating system. 22 | * Understand everything at all levels by making the full source code of the 23 | library available. You can study (and modify) the algorithms used by the 24 | gyro class for oversampling and integration of the input signal or just ask 25 | the class for the current robot heading. You can work at any level. 26 | 27 | External links 28 | -------------- 29 | * [WPILib ScreenSteps documentation](https://wpilib.screenstepslive.com/s/4485) 30 | -------------------------------------------------------------------------------- /_tech/programming/software/qdriverstation.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: QDriverStation 3 | tags: programming community-software software 4 | 5 | layout: software_project 6 | project: 7 | name: QDriverStation 8 | website: https://frc-utilities.github.io/ 9 | sourcecode: https://github.com/frc-utilities/QDriverStation 10 | installers: https://github.com/FRC-Utilities/QDriverStation/releases/tag/v16.08 11 | --- 12 | 13 | ## About the QDriverStation 14 | 15 | The QDriverStation is a cross-platform and open-source alternative to the FRC Driver Station. It runs on multiple platforms, making it easier for FRC teams test their robot code and make public presentations with their robots. 16 | 17 | ## Supported Platforms 18 | 19 | The QDriverStation runs on Windows, Mac, and Linux. An [Android app](https://github.com/frc-utilities/qdriverstation- 20 | mobile/releases/tag/v16.08) is also available. 21 | 22 | ## QDriverStation vs. FRC DriverStation 23 | 24 | ### Advantages of using QDriverStation 25 | 26 | The QDriverStation's greatest advantage is the large number of platforms it supports. While the FRC DriverStation only runs on Windows, the QDriverStation can run on many different operating systems (see above). 27 | 28 | ### Advantages of using FRC DriverStation 29 | 30 | The FRC DriverStation is the only driver station currently allowed by the FTA during official competitions, and therefore must be used during official events instead of QDriverStation. 31 | -------------------------------------------------------------------------------- /_nontech/game/Rug_Rage.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Rug Rage 3 | tags: frc_games 4 | --- 5 | {% include TODO %} 6 | 7 | Rug Rage was the 1993 FRC game. It is specifically notable for having a water-filled game object.[[1]](https://web.archive.org/web/20150316194933/http://www3.usfirst.org/sites/default/files/uploadedFiles/Who/FIRST_History/FRC_Game_Summaries_Photos.pdf "https://web.archive.org/web/20150316194933/http://www3.usfirst.org/sites/default/files/uploadedFiles/Who/FIRST_History/FRC_Game_Summaries_Photos.pdf")[[2]](http://team358.org/history/1992-1999/1993comp.pdf "http://team358.org/history/1992-1999/1993comp.pdf") 8 | 9 | ### Official Summary [[1]](https://web.archive.org/web/20150316194933/http://www3.usfirst.org/sites/default/files/uploadedFiles/Who/FIRST_History/FRC_Game_Summaries_Photos.pdf "https://web.archive.org/web/20150316194933/http://www3.usfirst.org/sites/default/files/uploadedFiles/Who/FIRST_History/FRC_Game_Summaries_Photos.pdf") 10 | 11 | Contestants attempt to collect balls from either the playing field or their opponents’ goals, place them in their own goals, and defend them. There are five large air-filled kick balls each worth five points, and twenty smaller water-filled balls worth one point each. The winner is the team with the highest total point value of balls within their foal at the conclusion of a two minute match. In the case of a tie, the team with the most large balls wins. If still a tie, the team which collected their balls first wins. 12 | -------------------------------------------------------------------------------- /_tech/mechanical/motors/window_motor.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Window Motor 3 | tags: obsoletemotor 4 | --- 5 | 6 | {% include outdated-warning %} 7 | 8 | The **Window motor** has been included in the FIRST kit of parts for many years. Although it is a relatively small and less powerful motor (compared to the CIM, Fisher Price, or Drill), it is still a very useful motor. With it's built in worm-gearbox, higher resistance against backdrive, and moderate reliability, many teams choose to use the window motors to power their robot's mechanisms. There have been two types of window motors included in the FIRST kit of parts: the [Denso window motor](Denso_window_motor "Denso 9 | window motor") (Black) window motor and the [Jideco motor](/index.php?title=Jideco_motor&action=edit "Jideco motor") (silver/unpainted) window motor. In 2005 one of each were included in the kit, so you got two window motors overall. 10 | 11 | ## _Nippon-Denso_ 12 | 13 | Stall current (amps): | 24.8 14 | Stall torque (N-m): | 9.2 15 | Max power (watts): | 22 16 | Free speed (rpm): | 92 17 | 18 | ## _Jideco_ 19 | 20 | Stall current (amps) | 21 21 | Stall torque (N-m) | 8.33 22 | Max power (watts) | 18.5 23 | Free speed (rpm) |85 24 | 25 | ## Included gearbox 26 | 27 | The window motor's has a worm gear gearbox that is not backdrive-able. However, inside the gearbox is a plastic gear which has been known to strip. 28 | 29 | ## Usage notes 30 | 31 | - **Only backdrive the motor so that the internal axle goes AWAY from the motor.** The other way will wreck it -------------------------------------------------------------------------------- /_tech/programming/vcs/git.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Git 3 | tags: programming vcs 4 | --- 5 | 6 | {% include stub %} 7 | 8 | {% include wikilink topic="Git (software)" %} 9 | 10 | Using git without a server 11 | -------------------------- 12 | 13 | When in an environment that doesn't have internet access, you can push and pull 14 | code to/from a place on your filesystem (such as a USB drive). This is great 15 | for sharing code at a competition. 16 | 17 | First, you need to create a 'bare' repo to push/pull to. Insert your USB drive, let's say you're on Windows and the drive is E. Open a terminal. 18 | 19 | ``` 20 | E: 21 | git init --bare repo 22 | ``` 23 | 24 | Next, you have to point your source checkout to it (do this from each computer that needs it). To do this, you need to create a 'remote' in your local checkout. You've probably noticed that when using git we often type the word 'origin'. Turns out, this is the default remote usually created when you initially clone a repo. 25 | 26 | ``` 27 | cd path\to\repo 28 | git remote add usb E:\repo 29 | ``` 30 | 31 | Finally, you have to push code to it. The idea is `git push `. So... 32 | 33 | ``` 34 | git push usb master 35 | ``` 36 | 37 | Pulling is the same. 38 | 39 | ``` 40 | git pull usb master 41 | ``` 42 | 43 | You can do all of your normal git things. Just where you would often type 'origin', you can type 'usb' now. There are some shortcuts and some limited gotchas, but it's been in my experience the best way to share code at a competition without using internet. 44 | -------------------------------------------------------------------------------- /_tech/mechanical/mecanum.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Mecanum Wheels 3 | --- 4 | 5 | {% include wikilink topic="Mecanum wheel" %} 6 | 7 | **Mecanum wheels** are drive wheels with free spinning rollers set around the circumference at some angle (typically 45 degrees) to the wheel faces to change the direction of the force resulting from the interaction between the wheel and the floor. Mecanum wheels are used in sets of 4 with one pair having its rollers skewed clockwise and the other pair counter clockwise. Identical wheels are placed diagonally opposite from each other such that the front left is identical to the back right and the back left is identical to the front right, the resulting drive base is capable of holonomic locomotion. 8 | 9 | 10 | ## Suppliers 11 | 12 | The most commonly used supplier of Mecanum Wheels is [AndyMark 13 | Inc.](http://www.andymark.com/category-s/53.htm 14 | "http://www.andymark.com/category-s/53.htm" ), which also supplies the current 15 | kit frame and transmissions. Other teams choose to design their own, or find 16 | an alternate supplier. 17 | 18 | 19 | ## Cost 20 | 21 | Mecanum wheels are more complex than a standard wheel or even an omni-wheel 22 | and are more expensive as a result. 23 | 24 | 25 | ## Programming 26 | 27 | Programming mecanum drivetrains was once a complex task that required decent 28 | knowledge of vectors and physics, however, in recent years, Mecanum sample 29 | code has been made available to teams making the capability more accessible to 30 | teams. 31 | 32 | The standard [WPILib's](wpilib) RobotDrive comes with a mecanum drive 33 | implementation. 34 | 35 | -------------------------------------------------------------------------------- /_tech/control_system/robot_controllers/crio_ii.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: cRIO-FRC II 3 | tags: [robot-controllers, control-system, obsolete-part] 4 | --- 5 | 6 | {% include stub %} 7 | {% include historical %} 8 | 9 | The 2010 Robot Controller, the cRIO-FRC II, is the same CompactRIO ([cRIO](crio)) control system as it was in 2009. The difference was that this version had 4 slots, rather than the 8 with the cRIO-FRC, making it lighter and less expensive. The 2009 cRIO-FRC was still a legal controller until 2015, when the NI RoboRIO replaced the cRIO-FRC and cRIO-FRC II as the controller for FRC robots. The cRIO from National Instruments can be programmed in [LabVIEW](labview), C, C++, or Java. 10 | 11 | 12 | ## Programming 13 | 14 | Code is cross-compiled on a separate computer then uploaded over the network by the programming environment. 15 | 16 | 17 | ### LabVIEW 18 | 19 | ### C++ 20 | 21 | ### C 22 | 23 | ### Java 24 | 25 | ## Hardware 26 | 27 | ## Modules 28 | The cRIO-FRC II had slots for four interchangeable modules. New modules were supplied each year to teams. The modules by themselves only have a D-Sub connector, so PWM or other wiring connections are made available through a breakout board that either screws into the module (used with the NI 9201 and NI 9472 modules), or a sidecar that is seperate from the module and connected by a cable (used with the NI 9403 module). 29 | 30 | There were three modules used: 31 | * [Digital I/O Module (NI 9403)](/wiki/ni-9403) 32 | * [Digital Output (Solenoid) Module (NI 9472)](/wiki/ni-9472) 33 | * [Analog Input Module (NI 9201)](/wiki/ni-9201) 34 | 35 | ## Key Features 36 | -------------------------------------------------------------------------------- /_tech/mechanical/motors/globe_motor.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Globe Motor 3 | tags: [obsoletemotor, obsolete-part] 4 | --- 5 | 6 | {% include outdated-warning %} 7 | {% include historical %} 8 | 9 | Stall current (amps): | 21.5
10 | Stall torque (oz-in): | 3194.5
11 | Max power output (watts): | 47
12 | Free speed (rpm): | 80 13 | 14 | The Globe motor has been included in the [kit of parts](kit-of-parts) for many years. Originally a 4wd transfer case motor, the Globe motor small size, lower RPM, and high torque make it useful for powering robot mechanisms. The globe motor comes with an attached planetary gearbox, which may be removed if suited. 15 | 16 | ## Torque and Efficiency curves 17 | 18 | * [Globe Motor.pdf](https://web.archive.org/web/20061231173020/http://www2.usfirst.org/2005comp/Specs/Globe_Motor.pdf "https://web.archive.org/web/20061231173020/http://www2.usfirst.org/2005comp/Specs/Globe_Motor.pdf" ) 19 | 20 | 21 | ## Usage Notes 22 | 23 | - Although small, the Globe motor packs a punch for its size. It's useful for powering smaller mechanisms. Also a moderately reliable motor. 24 | - The motor does not like being cantilevered, which means the output shaft of the motor must be supported on both sides to prevent damage, i.e. the face of the motor is supported and the tip of the output shaft is supported. 25 | 26 | ## Kit of Parts 27 | 28 | ### 2006-2009 29 | Two Globe motors are provided in the KOP. 30 | 31 | ### 2005 32 | One Globe motor is provided in the KOP. 33 | 34 | ### 2000-2004 35 | Two Globe motors are provided in the KOP. 36 | 37 | ### 1999 38 | The Globe motor makes its debut in FRC. Two are provided in the KOP. 39 | -------------------------------------------------------------------------------- /_tech/control_system/operator_interface/operator_interface.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Operator Interface 3 | --- 4 | 5 | {% include historical %} 6 | 7 | The **Operator Interface**, or **OI** was the name of the unit of the [control 8 | system](control-system) that collects input controlled by the 9 | human operator(s) and transmits it to the [Robot 10 | Controller](robot-controller). 11 | 12 | Prior to the 2010 season, this was a special control box. After that, a laptop 13 | computer was used to communicate with the robot and it is now referred to as the 14 | [Driver Station](driver-station). 15 | 16 | In the past, the OI communicated with the RC using either a [radio 17 | modem](radio-modem) or [tethered connection](tether). The OI inputs data from 4 18 | ports. It also transmitted data out of the dashboard port. 19 | 20 | The control system uses a team number identification system to ensure proper 21 | communication during matches. In the past, teams set their team number into 22 | the OI using DIP switches. As of 2010, team numbers are set via inputting the 23 | number into the operator interface computer. 24 | 25 | In general, the OI stays relatively the same from year to year. However, 26 | typically the Robot Controller and Operator Interface of the same year must be 27 | used together. To learn more about the different versions, see their 28 | respective pages. 29 | 30 | * [Driver Station](driver-station) 31 | * [Operator Interface (2010)](operator-interface-2010) 32 | * [Operator Interface (2009)](operator-interface-2009) 33 | * [Operator Interface (2004)](operator-interface-2004) 34 | * [Operator Interface (2003)](operator-interface-2003) 35 | -------------------------------------------------------------------------------- /_tech/programming/software/networktables.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: NetworkTables 3 | tags: programming frc-official-software software 4 | --- 5 | 6 | {% include stub %} 7 | 8 | NetworkTables is a communications protocol used on FIRST robots. It is officially 9 | supported by the WPILib Control Systems team. NetworkTables is used by [GRIP](grip_software), 10 | [SmartDashboard](smartdashboard), and other software to communicate with the 11 | program running on the robot. 12 | 13 | NetworkTables is used to communicate information between several computers. 14 | There is a single server (often the robot) and zero or more clients. These 15 | clients can be on the driver station, a coprocessor, or anything else on the 16 | robot's local control network. 17 | 18 | As it was intended to only be used on trusted networks, NetworkTables has no 19 | authentication or encryption, and should never be used on untrusted networks 20 | such as the Internet. 21 | 22 | ## History 23 | 24 | {% include TODO %} 25 | 26 | NetworkTables v1 was introduced in 2011. 27 | 28 | NetworkTables v2 was introduced in 2013. It got rid of transactions, and 29 | introduced complex types such as array types. 30 | 31 | NetworkTables v3 was introduced in 2016, and the Java/C++ libraries were 32 | completely rewritten. 33 | 34 | ## Implementations 35 | 36 | Official implementations: 37 | 38 | * [ntcore](ntcore) 39 | 40 | Unofficial implementations: 41 | 42 | * [C#](https://github.com/robotdotnet/NetworkTables) 43 | * [Node.js](https://github.com/erikuhlmann/ntcore_node) 44 | * [Python](https://github.com/robotpy/pynetworktables) 45 | * [Python + JavaScript](https://github.com/robotpy/pynetworktables2js) 46 | 47 | -------------------------------------------------------------------------------- /_tech/electrical/pwm_cable.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: PWM Cable 3 | tags: communication 4 | --- 5 | 6 | {% include outdated-warning %} 7 | 8 | A PWM Cable is a 3-pin cable with a connector on each end designed to plug into 9 | both the [robot controller](robot-controller) and the [Victor 884](victor-884) 10 | speed controller. This cable carries a [PWM](pwm) signal. 11 | 12 | 13 | ## Other Uses of the PWM Cable 14 | 15 | The PWM cable is not designed specifically for PWM signals and is only known 16 | as a "PWM Cable" colloquially and only in the hobby robotics community. These 17 | cables can be used for the serial connection from the 2005 IFI breaker board, 18 | allowing it to communicate with the robot controller. It can also be used for 19 | the serial connection on the cmu2cam. [Spike relays](spike-relay) also use a 20 | 3-pin cable identical to the [Victor 884](victor-884), as do many sensors. 21 | 22 | 23 | ## Other Types of Cables Used for PWM Signals 24 | 25 | Many teams have stopped using these 3-pin cables, citing the difficulty in 26 | installing and removing so many cables, as well as the tendency of the cables to 27 | spontaneously disconnect from the [robot controller](robot-controller). These 28 | teams have begun using large, multipin cables that they have attached custom 29 | connectors to allow them to connect to the [robot controller](robot-controller) 30 | and [Victor 884](victor-884). These cables include ribbon cables 31 | of the type used for computer disc drives and DB-9 type cables used in PC serial 32 | cables. By using these types of cables, there are fewer wires to organize and a 33 | quick-disconnect can be installed to facilitate modular/removable electronics 34 | panels. 35 | -------------------------------------------------------------------------------- /_config.yml: -------------------------------------------------------------------------------- 1 | # 2 | # Common configuration for each firstwiki repo 3 | # 4 | 5 | permalink: pretty 6 | 7 | exclude: [vendor, script] 8 | 9 | gems: 10 | - jekyll-gist 11 | - jekyll-paginate 12 | - jekyll-github-metadata 13 | 14 | author: 15 | name: FIRSTWiki Contributors 16 | url: http://firstwiki.github.io 17 | email: 18 | 19 | # Setup 20 | title: FIRSTwiki 21 | tagline: The FIRST Robotics encyclopedia 22 | paginate: 5 23 | safe: false 24 | excerpt_separator: "" 25 | strict_front_matter: true 26 | 27 | data_dir: _common/_data 28 | includes_dir: _common/_includes 29 | layouts_dir: _common/_layouts 30 | 31 | # 32 | # Begin specific configuration for this repo 33 | # 34 | 35 | url: http://firstwiki.github.io 36 | baseurl: /wiki 37 | 38 | collections: 39 | history: 40 | output: true 41 | permalink: /:slug 42 | main: 43 | output: true 44 | permalink: /:slug 45 | nontech: 46 | output: true 47 | permalink: /:slug 48 | people: 49 | output: true 50 | permalink: /:slug 51 | tech: 52 | output: true 53 | permalink: /:slug 54 | 55 | # 56 | # Defaults to make it easy to contribute new content 57 | # 58 | 59 | defaults: 60 | - 61 | scope: 62 | path: "" 63 | type: "history" 64 | values: 65 | layout: page 66 | - 67 | scope: 68 | path: "" 69 | type: "main" 70 | values: 71 | layout: page 72 | - 73 | scope: 74 | path: "" 75 | type: "nontech" 76 | values: 77 | layout: page 78 | - 79 | scope: 80 | path: "" 81 | type: "people" 82 | values: 83 | layout: page 84 | - 85 | scope: 86 | path: "" 87 | type: "tech" 88 | values: 89 | layout: page 90 | -------------------------------------------------------------------------------- /_tech/control_system/robot_controllers/robovation.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Robovation 3 | --- 4 | 5 | {% include historical %} 6 | 7 | **Robovation** refers to the educational, mini-robot platform sponsored by [FIRST](first). It was first released during the 2003 season as a new idea to give teams a task to do during the Fall, which would also be a big help to [rookie teams](rookie-teams) and new members of [veteran teams](veteran-teams). The idea is that Robovation provides teams a small, simulated experience of the real [build season](build-season). [Fabrication](fabrication) and [programming](programming) are both part of the platform, and so its use greatly facilitates understanding the [full-size robot controller](robot-controller). Since the embedded platform was changed for the 2004 season to use [PIC C](PIC_C "PIC C" ) (from [PBASIC](PBASIC "PBASIC" )), there are two versions of Robovation: 8 | 9 | * [Robovation (2004)](Robovation_%282004%29 "Robovation \(2004\)" ) 10 | * [Robovation (2003)](Robovation_%282003%29 "Robovation \(2003\)" ) 11 | 12 | 13 | ### A note on nomenclature 14 | 15 | During the 2003 and 2004 seasons, _Robovation_ was known as _FIRST 16 | EDUrobotics_, or more colloquially as _EDU Bot._ It was thereafter announced, 17 | however, that the term EDUBOT is the trademark of another company. So, to 18 | avoid legal issues, FIRST released this statement: 19 | 20 | > **Disclaimer** 21 | > Please note that EDUBOT is a trademark owned by Robotica, Ltd., a manufacturer of robotic components, and FIRST disclaims any ownership or right to the mark. Therefore, please refrain from using the name EDUBOT in relation to FIRST programs or competitions. For more information on Robotica, Ltd., see . 22 | 23 | In addition to the old "Edu Bot", Robovation was alternatively known as the 24 | Mini RC or the BetaBot (in Canada). 25 | -------------------------------------------------------------------------------- /_tech/mechanical/motors/drill_motor.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Drill Motor 3 | tags: obsoletemotor 4 | --- 5 | 6 | {% include outdated-warning %} 7 | 8 | _This entry describes the drill motors included in the 2003 and 2004 [kit of parts](kit-of-parts). Earlier drill motors had a smaller shaft and were not as powerful._ 9 | 10 | ## _Drill (Skill Bosch) Motor_ 11 | 12 | Stall current: | 127 amps 13 | Stall torque: | 7.70 in-lb 14 | Max power: | 376 watts 15 | Free speed: | 19,670 rpm 16 | 17 | Two drill motors and gearboxes were included with every [kit of parts](kit-of-parts). The drill motor, along with the [CIM motor](cim-motor), are the two most powerful motors included by a significant margin. One of the two basic [skid steer](skid-steer) [drive trains](drive-train) included in the [kit of parts](kit-of-parts) utilizes one drill motor on each side of the [robot](robot). 18 | 19 | ## Included gearbox 20 | 21 | The drill motor is provided with the accompanying gearbox in the portable drill that the motor comes from. It is a [planetary gearbox](planetary-gearbox) with two gears with ratios of _ratio here_ and _here_. The gearbox has a torque limiting clutch that can be set to disengage the gearbox from its output shaft at a certain torque. Additionally, the gearbox has two small pins that stop backdrive on the motor, but they can easily be removed. 22 | 23 | ## Usage Notes 24 | 25 | - Many teams use the Drill motors on their [drive train](drive-train) because of its high power output, easy to use mounts, and accompanying gearbox that provides a large enough reduction. 26 | - If the drill gearbox's torque limiter is used (not set to "drill"), robots may have jerky control, making it very difficult to drive. After a little practice, switching over to direct drive could be the solution. It risks burning out your motor if it stalls, but makes it much easier to control. 27 | -------------------------------------------------------------------------------- /_tech/electrical/sensors/potentiometer.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Potentiometer 3 | tag: sensors 4 | --- 5 | 6 | {% include cleanup %} 7 | {% include wikilink topic="Potentiometer" %} 8 | 9 | A **potentiometer**, also called a **pot**, is an analog sensor that changes resistance in 10 | proportion to the position of its shaft. Potentiometers can found in rotary or 11 | linear varieties. In a rotary potentiometer, the shaft rotates and causes the 12 | change in resistance. In a linear (or slide) potentiometer, the shaft moves in 13 | a straight line. Potentiometers can also come in audio or linear tapers. The 14 | audio taper means that the output varies logarithmically with the position of 15 | the shaft, and is useful for volume knobs in audio equipment. In linear taper 16 | pots, the output varies linearly. The concept of tapers and shaft arrangements 17 | are independent, a linear potentiometer can have a audio taper, and vice 18 | versa. 19 | 20 | ## Usage 21 | 22 | In [FIRST Robotics](first), when wiring the pot, one end of the potentiometer is 23 | connected to 5V and the other end to ground. The sense line is connected to the 24 | analog input on the [Robot Controller](robot-controller). Thus, the 25 | potentiometer acts as a voltage divider, where the values of the two resistors 26 | can be varied. 27 | 28 | Potentiometers can also be wired directly to Talon SRX or Jaguar [motor 29 | controllers](speed-controller). 30 | 31 | Potentiometers are used, therefore, to determine where specific moving parts 32 | are in their range of travel on the robot, or to provide analog input to the 33 | [Operator Interface](operator-interface). 34 | 35 | {% include historical %} 36 | 37 | Note that when working with analog values on the [2004 Robot 38 | Controller](robot-controller-2004), the function `Get_Analog_Value` must first 39 | be called. This is not necessary when the pot is connected to the Operator 40 | Interface. 41 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | FIRSTwiki: wiki site 2 | ==================== 3 | 4 | [![Join the chat at https://gitter.im/firstwiki/wiki](https://badges.gitter.im/firstwiki/wiki.svg)](https://gitter.im/firstwiki/wiki) 5 | 6 | FIRSTwiki is an open-content encyclopedia about the FIRST Robotics Competition, 7 | designed to provide a useful resource for all aspects of the FIRST community. 8 | Following the tenets of gracious professionalism, members contribute back to the 9 | community by recording useful information that other members can benefit from. 10 | 11 | FIRSTwiki is a different kind of wiki, hosted on github pages instead of on a 12 | traditional wiki platform. See http://firstwiki.github.io/docs/contributing 13 | for more information. It's unclear how well this form of wiki will work, but 14 | it's worth the experiment. :) 15 | 16 | About this repository 17 | --------------------- 18 | 19 | Contains all FIRSTwiki wiki content that doesn't fall into a specific category. 20 | 21 | More information 22 | ---------------- 23 | 24 | See https://firstwiki.github.io/docs/ 25 | 26 | Running locally 27 | =============== 28 | 29 | This site uses jekyll and the github pages tools to generate HTML files from 30 | various metadata. To run a copy of this site locally (assuming you have ruby 31 | installed), you can run the following: 32 | 33 | gem install bundler 34 | bundle install 35 | 36 | Once that is done, you can start the site using the following shell script: 37 | 38 | ./run_server.sh 39 | 40 | 41 | More information can be found on the [`_scripts` repository](https://github.com/firstwiki/_scripts) 42 | 43 | Legal 44 | ===== 45 | 46 | All content on FIRSTwiki is available via the [GNU Free Documentation License 1.3](http://www.gnu.org/licenses/fdl-1.3.en.html). 47 | 48 | This is a community project and is not directly associated with or endorsed by 49 | the [FIRST Robotics Competition](http://www.firstinspires.org/). 50 | -------------------------------------------------------------------------------- /_tech/mechanical/pneumatics/solenoid.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Solenoid 3 | tags: pneumatics 4 | --- 5 | 6 | A **solenoid** is a [pneumatics](pneumatics) 7 | component that allows electronic control of air pressure flow. 8 | 9 | {% include wikilink topic="Solenoid" %} 10 | 11 | 12 | 13 | ## Connections 14 | 15 | 16 | ### Input 17 | 18 | All solenoids have one input. This should come directly from a [pressure 19 | regulator](pressure-regulator). Uses either a 20 | quick connect connector or is threaded for a 1/8" brass fitting. 21 | 22 | 23 | ### Output 24 | 25 | Solenoids have two outputs, they go to each end of a 26 | [cylinder](pneumatic-cylinder). Uses either a quick connect (1/4" 27 | OD) connector or is threaded for a 1/8" NPT brass fitting. 28 | 29 | 30 | ### Electrical input 31 | 32 | Solenoids usually have a wire leads or a proprietary connector. They are 33 | connected to a [spike](spike-relay) for controlling. 34 | 35 | 36 | ## Types 37 | 38 | 39 | ### Single Solenoid 40 | 41 | Single solenoids apply pressure to one end of the 42 | [cylinder](pneumatic-cylinder) until a voltage is applied to the 43 | signal input, then the pressure is applied to the other end. 44 | 45 | 46 | ### Double Solenoid 47 | 48 | Double solenoids are similar to a single solenoid except pressure is only 49 | applied when a signal is received. When a signal is not sent to either end, 50 | pressure is applied to neither end, and the [cylinder](pneumatic-cylinder) 51 | holds its position. 52 | 53 | 54 | ## Current Product Info 55 | 56 | {% include outdated-warning %} 57 | 58 | ### Suppliers 59 | 60 | * [Festo](http://www.festo.com "http://www.festo.com" ) 61 | * [SMC](http://www.smcusa.com "http://www.smcusa.com" ) 62 | * [Bosch-Rexroth](http://www.boschrexroth-us.com/ "http://www.boschrexroth-us.com/" ) 63 | 64 | 65 | ### Model Numbers 66 | 67 | * Festo 68 | * VPLE18-M5H-4/2-1/4 69 | * SMC 70 | * SY3240 71 | * NVF3130 72 | * Bosch-Roxroth 73 | * P-026641-00004 74 | -------------------------------------------------------------------------------- /_tech/electrical/speed_controllers/jaguar.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Jaguar Motor Controller 3 | tags: speed-controller 4 | --- 5 | 6 | {% include stub %} 7 | 8 | The **Jaguar** is a [speed controller](speed-controller) developed by Luminary Micro and supplied by Texas Instruments. The Jaguar was added to the FIRST Robotics Competition in the 2009 season to supplement the [Victor 884](victor-884). It has had two different versions, the MDL-BDC "Grey Jaguar" and the MDL-BDC24 "Black Jaguar". 9 | 10 | 11 | ## Technical 12 | 13 | The Jaguar is part of the FIRST [control system](Control_system "Control system" ). The Jaguar works by recieving a [PWM signal](pwm-signal) or [CAN](can) input from a [robot-controller](Robot_controller "Robot controller" ), which may include the (full) [Robot Controller](Robot_Controller "Robot Controller" ), the [Robovation](Robovation "Robovation" ) controller or a [Vex](Vex "Vex" ) Controller. Depending on the range of the [PWM](PWM "PWM" ) signal - with 0 being full reverse, 127 being neutral, and 254 being full forward - the Victor 884 adjusts the such applications as [drivetrains](Drive_trains "Drive trains" ), arms, or elevators. 14 | 15 | The nominal operating voltage of the MDL-BDC is 12 volts, while the MDL-BDC24 is capable of 24 volt operation as well. Both have a maximum operating current of 40 amps. 16 | 17 | ## Kit of Parts 18 | 19 | ### 2015-2017 20 | 21 | Jaguars are legal for use but not provided in the KOP. 22 | 23 | ### 2013-2014 24 | 25 | One Jaguar is provided to rookie teams only. 26 | 27 | ### 2011-2012 28 | 29 | Two Jaguars are provided in the KOP, with two additional Jaguars given to rookie teams. This time Black Jaguars are provided. 30 | 31 | ### 2010 32 | 33 | Two Jaguars are provided in the KOP, with two additional Jaguars given to rookie teams. 34 | 35 | ### 2009 36 | 37 | The Grey Jaguar makes its debut in FRC. Four Jaguars are provided in the KOP to replace the Victor 884 as the main speed controller used in FRC. One Victor 884 was still provided in the KOP. 38 | -------------------------------------------------------------------------------- /_tech/mechanical/wheel.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Wheel 3 | --- 4 | 5 | {% include wikilink topic="Wheel" %} 6 | 7 | **Wheels** are fundamental components for [robot](robot) motion and are used more often than any other method of locomotion (such as [treads](tread)). 8 | 9 | ## Types 10 | 11 | Various types of wheels exist, including standard, grip, holonomic, and mecanum. 12 | 13 | ## Standard 14 | 15 | Standard wheels are the ones which ship with the FIRST kit of parts. Originally 8 inches in diameter, the size was changed to 6 inches for the 2007 season. 16 | 17 | ## Grip 18 | 19 | Grip wheels are generally mde from aluminum disks sandwiching an aluminum roller which is coated with a high-friction tape material. They offer much more traction than a standard wheel and are often custom-made or order from specialty suppliers. 20 | 21 | ## Holonomic 22 | 23 | Holonomic wheels have small, free-spinning disks oriented perpendicular to the rotating direction of the wheel. This allows the wheel to slide sideways with a minimum of friction and is useful in many hybrid variants of the swerve drive and castor drive. Holonomic wheels are typically rather expensive and generally ordered from specialty suppliers rather than fabricated by teams themselves. 24 | 25 | ## [Mecanum](mecanum) 26 | 27 | Slightly similar to holonomic wheels, mecanum wheels also incorporate free-spinning rollers, but oriented at 45-degree angles to the direction of wheel rotation. When the rollers on sets of opposing wheels are aligned in opposite directions, reversing the direction of one of the opposed wheels enables the robot to move sideways. These are typically used in complicated variants of the swerve drive system, when design requirements dictate that there is not enough space, weight capacity, etc. for a more conventional swerve drive. The mathematical/kinematics model for mecanum wheels is quite complicated, and the wheels themselves are usually exceedingly expensive and complex; a set of four often approaches the $400 maximum for any single robot part. -------------------------------------------------------------------------------- /_nontech/first/FIRST_Tech_Challenge.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: FIRST Tech Challenge 3 | --- 4 | 5 | {% include stub %} 6 | 7 | The **FIRST Tech Challenge** (or **FTC**) is a robotics competition aimed at 8 | middle school and high school ages. Due to the fact that participating in the 9 | [FIRST Robotics Competition](frc) costs thousands of 10 | dollars per year, FTC is a low-cost, portable alternative for schools. 11 | 12 | The competition was renamed to FIRST Tech Challenge (aka FTC) in 2007, it was 13 | previously known as the **FIRST Vex Challenge** or **FVC**. 14 | 15 | ## Origins of FTC 16 | 17 | In 2003, [Innovation First, Inc.](/index.php/Innovation_First%2C_Inc. 18 | "Innovation First, Inc." ) released their [Robovation](robovation) kits, the forerunner of the modern Vex kits. They utilized a 19 | smaller version of the FIRST [Robot Controller](robot-controller), to facilitate in programming and building of full size 20 | FIRST Robots. 21 | 22 | In time, people realized that the Robovation kits would make for a cheaper 23 | version of the [FIRST Robotic Competitions](frc-regional). 24 | Thus began the collaboration between 25 | [RadioShack](http://www.wikipedia.org/wiki/RadioShack "wikipedia:RadioShack" ) 26 | and [Innovation First](innovation-first-inc) to upgrade the Robovation to a commercially viable robotic kit. 27 | 28 | On April 17th, 2006, Innovation First announced their acquisition of the Vex 29 | Robotics Design System brand name and trademark registrations from RadioShack 30 | Corporation. 31 | 32 | ### Pilot Competition 33 | 34 | In early 2005, the Vex Robotics website was unveiled. There was widespread 35 | speculation about the new Vex robots, as the early teaser website had 36 | references to FIRST. By March 2005, FIRST had announced a new pilot Vex 37 | competition, open to 50 teams, to compete in a pilot Vex competition at the 38 | Georgia Dome, during the 2005 FIRST [Championship 39 | Event](frc-championship-event). There were 53 Vex 40 | teams which competed in the pilot competition. 41 | 42 | ## FIRST Tech Challenge 43 | 44 | The FIRST Tech Challenge debuted in 2005 with the initial pilot season. -------------------------------------------------------------------------------- /_tech/electrical/sensors/sensor.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Sensors 3 | --- 4 | 5 | {% include outdated-warning %} 6 | 7 | A **sensor** is a device that detects, or _senses_, the surrounding environment. 8 | In terms of robotics, and specifically [FIRST](first), sensors enable the 9 | [robot](robot) to better understand what is around it and how to react. The 10 | types of sensors used in FIRST are electrical, meaning that they send signals to 11 | the [Robot Controller](robot-controller) that is then converted into some value 12 | for use by the program. There are two main classes of sensors, [analog](analog) 13 | and [digital](digital). An analog sensor, such as a 14 | [potentiometer](potentiometer), will have a value in the range of 0 to 1023 (10 15 | bits). A digital sensor, such as a [limit switch](limit-switch), is much more 16 | limited, only having _off_ and _on_ states, represented by 0 and 1. 17 | 18 | Sensors are important aspects of [programming](Programming "Programming" ), 19 | allowing truly complex robots that can react intelligently to dynamic 20 | situations. The use of advanced sensors is often necessary to develop an 21 | effective [autonomous mode](autonomous-mode), though many other uses are 22 | possible. Sensors can count the number of rotations of a particular wheel and 23 | then the program can adjust speed based on this information; sensors can 24 | determine whether some apendage is fully extended, and then shut off power to a 25 | motor; sensors can allow the robot to avoid objects that the robot 26 | [operator](operator) might not see. 27 | 28 | Each year the list of sensors included with the [kit of parts](kit-of-parts) 29 | varies, but here are examples of sensors that were included in prior kits of 30 | parts. 31 | 32 | * [IR sensor](ir-sensor) 33 | * Banner sensor 34 | * [Gyroscope](gyroscope) 35 | * [Current sensor](current-sensor) 36 | * [Pressure sensor](pressure-switch) 37 | * [Accelerometer](accelerometer) 38 | * A vision system such as [CMUcam2](cmucam2). 39 | * [Encoder](encoder) 40 | 41 | See electronics rules for the current year's game for information on where and 42 | which sensors may be bought, and the price limit on them. 43 | -------------------------------------------------------------------------------- /_tech/control_system/robot_controllers/robot_controller.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Robot Controller 3 | --- 4 | 5 | {% include outdated-warning %} 6 | 7 | The **Robot Controller**, or **RC** is the unit of the [control 8 | system](Control_system "Control system" ) that processes 9 | [input](Input "Input" ), is responsible for 10 | [communication](Radio_modem "Radio modem" ), and controls the robot 11 | through various [outputs](Output "Output" ). There are two types of 12 | Robot Controllers -- the Full-size version and the controller from the 13 | [Robovation](Robovation "Robovation" ) kit. 14 | 15 | The Full-size Robot Controller receives data from the [Operator 16 | Interface](Operator_Interface "Operator Interface" ), and controls 17 | the [spike relays](Spike "Spike" ), [motors](Motors 18 | "Motors" ), and [servos](Servo "Servo" ). It is the unit that is 19 | [programmed](Programming "Programming" ). 20 | 21 | 22 | ## History 23 | 24 | The RC tends to change slightly from year to year, where most of the change is 25 | slight improvements. 26 | 27 | There have been major changes, however. In 2000, the BASIC Stamp was switched 28 | from [BS2](BS2 "BS2" ) to [BS2sx](BS2sx "BS2sx" ). In 29 | 2003, an [autonomous mode](autonomous-mode) 30 | feature was implemented. The most significant change, though, occurred in 31 | 2004, when the basic processor was changed from a BASIC Stamp to a PIC chip. 32 | In 2009, the RC was completely thrown out for the National Instruments [cRIO](crio). 33 | 34 | To learn more about the multiple varieties of the RC, see their specific 35 | pages. 36 | 37 | * [Robot Controller (2015)](robot-controller-2015) 38 | * [Robot Controller (2010)](robot-controller-2010) 39 | * [Robot Controller (2009)](robot-controller-2009) 40 | * [Robot Controller (2006)](robot-controller-2006) ([PIC C](PIC_C "PIC C" )) 41 | * [Robot Controller (2004)](robot-controller-2004) ([PIC C](PIC_C "PIC C" )) 42 | * [Robot Controller (2003)](robot-controller-2003) ([PBASIC](PBASIC "PBASIC" )) 43 | * [Robot Controller (2000)](robot-controller-2000) ([PBASIC](PBASIC "PBASIC" )) 44 | * [Robot Controller (1996)](robot-controller-1996) 45 | * [Robot Controller (1993)](robot-controller-1993) 46 | -------------------------------------------------------------------------------- /_tech/electrical/speed_controllers/victor_883.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Victor 883 3 | tags: obsolete-part 4 | --- 5 | 6 | {% include historical %} 7 | {% include stub %} 8 | 9 | An older speed controller used in FIRST robotics competitions from 1999 to 2003. This speed controller is not allowed in competition any more and has been replaced by the [Victor 884](victor-884), which has a greater degree of control and a higher current limit. It replaced the Tekin REBEL. 10 | 11 | # Manuals 12 | [Victor 883 Manual](https://web.archive.org/web/20030323132438/http://www.innovationfirst.com/FirstRobotics/pdfs/V883UsersManual.pdf "https://web.archive.org/web/20030323132438/http://www.innovationfirst.com/FirstRobotics/pdfs/V883UsersManual.pdf") 13 | [Victor 883 Installation Info](https://web.archive.org/web/20030323164735/http://www.innovationfirst.com/FirstRobotics/pdfs/V883InstallationInfo.pdf "https://web.archive.org/web/20030323164735/http://www.innovationfirst.com/FirstRobotics/pdfs/V883InstallationInfo.pdf") 14 | 15 | ## Victor 883 FAQs[[1]](https://web.archive.org/web/20010714230426/http://www.innovationfirst.com/firstrobotics/general_faq.htm#_Victor_883_Blue "https://web.archive.org/web/20010714230426/http://www.innovationfirst.com/firstrobotics/general_faq.htm#_Victor_883_Blue") 16 | Q: How many Victor 883’s can we connect to one PWM output? 17 | A: You can safely connect two speed controllers to one output. Each requires about 7mA of current for the opto-coupler. The drivers supply 25mA. Three is pushing it. Also you only want to connect the same type (Red vs. Blue) on the same output. They have different input circuitry. Finally, you do not want a servo and a either type of Victor to share the same output. The opto circuit on the Victor reduces the voltage level of the PWM signal too low for the servo to work reliably. 18 | 19 | ## Kit of Parts 20 | 21 | ### 2003 22 | 23 | The Victor 883 is still legal but has been replaced in the KOP by the Victor 884. 24 | 25 | ### 2000-2002 26 | 27 | Four Victor 883 controllers are provided in the KOP. The Tekin REBEL is not legal. 28 | 29 | ### 1999 30 | 31 | The Victor 883 makes its debut in FRC. The Tekin REBEL is still legal and two of each controller are provided in the KOP. 32 | -------------------------------------------------------------------------------- /_tech/mechanical/motors/fisher_price_motor.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Fisher Price Motor 3 | tags: [obsoletemotor, obsolete-part] 4 | --- 5 | 6 | {% include outdated-warning %} 7 | 8 | Stall current (amps) | 64
9 | Stall torque (in-lb) | 5.72
10 | Max power output (watts) | 390
11 | Free speed (rpm) | 16000 12 | 13 | Fisher Price (FP) motors and gearboxes were included with every [kit of parts](kit-of-parts) from 1999 through 2012. The FP is the second most powerful motor in the kit of parts. The FP is taken from a Powerwheels (tm) car where it powers one of the wheels. 14 | 15 | ## Included gearbox 16 | 17 | The included gearbox is the same one that is used in the Powerwheels (tm) car. It has a ratio of approximately 188:1\. The gearbox uses plastic gears, but it is relatively reliable and not known to strip gears. It has a non-standard output shaft consisting of a open-ended cylinder with 10 slots cut into it. It mates with a spool-shaped piece with spokes matching the slots. 18 | 19 | [[edit](/index.php?title=Fisher_Price_motor&action=edit§ion=2 "Edit 20 | section: Torque and Efficiency curves")] 21 | 22 | ## Torque and Efficiency curves 23 | 24 | * The torque of the fp motor is .45 N-m at stall 25 | * With gearbox: 2.25 N-m 26 | * Without gearbox: .45 N-m 27 | 28 | ## Usage Notes 29 | 30 | The Fisher Price has by far the highest power density of any of the KoP motors. 31 | 32 | The 2005 KoP included a Fisher Price motor designed to operate at 9 volts, instead of 12. Consequently, it is very easy to burn out because it creates such large amounts of heat in such small volume/mass. Be sure to design a mechanism using a Fisher Price so that the motor never approaches the stall torque. A good rule of thumb is to design for 1/4 the stall torque. 33 | 34 | ## Kit of Parts 35 | 36 | ### 2012 37 | 38 | Two Fisher Price motors and gearboxes were provided in the KOP. 39 | 40 | ### 2011 41 | 42 | One Fisher Price motor and gearbox were provided in the KOP. 43 | 44 | ### 2001-2010 45 | 46 | Two Fisher Price motors and gearboxes were provided in the KOP 47 | 48 | ### 2000 49 | 50 | No data. 51 | 52 | ### 1999 53 | 54 | The Fisher Price motor makes its debut in FRC. One motor and gearbox were provided in the KOP. 55 | -------------------------------------------------------------------------------- /_tech/electrical/sensors/accelerometer.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Accelerometer 3 | tags: 4 | - sensors 5 | --- 6 | 7 | {% include wikilink topic="Accelerometer" %} 8 | 9 | An accelerometer is an electromechanical device that will measure acceleration forces. These forces may be static, like the constant force of gravity pulling at your feet, or they could be dynamic - caused by moving or vibrating the accelerometer. 10 | 11 | ## Uses 12 | 13 | Some accelerometers use the piezoelectric effect - they contain microscopic crystal structures that get stressed by accelerative forces, which causes a voltage to be generated. Another way to do it is by sensing changes in capacitance. If you have two microstructures next to each other, they have a certain capacitance between them. If an accelerative force moves one of the structures, then the capacitance will change. Add some circuitry to convert from capacitance to voltage, and you will get an accelerometer. There are even more methods, including use of the piezoresistive effect, hot air bubbles, and light. 14 | 15 | ## Examples 16 | 17 | * Apple uses an LIS302DL accelerometer in the iPhone, iPod Touch and the 4th generation iPod Nano allowing the device to know when it is tilted on its side. 18 | * Apple's Sudden Motion Sensor, which is used to detect drops. If a drop is detected, the heads of the hard disk are parked to avoid data loss by the ensuing shock. 19 | * The Wii Remote for the Wii game console contains a three-axis accelerometer from Analog Devices to sense movement which complements its pointer functionality. This provides more realistic game control. 20 | 21 | ## Types 22 | 23 | * Capacitive - sense a change in capacitance related to acceleration 24 | * Piezoelectric - piezocrystal emits a charge when subjected to a "g" force, mounted to mass–voltage output converted to acceleration 25 | * Piezoresistive - uses a piezo-resistive substrate feature whose resistance changes with acceleration 26 | * Hall Effect -Motion converted to electrical signal by sensing of changing magnetic fields 27 | 28 | ## Sources 29 | 30 | - Accelerometer demo [[[1]](http://www.youtube.com/watch?v=9NEiBDBXFEQ "http://www.youtube.com/watch?v=9NEiBDBXFEQ")] 31 | - Omega Technical Engineering esource: Accelerometers [[[2]](http://www.omega.com/prodinfo/accelerometers.html "http://www.omega.com/prodinfo/accelerometers.html")] 32 | -------------------------------------------------------------------------------- /_nontech/game/autonomous_mode.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Autonomous Mode 3 | --- 4 | 5 | **Autonomous mode** refers to the period in the match where the [robot](robot) operates without any user input. It began in the 2003 game [Stack Attack](stack-attack), primarily as a means to make the [programming](programming) aspect of FIRST more exciting and challenging. The autonomous mode persisted in 2004 [FIRST Frenzy: Raising the Bar](first-frenzy), and has continued ever since. 6 | 7 | In 2003, the main options for autonomous mode included [line following](line-following) and [dead reckoning](dead-reckoning). In 2004, while these were still viable options, the addition of an [IR beacon](IR_beacon "IR beacon") and [IR sensor](IR_sensor "IR sensor") added the ability to hone into the beacon to complete the task of knocking down the "10 point ball." The 2003 game manual describes autonomous mode like this: 8 | 9 | > As soon as the game starts, all robots will be under autonomous control (no human drivers) for a period of 15 seconds. During this time, the robots will operate and react only to sensor inputs and to commands programmed by their teams into the onboard robot control system. Operator control of the robot will not be possible during this time. (see [2003 Game Manual](http://www2.usfirst.org/2003comp/The_Game.pdf "http://www2.usfirst.org/2003comp/The_Game.pdf" )) 10 | 11 | ## See also 12 | 13 | - [Programming](programming) 14 | - [Sensors](sensor) 15 | - [Dead reckoning](dead-reckoning) 16 | - [Control system](Control_system "Control system") 17 | 18 | ## Resources 19 | 20 | {% include historical %} 21 | 22 | - [Kevin Watson's](Kevin_Watson "Kevin Watson") excellent [beacon tracking code](http://kevin.org/frc/ "http://kevin.org/frc/"), for those interested in an IR tracker 23 | - [Dave Lavery](Dave_Lavery "Dave Lavery") describes various [autonomy exercises](http://www.usfirst.org/robotics/robovation/primer/Autonomy.htm "http://www.usfirst.org/robotics/robovation/primer/Autonomy.htm") for the FIRST [Robovation](robovation) kit 24 | - Numerous [ChiefDelphi](chiefdelphi) discussions on the matter ([[1]](http://www.chiefdelphi.com/forums/showthread.php?t=26774 "http://www.chiefdelphi.com/forums/showthread.php?t=26774"),[[2]](http://www.chiefdelphi.com/forums/showthread.php?t=28435 "http://www.chiefdelphi.com/forums/showthread.php?t=28435"),[[3]](http://www.chiefdelphi.com/forums/showthread.php?t=28211 "http://www.chiefdelphi.com/forums/showthread.php?t=28211") ...) 25 | -------------------------------------------------------------------------------- /_nontech/first/FIRST_Lego_League.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: FIRST Lego League 3 | --- 4 | 5 | [FIRST](first) Lego League, or FLL was founded in 1998, in a 6 | partnership between [FIRST](first) and the LEGO Corporation. As an offshoot of 7 | the [FIRST Robotics Competition](frc), FLL was designed for a younger audience 8 | using the [Lego Mindstorms](lego-mindstorms) kits. Students involved in FLL 9 | build small LEGO robots, that traverse a 4' by 8' playing field to accomplish 10 | tasks related around a core theme. 11 | 12 | 13 | # Robot Challenge 14 | 15 | Each year in September, the official FLL game is released. Special playing 16 | field components, all made of LEGO's, are used to simulate real world things, 17 | like polar bears for the Arctic Impact Challenge, or astronaut housing modules 18 | for the Mission Mars Challenge. From this date until their first competition, 19 | which is roughly 8 weeks, teams have to design, build, and program fully- 20 | autonomous robots made entirely of LEGO parts. 21 | 22 | # Research Assignment 23 | 24 | In addition to the robot challenge, FLL teams also are required to do a 25 | 'Research Assignment', about modern problems in society related to the core 26 | theme of that year's FLL Challenge. For example, in the No Limits challenge, 27 | teams had to come up with a robotic device to help disabled people, and 28 | present anything from the concept to a fully functional, completed device to a 29 | panel of judges. 30 | 31 | 32 | # Events 33 | 34 | After the 8-week build season in over, FLL teams compete at one of over 200 35 | regional FLL Events. 36 | Here, teams usually have three or more rounds in 37 | which they compete with their LEGO robot on the official playing field. Teams 38 | also present their Research Assignments, technical aspects of their robots, 39 | and how the team works together to three separate panels of judges. 40 | 41 | ## Awards 42 | 43 | The highest award an FLL team can receive is the Champions Award (formerly 44 | known as the Directors Award). This award is given to the team that has shown 45 | impressive robot performance, technical design, research, and teamwork. All 46 | four aspects are weighed equally. Winning the Champions Award at the regional 47 | level is the only way for an FLL team to reach the World Festival, where they 48 | fill one of roughly 80 spots. There, they compete in 3 matches, and present 49 | their research, technical, and teamwork once again, alongside 50 | [FTC](ftc) and [FRC](frc) teams. -------------------------------------------------------------------------------- /_tech/electrical/historical/cmucam2.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: CMUCam2 3 | tags: obsolete-part 4 | --- 5 | 6 | {% include historical %} 7 | {% include stub %} 8 | 9 | 10 | The **CMUcam2** is a vision system given to teams in the [kit of 11 | parts](kit-of-parts), starting in 12 | [2005](triple-play). 13 | 14 | The camera communicates with the [full robot controller](robot-controller) via 15 | the TTL port, with an TTL/RS-232 converter and buffer provided by [Innovation 16 | First](innovation-first). The camera is commonly mounted to two servos in order 17 | to locate objects. 18 | 19 | 20 | ## Purpose 21 | 22 | The camera is used to track a colored object. 23 | 24 | In [2005](triple-play), colored pieces of plastic were used. These did not work 25 | too well, as the camera was very sensitive to their angle, and the amount of 26 | light. 27 | 28 | In [2006](aim-high), the camera has a green target that is lit by six lights. 29 | This ensures that the lighting conditions do not effect the ability of the 30 | camera too much. 31 | 32 | 33 | ## Camera Mount 34 | 35 | The camera came with a pan and tilt mount powered by servos that could be used 36 | to allow the robot to "look around". The mount also made it easy for teams to 37 | mount the camera on their robot. 38 | 39 | 40 | ### Assembly 41 | 42 | When assembling the camera mount, it should be noted that the lens goes on the 43 | bottom of the mount. When assembled correctly, it is very close to the center 44 | of the pan and tilt servos. 45 | 46 | 47 | ## Problems 48 | 49 | Here are a few things to try if the camera is not operating properly. 50 | 51 | 52 | ### Backup Battery 53 | 54 | Is the backup battery charged? The camera and it's servos are powered off of 55 | the blue backup battery, not the main battery. This should be the first thing 56 | to check if the camera is not operating properly. 57 | 58 | 59 | ### Wire Connections 60 | 61 | Were any wires pulled loose? The camera itself has two PWM cables going into 62 | it. One powers the camera, and is plugged into any free PWM port on the [robot 63 | controller](robot-controller). The other is 64 | plugged into the small TTL/RS-232 converter, which is then plugged into the 65 | [robot controller](robot-controller). 66 | 67 | 68 | ### Status Lights 69 | 70 | Are any lights on? The camera itself has three lights. When the camera is in 71 | use, two are lit: 72 | 73 | * A green light in the bottom right of the camera board indicates that the camera itself is receiving power. 74 | * A red light in the same place indicates that the camera is locked onto the color it is tracking. 75 | 76 | -------------------------------------------------------------------------------- /_nontech/game/FRC_Field.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: FRC Field 3 | --- 4 | 5 | {% include TODO %} 6 | 7 | The FRC Competition has used a standard sized field since the 2000 game, [Cooperition First](co-opertition-first) . The interior of the field has an approximate size of 26 ft 7 in by 54 ft 1 in, and is covered by [Shaw Flooring Neyland II 20 Carpet](https://shawfloors.com/flooring/carpet/details/neyland-ii-20-50510/scotch-pine). Each year's game has different colors for the carpet, including some games such as [Recycle Rush](recycle-rush) which was split into two sides of two colors (in that case, red and blue for each alliance). 8 | 9 | There are a variety of field configurations that switch out between each year. Each short side of the field will contain three Alliance Stations. Each alliance station is 5 ft 10 in wide (the shelf for laptops is smaller) and 6 ft 6 in tall. There is aluminum diamond plate that extends 3 ft up, then transparent plastic panel. There is a shelf for drive laptops and controls which is 5 ft 9 in wide and 1 ft deep, featuring a piece of hook and loop tape (loop side) that is 4 ft 6 in long by 2 in wide. 10 | 11 | There are two side panels adjacent to the three driver stations on each side which feature game elements. These vary per year, but features two main designs: a flat, parallel to the driver station panel and and a angled panel from the driver station to the side panel. For example, the [2014 game](aerial-assist) features two parallel platforms on each side of the driver stations, which features a "low goal" on the bottom half of the panel, while the [2015 game](recycle-rush) features a angled side panel which [human players](human-players) can introduce totes through. The field usually alternate between these two deigns each year. 12 | 13 | The long sides of the field feature guardrails designed to keep robots from escaping from the field during the match. It features four gates on the field allowing for easy access on and off the field. These gates are 3 ft 2 in wide and feature two ramps on each side that fold down when the game is open, but is locked by an bar that slots them into place. 14 | 15 | ## Wooden Replicas 16 | 17 | [Andymark](andymark) designed a FRC wooden field in 2008, which still should be good enough for most purposes. The basic design for the competition field has not changed since 2008 (other than the alternating side panels). This design features both types of side panels. It does not include any game specific elements, nor any suggested way of mounting such a thing. You can see the design files here: http://files.andymark.com/2008-FRC-wooden-field-border.pdf 18 | -------------------------------------------------------------------------------- /_tech/electrical/historical/tsop34840.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: IR Sensor 3 | --- 4 | 5 | The **Vishay TSOP34840 IR sensor**, or simply **IR sensor**, is used to detect infra-red signals. In [FIRST Robotics](first), this sensor is primarily used during the [autonomous mode](autonomous-mode). It was introduced in 2004, for the game [FIRST Frenzy: Raising the Bar](first-frenzy), and during [kickoff](Kickoff "Kickoff") [Dean Kamen](Dean_Kamen "Dean Kamen") and [Woodie Flowers](Woodie_Flowers "Woodie Flowers") strongly hinted at its continued importance. The most common setup works by connecting the sensors to [interrupt](Interrupts "Interrupts") pins, and detecting a certain frequency and pulse-width that the [IR beacons](IR_beacon "IR beacon") were known to emit. 6 | 7 | ## Use in 2004 8 | 9 | The 2004 game [FIRST Frenzy](FIRST_Frenzy:_Raising_the_Bar "FIRST Frenzy: Raising the Bar") saw the first use of the IR sensor. During the autonomous mode, there was a ball that had to be knocked over. The robots could not simply stick an apendage out and follow the wall, because bars prevented this. [Dead reckoning](dead-reckoning) and [line following](Line_following "Line following") were still alternatives, -- but the new method available was IR tracking. On each side of the field above the ball, IR beacons emitted a specified signal, such that they could be differentiated. Not many teams decided to use the sensors, choosing instead more simple methods, and those that did were not always successful. See [Autonomous techniques (2004)](/index.php?title=Autonomous_techniques_%282004%29&action=edit "Autonomous techniques \(2004\)") for more information in this regard. 10 | 11 | ## Future use (speculation) 12 | 13 | At kickoff for the 2004 season, it was strongly hinted that the IR sensors would be back next year, and that it might be necessary to use them. Keep in mind that the following is pure speculation, something the [FIRST community](FIRST_community "FIRST community") seems to love, -- even given their track record. However, possible ideas for why this might be the case include this. The robot will have to track a moving target, and since it is not static, [dead reckoning](dead-reckoning) simply won't work. For more on this discussion, see these [ChiefDelphi](chiefdelphi) threads ([[1]](http://www.chiefdelphi.com/forums/showthread.php?t=28435 "http://www.chiefdelphi.com/forums/showthread.php?t=28435"), [[2]](http://www.chiefdelphi.com/forums/showthread.php?t=26774 "http://www.chiefdelphi.com/forums/showthread.php?t=26774")). 14 | 15 | ## Resources 16 | 17 | - [Kevin Watson's](Kevin_Watson "Kevin Watson") excellent [beacon tracking code](http://kevin.org/frc/ "http://kevin.org/frc/") and more. A copy of the data sheet for the sensor is also available at this site. 18 | -------------------------------------------------------------------------------- /_tech/mechanical/motors/motors.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Motors 3 | --- 4 | 5 | A **motor**, in the context of the [FIRST Robotics Competition](first-robotics-competition), is a device that translates [electrical energy](http://www.wikipedia.org/wiki/Electricity "wikipedia:Electricity") into [mechanical energy](http://www.wikipedia.org/wiki/Mechanical_engergy "wikipedia:Mechanical_engergy"), which is most often output as [rotary motion](http://www.wikipedia.org/wiki/rotation "wikipedia:rotation") along a shaft. 6 | 7 | Within the [kit of parts](kit-of-parts), [FIRST](first) provides each team with a number of such motors to be used in the construction and operation of their [robot](robot). Each motor features unique operating characteristics and behaviors that are governed by [physics](physics) and understanding such characteristics is important for a team to choose the correct, most efficient motor to accomplish a given task. 8 | 9 | ## Characteristics 10 | 11 | For determining the efficacy of a motor in performing a certain task, there are certain values describing that motor that are necessary for performing some calculations. 12 | 13 | - **Stall torque** is the maximum [torque](torque) value a given motor can produce. When a motor is said to have stalled, that indicates that its rotary motion has stopped, having reached equilibrium with its environment. Stalling a motor is not positive because of its effect on current draw. This is measured in units such as Newton_meter (N_m), inch_lbs (in_lbs.), etc. 14 | - **Stall current** is the value of electrical current drawn by a motor in a stall condition. This value often exceeds the limits on [current](http://www.wikipedia.org/wiki/Electric_current "wikipedia:Electric_current") use imposed by [FIRST](first) and can result in damage to the motor and other electrical components. This is measured in units of amperage (A). 15 | - **Free speed** is the highest speed at which the shaft rotates, measured when the force acting upon said shaft is as close to zero as possible. Zero force acting upon a shaft is impossible, however, due to environmental factors such as gravity and friction. Free speed is measured in revolutions per minute (RPM) or radians per second (rad/s). 16 | - **Free current** is a measurement of the current drawn to the motor under a minimum load condition, previously defined as its 'free speed'. This is measured in units of amperage (A). 17 | 18 | Data about motors previously provided to [FIRST Robotics Competition](FIRST_Robotics_Competition "FIRST Robotics 19 | Competition") participant [teams](team) can be found at the individual motor pages. 20 | 21 | ## Motors 22 | 23 | {% include by_tag collection=site.tech tag="motor" %} 24 | 25 | ## Obsolete Motors 26 | 27 | {% include by_tag collection=site.tech tag="obsoletemotor" %} -------------------------------------------------------------------------------- /_tech/control_system/robot_controllers/robot_controller_2000.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Robot Controller (2000) 3 | tags: [robot-controllers, obsolete-part] 4 | --- 5 | 6 | {% include historical %} 7 | 8 | The 2000 RC was a big upgrade from the older system. It used a 9 | [BS2sx](BS2sx) to replace the [BS2](BS2). This was also the first one designed and manufactured by 10 | [InnovationFIRST](InnovationFIRST). It was used 11 | for the 2000-2002 seasons (and with minor modifications for the 2003 season). 12 | 13 | The 2000-2003 Robot Controller systems consisted of three processors. The 14 | [Operator Interface](operator-interface) used 15 | a [PIC16F877](PIC16F877) microcontroller to collect 16 | data from all the digital and analog inputs and communicate with the Robot 17 | Controller via a radio or tether. The second processor was the user processor, 18 | a Basic Stamp 2SX. The User Processor was the only user-programmable CPU in 19 | the entire system. The third processor, the Master Processor, was a PIC16 20 | microcontroller, which controlled the outputs for all relays, speed 21 | controllers, and other output devices. The General-purpose IO pins of the 22 | BS2SX were not accessible as they were connected to LEDs on the controller 23 | itself. The only direct connection available to the BS2SX was the "programming 24 | port", two pins on the Stamp normally dedicated to RS232 communication with 25 | the host programming PC. 26 | 27 | The 2000-2003 Robot Controllers were programmed in [PBASIC](PBASIC), a [Parallax](Parallax)-dialect of 28 | [BASIC](http://www.wikipedia.org/wiki/BASIC "wikipedia:BASIC" ). Program flow 29 | was very similar to modern code, 30 | with a main loop and similar timing characteristics involved. Code would first 31 | have to declare all variables used, which were bits, nibbles, bytes, or words. 32 | Then initialization of the master processor would occur. The Stamp would use 33 | SHIFTOUT to establish communication with the Master Processor and bring the 34 | entire stack online. Then, the main loop would start. In the main loop, a long 35 | SERIN instruction would collect all input data from the Input microprocessor. 36 | The user code would manipulate the data as it saw fit, and then would use 37 | SEROUT to pipe the data to the Master microprocessor. This is roughly 38 | analogous to the current GetData() and Put_Data() in the PIC control 39 | system. Even the timing is nearly identical--both systems were required to 40 | output data ever 26.2 ms. 41 | 42 | 43 | ## External links 44 | 45 | * [InnovationFirst.com](http://innovationfirst.com "http://innovationfirst.com" ) 46 | * [Documentation for 2001 through 2003 Control Systems](http://innovationfirst.com/FIRSTRobotics/documentation-legacy.htm "http://innovationfirst.com/FIRSTRobotics/documentation-legacy.htm" ). 47 | -------------------------------------------------------------------------------- /_tech/mechanical/tools/drill.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Drill 3 | tags: mechanicaltools 4 | --- 5 | 6 | {% include stub %} 7 | {% include wikilink topic="Drill" %} 8 | 9 | A **drill** is a tool with a rotating drill bit used for drilling holes in various materials. 10 | 11 | ### Electric handheld drill 12 | 13 | The drill bit is gripped by a chuck at one end of the drill, and is pressed against the target material and rotated. The tip of the drill bit does the work of cutting into the target material, slicing off thin shavings (twist drills or auger bits) or grinding off small particles (oil drilling). 14 | 15 | ### Electric drill 16 | 17 | Hand-held electric drills are ubiquitous. They usually look like a pistol, with a trigger-like switch. They are also used for driving screws. These drills typically employ a universal [motor](motor) with brushes. Modern variable speed drills contain solid state phase control circuits that limit their use to AC power only. As a tradeoff, the electronics now give them variable speed, reversibility and [torque](torque) control. Many drills are also cordless and use rechargeable batteries. 18 | 19 | ### Drill press 20 | 21 | A drill press is a fixed style of drill, which may be mounted on a stand or bolted to the floor or workbench. It consists of a base, column (or pillar), table, spindle (or quill) and drill head, usually driven by an induction motor. The head has a set of handles (usually 3) radiating from a central hub which, when turned, move the drill spindle (and chuck) vertically, parallel to the axis of the column. The table can be adjusted vertically and is generally moved by a rack and pinion, however some older models rely on the operator to lift and reclamp it in position. The table may also be off-set from the spindle's axis and in some cases rotated perpendicular to the column. 22 | 23 | A drill press has a number of advantages over a hand held drill: 24 | 25 | - Less effort is required to apply the drill to the workpiece. The movement of the chuck and spindle is by a lever working on a rack and pinion, this gives the operator considerable mechanical advantage. 26 | - The table allows a vise or clamp to position and lock the work in place making the operation secure. 27 | - The angle of the spindle is fixed in relation to the table allowing holes to be drilled accurately and repetitively. 28 | 29 | Speed change is achieved by manually moving a belt across a stepped pulley arrangement, some types introduce a third stepped pulley to increase the speed range. This makes selecting the correct spindle speed more likely. 30 | 31 | ## Safety 32 | 33 | - Always wear [eye protection](eye-protection "Eye protection") 34 | - Keep loose clothing away from the spinning parts 35 | - Be mindful of hands and body parts, as the drill bit goes through hands as well as aluminum 36 | -------------------------------------------------------------------------------- /_nontech/first/FRC_regional.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: FIRST Regional 3 | --- 4 | 5 | FIRST regionals are typically held one week, Thursday through Saturday. Practice 6 | matches are held the first day, qualification matches are held the second and 7 | into the third days, and the elimination matches are held the third and final 8 | day. Awards are given out both the second and third days typically. 9 | 10 | The events are free of charge and open to the public. The events are often 11 | webcast for other people to watch online. 12 | 13 | Competition events are, in the words of certain teams, "full of passion, 14 | excitement, joy, and sorrow…the thrill of success and the agony of defeat." 15 | 16 | ## Overview 17 | 18 | ### 1992 - 1999 19 | 20 | Before 1999, there was a double elimination tournament with all teams 21 | participating. 22 | 23 | ### 1999 - 2004 24 | 25 | In 2004, the FIRST Robotics Competition was comprised of twenty-six regional 26 | competitions. 27 | During each, many dozens of qualification matches are held which will 28 | determine each team's seed. After all qualification matches, teams seeded 1st 29 | through 8th pick their alliance partners. 30 | Then, alliances compete against each other in elimination matches in the 31 | following fashion, where QF is the quarter finals, and SF is the semifinals. 32 | 33 | 34 | 35 | QF SF 36 | 1 -- 37 | -- 38 | 8 -- | 39 | --- Finalist 1 40 | 2 -- | 41 | -- 42 | 7 -- 43 | 44 | QF SF 45 | 3 -- 46 | -- 47 | 6 -- | 48 | --- Finalist 2 49 | 4 -- | 50 | -- 51 | 5 -- 52 | 53 | 54 | Finalists 1 and 2 play against each other for the title of [Regional 55 | Winner](/index.php/Regional_Winner "Regional Winner" ). 56 | 57 | ## 2004-Present 58 | 59 | FIRST Regional elimination tournaments post-2004 are exciting and exclusive 60 | events. Around 60 teams attend each regional, however this number can 61 | fluctuate greatly depending on the event. As in the past, teams play a large 62 | number of qualifying matches during the day on Friday and the morning on 63 | Saturday. During lunch time, alliance pickings occur and the top 8 ranked 64 | teams are chosen as alliance captains. These alliance captains pick their 65 | partners in a serpentine system (ie. In first picking round, alliance captain 66 | 1 picks first, in the second picking round, alliance captain 8 picks first.) 67 | 68 | After the alliance pickings go on, the tournament happens. 69 | 70 | 71 | 72 | QF SF 73 | 1 -- 74 | -- 75 | 8 -- | 76 | --- Finalist 1 77 | 4 -- | 78 | -- 79 | 5 -- 80 | 81 | QF SF 82 | 3 -- 83 | -- 84 | 6 -- | 85 | --- Finalist 2 86 | 2 -- | 87 | -- 88 | 7 -- 89 | 90 | -------------------------------------------------------------------------------- /_nontech/first/FIRST.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: FIRST 3 | slug: FIRST 4 | --- 5 | 6 | 7 | **FIRST** stands for: **F**or [**I**nspiration](http://wiktionary.org/wiki/inspiration "wiktionary:inspiration" ) and [**R**ecognition](http://wiktionary.org/wiki/recognition "wiktionary:recognition" ) of [**S**cience](http://wiktionary.org/wiki/science "wiktionary:science" ) and [**T**echnology](http://wiktionary.org/wiki/Technology "wiktionary:Technology" ). 8 | 9 | FIRST is an organization founded by inventor [Dean 10 | Kamen](dean-kamen) in 1989 as a way of getting 11 | students involved in and excited about science and technology. 12 | 13 | ## Mission & Vision 14 | 15 | ### Vision 16 | 17 | > "To transform our culture by creating a world where science and technology are celebrated and where young people dream of becoming science and technology leaders." -- [Dean Kamen](/index.php/Dean_Kamen "Dean Kamen" ), Founder[[1]](http://usfirst.org/aboutus/content.aspx?id=34 "http://usfirst.org/aboutus/content.aspx?id=34" ) 18 | 19 | ### Mission 20 | 21 | > Our mission is to inspire young people to be science and technology leaders, by engaging them in exciting mentor-based programs that build science, engineering and technology skills, that inspire innovation, and that foster well-rounded life capabilities including self-confidence, communication, and leadership.[[2]](http://usfirst.org/aboutus/content.aspx?id=34 "http://usfirst.org/aboutus/content.aspx?id=34" ) 22 | 23 | ## Programs 24 | 25 | FIRST has many levels of programs to achieve their vision and mission. The 26 | programs are mostly similar; providing a challenge with a set of rules, a 27 | deadline, and a competition to compete and celebrate the teams achievements. 28 | The different levels of the programs very from complexity, to technical 29 | difficulty. 30 | 31 | **As of 2011, FIRST includes:** 32 | 33 | * [FIRST Robotics Competition](frc) 34 | * [FIRST Tech Challenge](ftc) 35 | * [FIRST LEGO League](fll ) 36 | * [Junior FIRST LEGO League](jfll ) 37 | 38 | ## International 39 | 40 | FIRST is an international organization that currently has teams from 41 | Australia, Austria, Bahrain, Belgium, Brazil, Canada, Chile, China, Denmark, 42 | Egypt, Finland, France, Germany, Greenland, Hungary, Iceland, India, Israel, 43 | Italy, Japan, Jordan, South Korea, Lithuania, Luxembourg, Mexico, The 44 | Netherlands, New Zealand, Nigeria, Norway, Peru, Portugal, Saudi Arabia, 45 | Singapore, South Africa, Spain, Sweden, Switzerland, Taiwan, Turkey, the 46 | United Arab Emirates, the United Kingdom, and the United States. 47 | 48 | However, only Brazil, Canada, Israel, Mexico, the Netherlands, the United 49 | Kingdom, and the United States have [FRC](frc) teams. 50 | 51 | 52 | ## External links 53 | 54 | * [Official FIRST Website](http://www.usfirst.org "http://www.usfirst.org" ) 55 | * [ChiefDelphi Forums](http://www.chiefdelphi.com "http://www.chiefdelphi.com" ) 56 | 57 | -------------------------------------------------------------------------------- /_nontech/culture/chiefdelphi.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Chief Delphi (forum) 3 | layout: page 4 | --- 5 | 6 | _Chief Delphi is the name of team [47](/frc0000/47), but this page is 7 | dedicated to the Chief Delphi web forums._ 8 | 9 | The **Chief Delphi forums** ([chiefdelphi.com](http://chiefdelphi.com 10 | "http://chiefdelphi.com" )) is a web forum, founded by the [47](/frc0000/47) 11 | and kept up-to-date by the dedicated work of 12 | [Brandon Martus](brandon-martus), that serves the 13 | FIRST community. It has 14 | transcended the realm of a team forum, and is truly an effort to unite the 15 | entire FIRST community. Through ventures such as Unsung FIRST 16 | Heroes the forums give 17 | back to the community. Members from all walks of [FIRST](FIRST) life regularly 18 | visit the forums, both on- and off-season. 19 | 20 | ## History 21 | 22 | The original Chief Delphi website debuted in 1997 at __. In 1998, plans were made to register a new domain, 24 | __. Here are links to archived copies of Chief 25 | Delphi from throughout the years: 26 | 27 | * [June 1997](http://web.archive.org/web/19970601092730/http://www.pchs-delphi.com/ "http://web.archive.org/web/19970601092730/http://www.pchs-delphi.com/" ) 28 | * [December 1998](http://web.archive.org/web/19981212023729/www.chiefdelphi.com/ "http://web.archive.org/web/19981212023729/www.chiefdelphi.com/" ) 29 | * [November 1999](http://web.archive.org/web/19991109145536/www.chiefdelphi.com/ "http://web.archive.org/web/19991109145536/www.chiefdelphi.com/" ) 30 | * [December 2000](http://web.archive.org/web/20001204221400/http://www.chiefdelphi.com/ "http://web.archive.org/web/20001204221400/http://www.chiefdelphi.com/" ) 31 | * [April 2001](http://web.archive.org/web/20010401193933/http://www.chiefdelphi.com/ "http://web.archive.org/web/20010401193933/http://www.chiefdelphi.com/" ) 32 | * [August 2002](http://web.archive.org/web/20020728025134/www.chiefdelphi.com/forums/portal.php "http://web.archive.org/web/20020728025134/www.chiefdelphi.com/forums/portal.php" ) 33 | * [September 2003](http://web.archive.org/web/20031003073306/www.chiefdelphi.com/forums/portal.php "http://web.archive.org/web/20031003073306/www.chiefdelphi.com/forums/portal.php" ) 34 | * [May 2004](http://web.archive.org/web/20040605182030/www.chiefdelphi.com/forums/portal.php "http://web.archive.org/web/20040605182030/www.chiefdelphi.com/forums/portal.php" ) 35 | 36 | ## Statistics 37 | 38 | As of February 26, 2009: 39 | 40 | * Threads: 64,072 41 | * Posts: 788,444 42 | * Members: 25,820 43 | * Active Members: 7,950 44 | * Most users online at one time: 635, on 01-06-2007 45 | 46 | ## Significance 47 | 48 | This forum site has a large amount of registered users and is _the_ place to 49 | find out about anything and everything. Most of the users are friendly and if 50 | you ask any question you are most likely to get an answer back from someone. 51 | It is a good place for rookie teams to start. It has forums for every thing 52 | from programming to mechanical to just chatting. 53 | -------------------------------------------------------------------------------- /_tech/electrical/spike_relay.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Spike Relay 3 | tags: aux-cs 4 | --- 5 | 6 | The Spike Relay has been a part of FRC since 2000. It was provided in all KOPs from 2000 to 2014 and was still legal from 2015 to 2017. 7 | 8 | ## Data 9 | 10 | The [Robot Controller](robot-controller) sends a Relay signal to the Spike. When it receives a FWD signal, it applies +12v to M+ and grounds M-. Likewise when it receives a REV signal, it applies +12v to M- and grounds M+. When both signals are received, +12v is applied to M+ and M- and nothing is grounded. 11 | 12 | 13 | ## Connections 14 | 15 | 16 | ### Motors 17 | 18 | Spikes can be connected to a [motor](motor) that does not need to move at a variable speed. The motor cannot draw more than 20A. 19 | 20 | 21 | ### Solenoids 22 | 23 | Spikes can be connected to one or two solenoids. To connect two solenoids simply ground the negative ends of the [solenoid](solenoid) to the grounding portion of the [power distribution board](power-distribution-board) and the positive ends to M+ and M-. 24 | 25 | 26 | ### Air Compressor 27 | 28 | The air compressor can also be connected to the Spike, but care should be taken to always observe the proper polarity. The NEG output should never be enabled. If the compressor is powered in reverse, it will appear to function, but it will be drawing more current and producing more heat than it should for the amount of air it moves. Also, note that FIRST recommends that you remove the spike module's 20 amp fuse and replace it with a 20 amp circuit breaker to avoid nuisance blowing of the fuse when the spike module is used with an air compressor. 29 | 30 | 31 | ### Pinout of Control Input 32 | 33 | The control input to the Spike relay is a three-pin receptacle where a three-wire cable from the [Robot controller](robot-controller) is connected to. The black wire is grounded. 34 | 35 | When the white wire is at +5V and the red wire is at 0V, M+ receives the full input voltage. When the red wire is at +5V and the white wire is at 0V, M- receives the full input voltage. 36 | 37 | ## Kit of Parts 38 | 39 | ### 2015-2017 40 | 41 | The Spike Relay is legal for use, but is not provided in the KOP. 42 | 43 | ### 2013-2014 44 | 45 | One Spike Relay is provided to all teams. 46 | 47 | ### 2010-2012 48 | 49 | One Spike Relay is provided to all teams, with one additional relay provided to rookie teams only. 50 | 51 | ### 2009 52 | 53 | Two Spike Relays are provided in the KOP. 54 | 55 | ### 2001-2008 56 | 57 | Four Spike Relays are provided in the KOP. 58 | 59 | ### 2000 60 | The Spike Relay makes its debut in FRC. Four are provided in the KOP 61 | 62 | 63 | # Spike Red 64 | 65 | Occasionally you might see versions of the Spike relay floating around that have red lettering. These are older editions of the relay and lack reverse polarity protection on their inputs. In addition, when no control signal is present, the M+ and M- pins are connected to +12 instead of GND (So a 0 in software is +12, and a 1 in software is a GND) 66 | 67 | # Manuals 68 | [Spike Blue Manual](https://web.archive.org/web/20030419143006/http://www.innovationfirst.com/FirstRobotics/pdfs/SpikeBLUEUsersManual.pdf "https://web.archive.org/web/20030419143006/http://www.innovationfirst.com/FirstRobotics/pdfs/SpikeBLUEUsersManual.pdf") 69 | [Spike Installation Info](https://web.archive.org/web/20030323140520/http://www.innovationfirst.com/FirstRobotics/pdfs/SpikeInstallationInfo.pdf "https://web.archive.org/web/20030323140520/http://www.innovationfirst.com/FirstRobotics/pdfs/SpikeInstallationInfo.pdf") 70 | -------------------------------------------------------------------------------- /_tech/programming/software/openrio.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: OpenRIO 3 | tags: programming community-software software 4 | 5 | layout: software_project 6 | project: 7 | name: OpenRIO 8 | sourcecode: https://github.com/Open-RIO 9 | --- 10 | 11 | [OpenRIO](https://github.com/Open-RIO) is an open source, collaborative organisation that provides APIs, Frameworks, Examples and other Software Utilities for FRC teams and members around the world. The organisation is best known for its work on the [Toast API](https://github.com/Open-RIO/ToastAPI) and [GradleRIO](https://github.com/Open-RIO/GradleRIO). Although in the early years of OpenRIO the Java programming language was primarily used, other languages such as C and C++ have also gained traction in future and existing projects. 12 | 13 | ## Mission Statement 14 | OpenRIO carries the mission statement of "To provide accessible, free, intuitive software for anyone, anywhere, without the software being branded under any specific team number, therefore belonging to the community that builds it.". This statement entails that once a project is migrated to OpenRIO, it belongs to OpenRIO itself and the community, as the community of developers are major contributors to the success and stability of the project. 15 | 16 | ## Origins and History 17 | In an attempt to improve code quality and bring the programming community of FRC together, OpenRIO was launched in 2015 by [Jaci R Brunning](https://github.com/JacisNonsense). The first projects of OpenRIO, the Toast API and its companion build system GradleRIO, were added to the organisation and refined to be ready to release. Both these projects started out as research projects of Jaci and later became staple projects of the organisation, gaining usage and modifications from teams and individuals across the globe. 18 | 19 | ## Projects 20 | The most notable projects of OpenRIO are the Toast API and GradleRIO projects. 21 | A full list of OpenRIO projects can be found on the [github organisation page](https://github.com/Open-RIO). 22 | 23 | ### Toast API 24 | The [Toast API](https://github.com/Open-RIO/ToastAPI) (or simply *Toast*), started in late 2014 and migrated to OpenRIO in early 2015, is known for its innovative Module Loading and Simulation capabilities. Although Toast is written in the Java programming language, it has been hinted that a C++ version is in the works. 25 | 26 | ### GradleRIO 27 | The [GradleRIO](https://github.com/Open-RIO/GradleRIO) project was initially designed as a build system for Toast API and Toast Modules, although was later modified to work with any FRC Java project as an alternative build system to the WPILib ANT build system and eclipse plugins. GradleRIO was designed to be run from the command line, and bring the extensibility and flexibility of the Gradle build system to FRC, allowing for cross-platform builds and use of other IDEs apart from Eclipse, including IntelliJ IDEA. 28 | 29 | ## Licensing 30 | As a rule-of-thumb, most of OpenRIOs projects are licensed under the MIT License for Open Source Software. For projects that use external projects with their own licenses, the external projects maintain their license. For example, the Toast API uses WPILib, and therefore the WPILib BSD License is maintained, while Toast itself uses the MIT License. 31 | 32 | It should be noted that projects that did not start out under OpenRIO may continue to maintain their original copyright and license holders. Most of these copyright holders are individuals, to avoid liability or conflict of interest issues associated with large collections of individuals (such as an FRC team). 33 | -------------------------------------------------------------------------------- /_tech/control_system/robot_controllers/crio.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: cRIO-FRC 3 | tags: [robot-controllers, control-system, obsolete-part] 4 | --- 5 | 6 | {% include historical %} 7 | 8 | The FIRST Robotics Competition (FRC) adopted the CompactRIO (cRIO) control system for advanced robotics for its 2009 through 2014 seasons. In 2010, the cRIO-FRC was joined by the smaller, lighter and cheaper cRIO-FRC II. In 2015, it was replaced by the NI RoboRIO. The cRIO-FRC from National Instruments can be programmed in LabVIEW, C++ or C. 9 | 10 | 11 | ## Programming 12 | 13 | Code was cross-compiled on a separate computer then uploaded over the network by the programming environment. 14 | 15 | 16 | ### LabVIEW 17 | 18 | The cRIO was programmable from National Instrument's own environment, LabVIEW. A demonstration of how LabVIEW was used with the FIRST Robotics Competition robots was provided by NI (link not found). 19 | 20 | ### C++ 21 | 22 | In addition, the cRIO was be programmable in C or C++ with a library developed by [Worcester Polytechnic Institute](https://web.archive.org/web/20170509210113/http://first.wpi.edu/ "https://web.archive.org/web/20170509210113/http://first.wpi.edu/") called [WPILib](wpilib). API documentation generated during active development can be viewed: [WPI Robotics Library Documentation (2009)](https://web.archive.org/web/20170111233254/http://users.wpi.edu/~bamiller/WPIRoboticsLibrary/index.html "https://web.archive.org/web/20170111233254/http://users.wpi.edu/~bamiller/WPIRoboticsLibrary/index.html"). 23 | 24 | 25 | ### C 26 | 27 | Wrappers around the C++ library were provided. [[1]](http://web.archive.org/web/20170720203728/https://forums.usfirst.org/forum/general-discussions/first-programs/first-robotics-competition/competition-discussion/programming-aa/c-c-ac/4278-wpi-robotics-library-c-c-edition-documentation?postcount=1 "http://web.archive.org/web/20170720203728/https://forums.usfirst.org/forum/general-discussions/first-programs/first-robotics-competition/competition-discussion/programming-aa/c-c-ac/4278-wpi-robotics-library-c-c-edition-documentation?postcount=1") 28 | 29 | 30 | ## Hardware 31 | 32 | The Compact Rio contains a PowerPC processor and reprogramable FPGA processor which was programmed by FIRST for the events. It ran [VxWorks](http://www.wikipedia.org/wiki/VxWorks "wikipedia:VxWorks"), a POSIX certified, real-time operating system. 33 | 34 | 35 | ## Modules 36 | 37 | The cRIO-FRC had slots for eight interchangeable modules. New modules were supplied each year to teams. The modules by themselves only have a D-Sub connector, so PWM or other wiring connections are made available through a breakout board that either screws into the module (used with the NI 9201 and NI 9472 modules), or a sidecar that is seperate from the module and connected by a cable (used with the NI 9403 module). 38 | 39 | There were three modules used: 40 | * [Digital I/O Module (NI 9403)](/wiki/ni-9403) 41 | * [Digital Output (Solenoid) Module (NI 9472)](/wiki/ni-9472) 42 | * [Analog Input Module (NI 9201)](/wiki/ni-9201) 43 | 44 | ## Key features 45 | 46 | * 32-bit real-time processor 47 | * 802.11 pre-n wireless ethernet 48 | * FPGA I/O control 49 | * Programmable in C, C++, and LabVIEW 50 | * Wireless debugging 51 | * Laptop dashboard 52 | * Intelligent robotics algorithms 53 | * Real-time vision processing 54 | * 50G shock rating 55 | * Easier connectivity 56 | * More sensor choices 57 | * More I/O lines 58 | 59 | ## External Links 60 | 61 | * [WPIlib resources, C and C++ programming](https://web.archive.org/web/20170115115408/http://first.wpi.edu/FRC/index.html "https://web.archive.org/web/20170115115408/http://first.wpi.edu/FRC/index.html") (2010) 62 | * [WPIlib ScreenSteps Documentation](https://web.archive.org/web/20170301213604/http://wpilib.screenstepslive.com/s/3120 "https://web.archive.org/web/20170301213604/http://wpilib.screenstepslive.com/s/3120") (2014) 63 | -------------------------------------------------------------------------------- /_tech/design/shooter/flywheel.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Flywheel 3 | tags: shooter 4 | --- 5 | 6 | One type of [shooter](shooter) that features one or several wheels spinning at very high speeds and then have a ball compressed against them. There are several different variables that you can change to alter the performance of the shooter. Commonly these are setup in one of two methods: One or Two flywheel setups. 7 | 8 | ## Designs 9 | 10 | ### Single Flywheel 11 | 12 | Usually this centers around a single flywheel in the center, or several wheels lined up next to each other in a line. On the outisde of this wheel is a gap large enough for the game piece and then a retaining wall. The exiting angle is determined by where that retaining wall ends on the arc. This style of shooter is usually used on [turrets](turrets). 13 | 14 | ### Double Flywheel 15 | 16 | This setup contains two flywheels that are on each side of a gap that is designed for a size of the game piece being shot. This offers significantly easier adjustment of compression, as with a single flywheel you have to change the radius of the entire setup, but requires you to adjust both wheels's angle if you need to adjust the shooting angle. 17 | 18 | ### Other Designs 19 | 20 | 21 | 22 | ## Performance 23 | 24 | There are several different items that can be added to increase the shooting range of the shooter. 25 | 26 | ### Compression 27 | 28 | By increasing the amount of "squeeze" between the flywheel and the wall. By increasing this compression, the more normal force that is applied to the game piece, and thus the amount of friction that is applied is increased. This results in a higher speed to a certain extent. Too much compression can result in damaged or destroyed game pieces, which will not make field staff happy. This also starts to reduce game piece speed. 29 | 30 | ### Speed 31 | 32 | The amount of speed you have your flywheel at is usually the variable you change the most to adjust the aim of the shooter. By varying the output of the [motor controller](motor-controller), you can adjust the speed. You want to have your speed on a [closed loop](closed-loop-control) so that when your battery voltage reduces during the course of a match, your flywheel speed stays the same. For very much the same reason, you should be testing your flywheel system at about 60% so you can adjust for you lowest battery voltage. Adjusting your compression and maximum motor RPM can increase your area for this. 33 | 34 | Your shooter maximum speed is very dependent on your design, your wheels and your compression. There is no general rule of thumb, it almost entirely depends on your setup. You will need to do shooter testing to make sure it works. 35 | 36 | ### Inertia 37 | 38 | If you are shooting a large quantity of game objects in a short period, such as in [FIRST STEAMWORKS](first-steamworks), you need to have a high inertia. Inertia determines how much torque is required to accelerate the flywheel. By adding more mass further away from the axle, you can add more rotational inertia. A higher rotational inertia means that the flywheel will take longer to accelerate up to speed, but it also means less speed will be lost every time a game piece is shot. A simple way to increase inertia is to use larger or heavier wheels, but another option is to use a seperate weight either attatched on the same axle or geared seperately like [118 in 2017](https://www.youtube.com/watch?v=x6CtdZ91qzI&feature=youtu.be) 39 | 40 | ### Wheels 41 | 42 | Your wheel choice is most importantly impacted by your game piece. If your game piece is soft and malleable, you can use harder wheels, but if your game piece is harder, you need to use softer wheels so your compression isn't acting against your shooter rotation. Of course you need to think about shooter speed when deciding on wheel size (which can also affect inertia). Durability is also a concern, since these are spinning at such high speeds, you need to have a high durability (which is usually referred to with [durometer](durometer)), but this often results in lower friction. You need to have a good balence between friction and durability, which can be best determined using shooter testing off the robot first. 43 | -------------------------------------------------------------------------------- /_nontech/first/FRC_championship_event.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: FIRST Championship Event 3 | --- 4 | 5 | The **FIRST World Championship** is the pinnacle of the [FIRST Robotics 6 | Competition](/index.php/FIRST_Robotics_Competition "FIRST Robotics 7 | Competition" ), [FIRST Tech Challenge](ftc), and [FIRST Lego League](fll). 8 | In FRC, teams from around the world compete in one large arena 9 | in four different divisions. The location for the Championship has changed 10 | over the years; it is currently held in St. Louis, Missouri. 11 | 12 | ## History 13 | 14 | ### 2011-2013 St. Louis, MO 15 | 16 | On October 7th, 2009 _FIRST_ announced that the America’s Center Convention 17 | Complex in St. Louis would be the site of the 2011-2013 _FIRST_ Championships. 18 | 19 | ### 2004-2010 Atlanta, GA 20 | 21 | The main event is held in the Georgia Dome, and the pits are located in the 22 | adjacent Georgia World Congress Center. The team party has been held in 23 | Centennial Olympic Park and inside the GWCC with fireworks, a hypnotist, and 24 | inflatable games as entertainment, and of course, free food for all attending 25 | team members. 26 | 27 | ### 2003 Houston, TX 28 | 29 | [FIRST](first) outgrew Epcot Center, so the championship 30 | had to move to Houston. While in one sense the Epcot Center was outgrown, the 31 | primary reason for the move to Houston was bad timing -- Disney had something 32 | planned for the date [FIRST](first) wanted, and the 33 | conflict could not be resolved in a timely fashion. The fields were in Reliant 34 | Stadium and the pits were in the adjacent Astrodome. The team party was held 35 | at Six Flags AstroWorld across the street. 36 | 37 | ### 1995-2002 Orlando, FL 38 | 39 | After 1994, the Championship was moved to 40 | [Epcot](http://www.wikipedia.org/wiki/Epcot "wikipedia:Epcot" ) in [Disney 41 | World](http://www.wikipedia.org/wiki/Disney_World "wikipedia:Disney_World" ). In 42 | 1995 and 1996, it was held in the American Pavilion (now the American Adventure 43 | Theater). In 1997 and after, it was held in the parking lot of Epcot in tents. 44 | There was one large tent for the pits and from 1997-1999, there were separate 45 | tents for each field. From 2000 to 2002, the pit tent was extended, and all the 46 | smaller fields were moved into that tent, while Einstein (the large field) 47 | remained outdoors. However, Epcot told [FIRST](/index.php/FIRST "FIRST" ) that 48 | it could not accommodate any more teams (their pit tent already was large enough 49 | to hold 3 747's tail to nose), and so beginning in the 2002 season, a team had 50 | to qualify to go to nationals. But despite all of that, Dean and Disney are 51 | still good friends, with Disney sponsoring a few [FIRST](first) teams, and even 52 | showing off, and renting, Segways in the parks. 53 | 54 | ### 1992-1994 Manchester, NH 55 | 56 | Prior to 1995, the Championship was held in various high schools in southern 57 | NH. In 1992, it was held in Memorial High School in Manchester, NH and in 1993 58 | and 1994 it was held in Bishop Guertin High School in Nashua, NH. 59 | 60 | ## Qualification 61 | 62 | Since 2001, teams have had to qualify to go to the national championship each 63 | year. Qualification requirements may be different every year. Check [the FIRST 64 | website](http://www.usfirst.org/ "http://www.usfirst.org/" ) for up-to-date 65 | qualification information. 66 | 67 | When the qualification system was first implemented, on alternating years even 68 | or odd numbered teams would automatically qualify, and additional qualification 69 | would be based on a points system, with varying points being assigned for 70 | different awards. Since the beginning, the (national) [Chairman's 71 | Award](frc-chairmans-award) winners were reserved a spot at the [national 72 | championship](frc-championship-event). Since then, the system has changed to a 73 | tier based structure, basing qualification more on how long a team has not been 74 | to the nationals. There has been considerable controversy over the varying 75 | methods, which go to the heart of FIRST's philosophy -- the issue being creating 76 | a championship that is challenging and exciting to watch, while not focusing on 77 | the competition aspect of the event as much as the rest of it. 78 | -------------------------------------------------------------------------------- /_tech/electrical/connectors.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Electrical Connectors 3 | tags: aux-cs 4 | --- 5 | 6 | {% include stub %} 7 | 8 | Several types of electrical connectors are commonly used in FRC. Some connectors can simply take a bare wire while some require a crimp or solder connection to create a proper electrical connection. Most of these come in several shapes and sizes with different gauges. As always check the manual for the current game to see proper sizing requirements. 9 | 10 | ## PWM Headers (.1 in) 11 | 12 | Commonly used for [PWM Cables](/pwm-cable), these headers have a .1 in pitch and come in various numbers of connectors. The most common is three connector versions, used for [motor controllers](speed-controller) and various other connectors on the [roboRIO](roboRIO), include [analog](analog) and [digital](digital) signals, [relays](spike-relay) and analog inputs. These also come in 2 connector versions, mainly for the robot status light. Four connector and larger versions can also be found on the [roboRIO](roboRIO) for other communications types. 13 | 14 | ## Weidmuller Connectors 15 | 16 | Found on the new [Power Distribution Panel](PDB), [Voltage Regulation Module] and [Pneumatic Control Module], these connectors operate by using a simple button to release the connector inside and allow a bare or tinned wire to be inserted. Some teams prefer to use [Ferrules](http://www.ctr-electronics.com/cabling/ferrule-16-awg.html) instead so that frayed wires do not come out of the connectors. Make sure not to fray the wires beforehand, otherwise the wires themselves may not insert correctly and either may fray out of the connector or the entire wire itself can come out. This type of connector is used on all of the modern [CAN](can) connectors on the entire control system, including the new [roboRIO](roboRIO). 17 | 18 | ## Wago Connectors 19 | 20 | Found on both the new and old [Power Distribution Panel](PDB), these allow various different sizes of wire to be inserted without any prior crimp. Simply by sticking a flat head screwdriver into the opening slots above (or a specific WAGO opening tool if needed), you can insert a wire into it. Unless you have the specific Wago opening tool, it may be hard to open the connectors once inserted into the robot or a enclosure. 21 | 22 | ## Screw terminals 23 | 24 | Commonly found on [motor controllers](speed-controller) for power input and motor output, these connectors require a crimp on the wire end. Once the screw is removed, you can insert the ring crimp above the hole and then insert the screw back in. These screws are easily lost, so if a motor controller dies, make sure to save these for backups. These connectors are not found on [Talon SRXs](talon-srx) or [Victor SPs](victor-sp). 25 | 26 | ## Spade terminals 27 | 28 | Only found on the [Spike Relay](spike-relay), these connectors are also commonly used for wire to wire connectors on the robot. 29 | 30 | ## Anderson Powerpole 31 | 32 | _Not to be confused with Anderson SB-50 connectors_ 33 | 34 | Powerpoles are commonly used for wire to wire connectors on the robot. They come in 15, 30 and 60 amp varieties. They snap together quite well, can be attached in pairs of two to make sure DC pairs stay together. The two sides of the connector lock together, and teams commonly zip tie the connectors for more secure connections. They also come in many colors, but many teams keep them in pairs of red/black and white/green to match the colors on most [motor controllers](speed-controller). These connectors are hard to crimp without the specific anderson crimping tool, adding additional cost. 35 | 36 | ## Anderson SB-50 37 | 38 | This connector is used for the main battery connector. 39 | 40 | ## IDC connectors 41 | 42 | Used for MXP connectors on the [roboRIO](roboRIO), the sensor mount on the [Talon SRX](talon-srx) and other connectors on the [roboRIO](roborio). 43 | 44 | ## USB 45 | 46 | A USB type B connector is found on the [roboRIO](roborio). 47 | 48 | ## Barrel jack 49 | 50 | Used to power the robot radio. 51 | 52 | ## RJ45 (ethernet) 53 | 54 | Used to connect the [roboRIO](roborio) and robot radio as well as other custom devices on the robot. 55 | 56 | ## RJ11 57 | 58 | Used on the now obsolete [Jaguar motor controller](jaguar) for [CAN](CAN) connections. 59 | -------------------------------------------------------------------------------- /_tech/electrical/sensors/encoder.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Encoder 3 | tag: sensor 4 | --- 5 | 6 | An incremental encoder (aka a "wheel encoder") is a device that when rotated sends out a series of digital signals that signify intervals in rotation of the shaft with which the encoder is connected. 7 | 8 | Strictly speaking, a device that records speed, but not velocity (which has a direction component) is more accurately referred to as a tachometer. Other encoding methods include using reflective optical detection, mechanical wipers (unreliable), and hall effect sensors (used in car ABS systems). 9 | 10 | ## Calculations 11 | 12 | By counting up these digital "clicks" that a encoder sends can yield the total [angular displacement](http://www.wikipedia.org/wiki/angular_displacement "wikipedia:angular_displacement") of a shaft. With wheels of known size, the linear [displacement](http://www.wikipedia.org/wiki/displacement "wikipedia:displacement") and [velocity](http://www.wikipedia.org/wiki/velocity "wikipedia:velocity") are easy to calculate. 13 | 14 | ### Immediate Velocity 15 | 16 | To calculate a more immediate look at the velocity on the encoder, an ordinary input port can look at the width of one rotation pulse. This requires the use of interrupts and timers to keep track of how many fractions of a second have gone by since the last pulse. 17 | 18 | Note that at high speed, this method can be very noisy, so a running average of the last few pulse durations can be useful. 19 | 20 | ## Types of Encoders 21 | 22 | ### VEX Encoders 23 | 24 | The VEX encoder uses a single LED/photodetector set with a radially slit disc passing between them. 25 | 26 | ### Quadrature Encoders 27 | 28 | Quadrature encoders use two sensors offset 90 degrees out of phase with each other to recover direction information as well. 29 | 30 | These two sensors, usually referred to as phase A and phase B, will indicate direction by polling one line on the transition of the other. For example, on a rising interrupt of phase A, if phase B is high, then the robot knows it is traveling in one direction. If phase B is low, then the robot is going to opposite way. 31 | 32 | By capturing interrupts on the rising and falling edge of phase A, the encoder enters what is known as "X2" mode, as two counts are made for every slit in the photo interrupter disk. Alternatively, interrupts can be enabled on both edges of phase B as well (and the interrupt handlers will poll phase A now, instead) to generate four times the counts per slit ("X4" mode). These techniques allow a low resolution encoder to effectively double or quadruple its CPR (counts per revolution), which can be valuable in some applications. 33 | 34 | ## Interfacing Considerations 35 | 36 | {% include outdated-warning %} 37 | 38 | The biggest problem with using incremental encoders in [FIRST](first) is generally on the interfacing side of things. The [robot controller](robot-controller) only has a limited number of digital inputs and thus, affects how many encoders that can be mounted on the robot. 39 | 40 | Additionally, whenever a rising/falling edge is detected, a small piece of code (called the interrupt service routine) must run. If the ticks are coming too fast, the [RC](robot-controller) will spend too much time handling the interrupts and not enough doing other things. In the worst case, this can mean communication dropout, erratic data, or the red- light-of-death. 41 | 42 | Some teams choose to use supplemental electronics (such as a second microprocessor, FPGAs, or up/down counter ICs) to "decode" the quadrature signal. In this manner, the [RC](Robot_controller "Robot 43 | controller") can request the count information via a serial or parallel link whenever it is ready. 44 | 45 | Other interfacing issues that can arise have to do with the low current sourcing abilities of many commercial encoders, meaning that buffer circuitry may be needed to drive the signal across longer wires. Lastly, the time it takes the [robot controller](robot-controller) between starting to service the interrupt and reading the other phase (for direction information) can be long enough that by the time the RC is ready, the other line has already changed state. A pulse-stretch circuit can alleviate this issue. Banebots offers a simple quadrature decoder circuit that addresses both the current sourcing and read lag issues. 46 | -------------------------------------------------------------------------------- /_tech/mechanical/motors/cim_motor.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: CIM Motor 3 | tags: motor 4 | --- 5 | 6 | {% include outdated-warning %} 7 | 8 | ## CIM (2.5 inch FR801-001) 9 | 10 | Stall current (amps) | 133.0 11 | Stall torque (in-lb) | 21.462 12 | Max power output (watts) | 337 13 | Free speed (rpm) | 5310 14 | 15 | One of the two basic [skid steer](skid-steer) [drive trains](drive-train) included in the [kit of parts](kit-of-parts) is designed to utilize one or two CIM motors on each side of the [robot](robot). This exact motor has been known over the years as the "CIM", "Chiaphua", or "Atwood" motor. The motor is provided in the kit of parts as part number "FR801-001". Some years (2006 & 2007) have also shipped a larger three inch "Mini-bike" motor (part number FP801-005). 16 | 17 | Exact specifications are available from FIRST: [FR801-001 MOTOR SPECIFICATIONS](https://web.archive.org/web/20070203122606/http://www2.usfirst.org/2005comp/Specs/CIM.pdf "https://web.archive.org/web/20070203122606/http://www2.usfirst.org/2005comp/Specs/CIM.pdf") 18 | 19 | 20 | ## Torque and Efficiency curves 21 | 22 | | | Torque (oz-in) | Speed (RPM) | Current (A) | Power (Wo) | Efficiency 23 | -------------- | -------------- | ----------- | ----------- | ---------- | ---------- 24 | Free Load | 0 | 5310 | 2.7 | 0 | 0% 25 | Normal Load | 64.0 | 4320 | 27 | 205 | 63% 26 | Max Efficiency | 45.0 | 4614 | 19.8 | 154 | 65% 27 | Max Power | 171.7 | 2655 | 67.9 | 337 | 41% 28 | Stall | 343.4 | 0 | 133.0 | 0 | 0% 29 | 30 | ## Kit of Parts 31 | 32 | ### 2017 33 | 34 | Four standard 2.5" motors are included, along with one miniCIM motor and one BAG motor. In FIRST Choice, CIM motors were available to veteran teams at a cost of 20 credits each, with no quantity limit. 35 | 36 | ### 2014-2016 37 | 38 | Four standard 2.5" motors are included, along with one miniCIM motor and one BAG motor. 39 | 40 | ### 2013 41 | 42 | Two standard 2.5" motors are included, along with one miniCIM motor and one BAG motor. 43 | 44 | ### 2012 45 | 46 | Two standard 2.5" motors are included. 47 | 48 | ### 2011 49 | 50 | Two standard 2.5" motors included, with AndyMark CIMple Box assembly. [[1]](ht 51 | tp://usfirst.org/uploadedFiles/Robotics_Programs/FRC/Game_and_Season__Info/201 52 | 1_Assets/Kit_of_Parts/2011%20Kit%20of%20Parts%20Checklist%20Rev%20E.pdf "http: 53 | //usfirst.org/uploadedFiles/Robotics_Programs/FRC/Game_and_Season__Info/2011_A 54 | ssets/Kit_of_Parts/2011%20Kit%20of%20Parts%20Checklist%20Rev%20E.pdf") 55 | 56 | ### 2008-2010 57 | 58 | Two standard 2.5" motors are included, the 3" CIM is no longer legal. 59 | 60 | ### 2007 61 | 62 | Two of the standard 2.5" motors are included, and a larger 3" CIM (previously labeled as mini-bike motors). 63 | 64 | ### 2006 65 | 66 | Two of the four 2.5" CIM motors were replaced with two larger 3" "mini-bike" motors (labeled as 'Motor (Large)' in the KOP list). [[2]](https://web.archive.org/web/20060902090301/http://www2.usfirst.org/2006comp/Manual/5-The_Robot_Rev_F.pdf "https://web.archive.org/web/20060902090301/http://www2.usfirst.org/2006comp/Manual/5-The_Robot_Rev_F.pdf") 67 | 68 | ### 2005 69 | 70 | Four standard 2.5" motors are included in the KOP. 71 | 72 | ### 2003-2004 73 | 74 | Two standard 2.5" motors are included in the KOP, now labeled as CIM Motors in the KOP list. 75 | 76 | ### 2002 77 | 78 | CIM motors make their debut in FRC. Two 2.5" motors are provided in the KOP, labeled as Chiaphua Motors in the KOP list. 79 | 80 | ## Usage Notes 81 | 82 | - Partially because of the CIM's relatively large size and consequentially low power density, the motor can withstand longer periods at, or near, stall. CIM do not burn out nearly as often as a [drill motor](drill-motor) or a [fisher price motor](fisher-price-motor). 83 | - Because the CIM is not designed for a specific application like the (obsolete) [drill motor](drill-motor), it has little or no [wiring bias](wiring-bias). This means the motor is equally powerful in forward in reverse. This can be useful in many applications. For example, drive trains which involve a pair of motors running in opposite directions can suffer from driving in a large radius circle when both motors are set to equal speeds. The CIM is relatively immune from such problems in that situation. 84 | -------------------------------------------------------------------------------- /_nontech/culture/FIRST_philosophy.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: FIRST Philosophy 3 | layout: page 4 | --- 5 | 6 | **FIRST philosophy** is an oft-heard idea, whether or not it goes by that name all the time. FIRST 7 | philosophy has nearly become synonymous with [gracious 8 | professionalism](gracious-professionalism); 9 | an important idea, for sure, but not inclusive of all the ideas that the [FIRST 10 | Robotics Competition](FIRST) is about. FIRST has grown into a very diverse and large group 11 | through the years, and a distinctive [FIRST 12 | sub-culture](first-culture) has developed, -- but it 13 | would be a mistake to assume that FIRST means the same to everyone involved, or 14 | that the ideas of FIRST philosophy, while agreed upon in a general sense, are 15 | static and well-defined. Therefore, tread cautiously through this article, as 16 | the main tenets and some of the divergent issues are explained. 17 | 18 | 19 | ## Gracious professionalism 20 | 21 | [Gracious professionalism](gracious-professionalism) is ubiquitous in the FIRST world. The 2004 manual declares, 22 | _In FIRST, one of the most straightforward interpretations of gracious 23 | professionalism is that we learn and compete like crazy, but treat one another 24 | with respect and kindness in the process._ The importance of this, is hard to 25 | underestimate. The term is thrown about, haphazardly at times, quite frequently. 26 | 27 | ## Coopertition 28 | 29 | A difficult aspect in terms of FIRST philosophy is the idea of competition. 30 | Often it is heard that FIRST is not about the robot. And, while in many senses 31 | this is true, the underlying element of competition cannot be ignored. It is a 32 | lofty idea to say that everyone is a winner, and in that regard, people should 33 | not push themselves to _winning_ in the traditional sense of the word. Yet, 34 | this idea is patently not gracious professionalism. It is precisely that 35 | _push_, the drive to do better, that gets students to learn and be inspired 36 | about science and technology. FIRST philosophy certainly supports the idea of 37 | competition, but holds, too, that off the field everyone is treated with 38 | "respect and kindness." That is, the _push_ should not push the individual 39 | over the edge. 40 | 41 | FIRST also includes another aspect unique to most competitive 42 | organizations: the drive to help one another. At a competition, one can often 43 | find teams fixing other teams robots or offering advice. Most competitive 44 | programs seek to throw down their competition; but in FIRST teams seek to lift 45 | each other up. To explain this idea, FIRST has combined the words "competition" 46 | and "cooperation", coining the term "Coopertition". 47 | 48 | 49 | ## Discussion 50 | 51 | So important and at times controversial are the ideas collected under the term 52 | FIRST philosophy, that frequent discussion takes place on the 53 | [ChiefDelphi](chiefdelphi) web forum. Here is a 54 | sampling of some discussion. 55 | 56 | * FIRST is unique compared to other programs. FIRST doesn't just help a person in one specific area, but rather in a plethora of areas, [[1]](http://www.chiefdelphi.com/forums/showpost.php?p=273972&postcount=5 "http://www.chiefdelphi.com/forums/showpost.php?p=273972&postcount=5" ). 57 | 58 | * FIRST is a place where we improve our skills in creativity, teamwork, and logical problem solving, [[2]](http://www.chiefdelphi.com/forums/showpost.php?p=274413&postcount=8 "http://www.chiefdelphi.com/forums/showpost.php?p=274413&postcount=8" ). 59 | 60 | * Instead, I'd argue that perhaps you and those who have shared similar sentiment don't understand the true potential of what's happening here. To limit FIRST to robots, tools, and competition is to strip away its immense potential, [[3]](http://www.chiefdelphi.com/forums/showpost.php?p=102757&postcount=51 "http://www.chiefdelphi.com/forums/showpost.php?p=102757&postcount=51" ). 61 | 62 | * But if FIRST followed a "truth in advertising" philosophy for the registration kits, they would contain six cannisters labeled: "Stress", "Anxiety", "Confusion", "Insomnia", "Dietary Inadequacy", "Unbalanced Priorities" And a really big seventh one labeled "Fun" :) [[4]](http://www.chiefdelphi.com/forums/showpost.php?p=185848&postcount=4 "http://www.chiefdelphi.com/forums/showpost.php?p=185848&postcount=4" ). 63 | 64 | * FIRST *is* about winning, and it has made many of us winners... I am glad to be a part of it, [[5]](http://www.chiefdelphi.com/forums/showpost.php?p=186736&postcount=99 "http://www.chiefdelphi.com/forums/showpost.php?p=186736&postcount=99" ). 65 | 66 | And see these threads, 67 | [[6]](http://www.chiefdelphi.com/forums/showthread.php?threadid=29264 68 | "http://www.chiefdelphi.com/forums/showthread.php?threadid=29264" ), 69 | [[7]](http://www.chiefdelphi.com/forums/showthread.php?t=29251 70 | "http://www.chiefdelphi.com/forums/showthread.php?t=29251" ). 71 | 72 | _Also see other elements of [FIRST culture](/index.php/FIRST_culture "FIRST 73 | culture" )._ 74 | -------------------------------------------------------------------------------- /_nontech/culture/gracious_professionalism.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Gracious Professionalism 3 | layout: page 4 | --- 5 | 6 | 7 | **Gracious Professionalism** is the embodiment of the [FIRST philosophy](first-philosophy). 8 | It is how we should strive to act, whether we are being watched or not, and in a 9 | way that would make our grandmothers proud. It has long been part of the history 10 | of [FIRST](first), and was codified in the 2004 manual. 11 | 12 | > "Gracious professionals make a valued contribution in a manner pleasing to others and to themselves. In FIRST, one of the most straightforward interpretations of gracious professionalism is that we learn and compete like crazy, but treat one another with respect and kindness in the process. We try to avoid leaving anyone feeling like they are losers. No chest thumping barbarian tough talk, but no sticky sweet platitudes either. Knowledge, pride and empathy comfortably blended.... In the long run, gracious professionalism is part of pursuing a meaningful life." 13 | 14 | How does one act "graciously professional?" Common sense goes a long way 15 | toward this. Act like you would want others to act. Help others out as often 16 | as you can. Be gracious, but at the same time, be professional. For instance, 17 | booing would obviously not be graciously professional, but at the same time 18 | saying "everyone is a winner" would be just as much so. It's all about healthy 19 | competition, or "co-opetition." Being graciously professional can include 20 | helping out a team, not doing so by giving out all the tools in your tool 21 | chest, but by "sharing" them. It is a concept hard to explain, but easy to 22 | identify when seen. It means different things to different people, as 23 | evidenced by various discussions on [ChiefDelphi](chiefdelphi) 24 | [here](http://www.chiefdelphi.com/forums/showthread.php?t=19363 25 | "http://www.chiefdelphi.com/forums/showthread.php?t=19363" ) and 26 | [here](http://www.chiefdelphi.com/forums/showthread.php?t=28165 27 | "http://www.chiefdelphi.com/forums/showthread.php?t=28165" ) (among other 28 | places). 29 | 30 | GP is the tool used to utilize the main goal of FIRST: to change society for 31 | the better. The vision of FIRST is to create a world where science and 32 | technology heroes are as revered as sports stars. This goal has been greatly 33 | helped along with the introduction of the concept of Gracious Professionalism: 34 | It is changing the way teenagers think about themselves and others. 35 | 36 | The term was coined by Woodie Flowers, and is one of the key reasons why FIRST 37 | has been so overwhelmingly successful. Gracious Professionalism is not a 38 | "thing", but a habit or way of conducting one's self. It encourages quality 39 | work, good ethics, respect for yourself and everyone else, and the ability to 40 | compete in a gracious manner. "GP" represents everything FIRST stands for. 41 | Competition with respect. Effective communication. Creative brainstorming. 42 | Gracious Professionalism. 43 | 44 | 2004 Regional Chairman’s Award (paraphrased Award created to keep central 45 | focus of FIRST Robotics on ultimate goal transforming the culture to one where 46 | youth aspire to careers in science and technology) honors the team that, in 47 | the judges’ estimation, best represents a model for other teams to emulate, 48 | and which embodies the goals and purpose of FIRST. It is presented to team 49 | judged to have created the best partnership effort among team participants, 50 | and to have best exemplified the true meaning of FIRST. Among the factors 51 | judges evaluate are: concrete examples of mentorship between students and 52 | engineers; clear indications of the spirit the shared experience develops 53 | among all participants; demonstrations of how a team inspires others in its 54 | school, community and beyond to share in the excitement and fun of 55 | engineering; and compelling stories about how the partnership has impacted the 56 | lives of those involved. It remains FIRST’s most prestigious award. The winner 57 | of this year’s has generated an excellent partnership within its team, within 58 | the schools the team represents, with the community college, and with the 59 | whole community. They have helped other teams get formed, helped them on their 60 | robots, created a practice field shared with other teams, and has constantly 61 | supported others at the competition. They have creatively worked to spread the 62 | spirit of FIRST throughout the community through their work with AOL, their 63 | spectacular website, and local radio and television. FIRST is about much more 64 | than the mechanisms of building a robot or winning a competition event. It is 65 | about the impact of FIRST has on those who participate in the program and the 66 | impact to the community at large. It is about changing the way America’s young 67 | people regard science and technology and to inspire pursuit of real-life 68 | rewards and careers in these fields. Our winning team has sustained excellence 69 | in promoting these goals and they continue their aggressive work to plan the 70 | seed for tomorrow’s robotics competitors and future scientists and engineers. 71 | This year’s award goes to the sponsor of the “Gracious Professionalism Award”, 72 | and they exemplify this better than anyone. 73 | -------------------------------------------------------------------------------- /_tech/electrical/speed_controllers/victor_884.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: Victor 884 3 | tags: speed-controller 4 | --- 5 | 6 | {% include outdated-warning %} 7 | 8 | The **Victor 884** is a [speed controller](speed-controller) developed by [Innovation FIRST](innovationfirst) as an improved version of the [Victor 9 | 883](victor-883). It has been legal since 2003, longer than any other motor controller. The Victor 884 works by reading a 10 | [PWM](pwm) signal from a [robot controller](robot-controller), and adjusting the effective voltage supplied to the motors accordingly. The Victor 884 was the only FIRST legal speed controller allowed in the 2004-2008 [control systems](control-system). 11 | 12 | 13 | ## Technical 14 | 15 | The Victor 884 works by recieving a [PWM signal](pwm-signal) input from a [robot controller](robot-controller), which may include the (full) [Robot Controller](robot-controller), the [Robovation](robovation) controller, a [Vex](vex) Controller. Depending on the range of the [PWM](pwm) signal - with 0 being full reverse, 127 being neutral, and 254 being full forward - the Victor 884 adjusts the output of the motor accordingly. This achieves a variable speed control for such applications as [drivetrains](drive-trains), arms, or elevators. 16 | 17 | The operating voltage of the Victor 884 ranges from 6V to 15V DC, with a maximum operating current of 40 amps. The variable output from the Victor 884 ranges from 3% to 100% of full throttle. A cooling fan operated by the input voltage of the speed controller insures that the Victor 884 is continuously cooled. 18 | 19 | 20 | ### Use 21 | 22 | The Victor 884 Speed Controllers may be wired into either a 30 Amp or 40 Amp fuse on the breaker panel depending on the motor being used. 23 | 24 | 25 | ### Coast/Brake 26 | 27 | A small jumper on the Victor 884 determines whether the Victor will 'coast' or 'brake' when it stops receiving signal. In 'coast' mode, momentum of the spinning motor will enable the motor to coast to a stop when it stops receiving signal. In 'brake' mode, the Victor will short the output terminals together, providing a resistance to the momentum of the spinning motor. As such, the motor will come to a stop much more quickly. 28 | 29 | Typically, a robot will use 'coast' mode on most drive motors, as abrupt stops can cause tipping issues. Turrets, arms, and other manipulators should usually use 'brake' mode, both to help hold a load at its desired position and to aid in controllability. 30 | 31 | 32 | ## Connections 33 | 34 | 35 | ### Data 36 | 37 | A 3-pin [PWM cable](pwm_cable) connects the Victor 884 to the [robot controller](robot-controller). On the Robot Controller, the PWM cable destined for the Victor 884 speed controller should be connected to the "PWM output" set of ports. A relay extension cable] or a Y-cable may be used if the Victor is mounted far away from the Controller or if one wants a single PWM output port on the Controller to control multiple Victors. 38 | 39 | 40 | ### Input 41 | 42 | The two input terminals on the Victor supply the power needed to run the speed controller, the cooling fan, and the motor output. The cooling fan on the Victor 884 should be wired into the two input terminals. This insures that the speed controller stays cool whenever the Victor is on. If wired incorrectly to the output terminals, the cooling fan will only work when the output motor is being driven, which will lead to over heating and the possible release of [magic smoke](magic-smoke). 43 | 44 | The two input wires must be correctly wired to match their polarity. If the polarity of the input wires is switched, the speed controller may cease to function. Sparks, arcing, fire, burning smells, or [magic smoke](magic-smoke) may indicate that a Victor 884 was wired incorrectly, and hence has also been destroyed. 45 | 46 | 47 | ## Programming 48 | 49 | The PWM outputs on the [Robot Controller](robot-controller) can be set across the normal hobby servo range, 1 to 2 ms. The 8-bit PWM channels used on the PIC microprocessor of the Robot Controller (and Vex controller) has a resolution of 256 values, which fit in an `unsigned char`. Zero commands full reverse, 127 commands stop, and 254 commands full forwards. The command 255 should be avoided on older RCs because it acts as a special signal command when transmitted between the Robot Controller and OI. Newer versions of the RC seem to have no issue with a 255 command. However, for code portability, 254 should be the maximum value used (besides, using 254 results in symmetric forward and reverse resolutions). 50 | 51 | Note that a neutral PWM command to a factory calibrated Victor consists of a pulse of about 1.5 ms duration. As such, when no PWM input is applied, the Victor will detect this and flash it's LEDs yellow. 52 | 53 | ## Kit of Parts 54 | 55 | ### 2013-2017 56 | 57 | The Victor 884 is legal for use, but is not provided in the KOP. 58 | 59 | ### 2010-2012 60 | 61 | One Victor 884 is provided to rookie teams only. 62 | 63 | ### 2009 64 | 65 | One Victor 884 is provided to all teams. The Jaguar motor controller was added this year. 66 | 67 | ### 2004-2008 68 | 69 | Four Victor 884 controllers are provided in the KOP. The Victor 884 is the only legal controller during this time. 70 | 71 | ### 2003 72 | 73 | The Victor 884 makes its debut in FRC. Four are provided in the KOP. The Victor 883 is still legal. 74 | -------------------------------------------------------------------------------- /_nontech/game/FIRST_Stronghold.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: FIRST Stronghold™ 3 | tags: frc_games 4 | --- 5 | {% include TODO %} 6 | 7 | {% include wikilink topic="FIRST Stronghold" %} 8 | 9 | ## Game Overview 10 | 11 | *FIRST* Stronghold™ is based loosely on a Castle Raid. Each alliance much launch 10 in. foam "Boulders" into the opponent alliance's "Tower" as well as traversing the alliance's "Defenses" 12 | 13 | ### Field 14 | 15 | *FIRST* Stronghold™ is played on a standard [FRC field](frc-field), featuring "Scotch Pine" colored carpet. It features two main sections of the field, which is duplicated on each side of the field. The central area between the two Outer Works is the "neutral zone", in which 6 of the boulders start at the beginning of the match. 16 | 17 | #### Outer Works 18 | 19 | The outer works consists of 5 slots for various defenses on each side of the field. Each game round, the defenses will be switched out for various defenses chosen by that side of the field's alliance for the other alliance to traverse. The defense slots are numbered 1 through 5, with the secret passage bordering the 5th defense slot. Defense position 1 always had the "low bar", while defense position 3 was decided on by the audience. 20 | 21 | Out of the 9 defenses, they were split up into five groups, lettered A-D and then the low bar. The following image shows the various groups: 22 | 23 | ![Table of Defenses](https://i.redditmedia.com/o5Zjnxl9F6rFvCwN0eG0d_YfPhp_n3oPAbIDWTXOzBM.jpg?w=993&s=3ee8d2e7ac46c869520099c750f42b26 "Periodic Table of the Defenses") 24 | 25 | 26 | #### Driver Station / Tower / Secret Passage 27 | 28 | The driver station was similar to previous years (see 2014), except on the top of each driver station there were plexiglass merlons that served no game play device. In the center of the field end was the "castle", a three sided (think hexagon cut in half) tower with five goals: two on the bottom right above the "batter", and then three goals above, slightly raised outward from the lower goals. Directly below the three high goals, three handing bars that the alliance could scale at the end of the match. All five goals were the same dimensions; about 24 in. by 16 in. with a curved top. It featured retroreflective tape on the bottom sides of the goal for vision tracking. 29 | 30 | The driver station featured a human player station on one side of the field (the left facing the field from the driver station) and had three holes to insert boulders into the field. There were two square holes on the bottom for human players to "bowl" the boulders into the field, and one embrasure for human players to insert boulders directly into and have them drop directly down in front of the human player station. Directly in front of the human player station is the "secret passage", a area protected somewhat from the opposing alliance. It was surrounded by a 1" tall berm around the area of it that connected up to the outer works. The secret passage extends past the outer works partly into the neutral zone in the center of the field. 31 | 32 | ### Game Play 33 | 34 | Like most standard FRC games, *FIRST* Stronghold™ starts with a 15 second autonomous period. Robots can score points by crossing defenses and scoring boulders in any of the goals, just like teleop, but can also "reach" a defense by just being partly on the outerworks to score some points at the end of autonomous. After autonomous is finished, a two minute fifteen second teleop period beings, in which teams can cross defenses, score boulders and play defense. During the last 20 seconds, robots may extend past the height limit of 4' 6" and try and scale the tower for extra points. If they cannot scale, they can simply drive onto the batter surrounding the tower and get some points there. 35 | 36 | ### Scoring 37 | 38 | *FIRST* Stronghold™ reintroduced the concept of "ranking points" after their absence in 2015. A team could score up to four ranking points per match: 39 | 40 | - Two for winning the match 41 | - One for having a tie in the match 42 | - One for "Breaching the Defenses" 43 | - One for "Capturing the Tower" 44 | 45 | Breaching meant that at least four of the five defenses your alliance were attacking were entirely damaged (two crossings). A capture meant that the tower had gotten it's full amount of boulders into it (eight during regular season, ten during FIRST Championship), and all three robots were either scaled or parked on the batter of the tower. During eliminations, ranking points were not used and instead match points were given to a alliance who breached or captured the tower - 20 points for a breach, 25 points for a capture. 46 | 47 | The points assigned during matches are as shown: 48 | 49 | | Action | Auto | Teleop | 50 | |:---------------------|:----:|:------:| 51 | | Reaching a Defense | 2 | - | 52 | | Crossing a Defesne | 10 | 5 | 53 | | Low Goal Score | 5 | 2 | 54 | | High Goal Score | 10 | 5 | 55 | | Challenge (per robot)| - | 5 | 56 | | Scale (per robot) | - | 15 | 57 | 58 | ## Season Schedule 59 | 60 | The game was released on January 9th on the official FIRST kickoff. The kickoff not only included the release video, but several skits to inform on the kit of parts, FIRST scholarships and interviews with several FIRST celebrities, including [Woodie Flowers](woodie_flowers) and [Dean Kamen](dean_kamen). 61 | 62 | ### Trailer 63 | 64 | Prior to the official kickoff, the medieval theme was announced in October with a official live stream from GameSense (now the RoboSports Network). 65 | 66 | ## Robots 67 | --------------------------------------------------------------------------------