diff --git a/source/conf.py b/source/conf.py index e62e755e..37857a45 100644 --- a/source/conf.py +++ b/source/conf.py @@ -36,6 +36,7 @@ "sphinx.ext.mathjax", "sphinx_design", "sphinx_favicon", + "sphinx_new_tab_link", "sphinxext.opengraph", "sphinxext.rediraffe", "sphinxcontrib.rsvgconverter", @@ -57,8 +58,6 @@ rst_epilog = """ .. |gm0| replace:: Game Manual 0 -.. |gm1| replace:: Game Manual Part 1 -.. |gm2| replace:: Game Manual Part 2 .. |cm| replace:: Competition Manual .. |EN| replace:: Engineering Notebook """ @@ -345,3 +344,6 @@ def setup(app): # -- GraphViz configuration ---------------------------------- graphviz_output_format = 'svg' + +# Show icon for external links (https://github.com/ftnext/sphinx-new-tab-link/tree/main?tab=readme-ov-file#new_tab_link_show_external_link_icon) +new_tab_link_show_external_link_icon = True diff --git a/source/docs/appendix/gallery.rst b/source/docs/appendix/gallery.rst index 1f9ffa74..82b1d4e5 100644 --- a/source/docs/appendix/gallery.rst +++ b/source/docs/appendix/gallery.rst @@ -1,9 +1,9 @@ Gallery Of Robot Designs ======================== -Collection of robot designs from past seasons. Feel free to borrow some design solutions for your robot! +Collection of robot designs from past seasons. Feel free to borrow some design solutions to adapt for your robot! -.. note:: Copying another team's design usually doesn't work if you don't understand why their design works and why they built it that way. Just like copying your friend's homework doesn't mean you learned the material. +.. note:: Copying another team's design usually doesn't work if you don't understand why their design works and why they built it that way, just like copying your friend's homework doesn't mean you learned the material. Understanding *why* something was designed a certain way is very important. 2024-2025 Into The Deep ------------------------- diff --git a/source/docs/appendix/vendor-guide.rst b/source/docs/appendix/vendor-guide.rst index f08402f8..4b2a97ae 100644 --- a/source/docs/appendix/vendor-guide.rst +++ b/source/docs/appendix/vendor-guide.rst @@ -16,36 +16,44 @@ Prefix Identification SKU Identification ^^^^^^^^^^^^^^^^^^ -- Actuonix: 3-4 digit SKU, alphanumeric, in the form of XX00 or X00 (i.e. PQ12) - goBILDA: 12 digit SKU, numerical, in the form of 0000-0000-0000 (i.e. 3213-3606-0001) -- Pitsco/Tetrix: 6 digit SKU, W + 5 numbers, in the form of W00000 (i.e. W44260) - Servocity/Actobotics: 6 digit SKU, numerical, in the form of 000000 (i.e. 615190) +- REV: 6 digit SKU, "REV" + 2 numbers + 4 numbers, in the form of REV-00-0000 (i.e. REV-31-1595) +- Pitsco/Tetrix: 6 digit SKU, W + 5 numbers, in the form of W00000 (i.e. W44260) +- Actuonix: 3-4 digit SKU, alphanumeric, in the form of XX00 or X00 (i.e. PQ12) Where can I get ...? -------------------- +// FIXME: add links to products? + - Motors and Gearboxes - - Spur Gear Motors + - Planetary Gearbox Motors (recommended) - - :term:`AndyMark NeveRest ` Classic - - :term:`REV HD Hex ` & :term:`Core Hex ` - - goBILDA 5201 Spur Gear - - TETRIX TorqueNado + - :term:`goBILDA 5202/5203/5204 Yellow Jacket Planetary ` + - :term:`REV HD Hex ` UltraPlanetary - - Planetary Gearbox Motors (recommended) + - (The UltraPlanetary gearboxes have a customizable gearbox ratio) + - :term:`AndyMark NeveRest Orbital ` + - :term:`AndyMark NeveRest Hex ` - - :term:`AndyMark NeveRest ` Orbital - - :term:`REV HD Hex ` Planetary & *UltraPlanetary* - - :term:`goBILDA 5202/5203 Yellow Jacket Planetary ` - - (*italicized* = customizable gearbox ratio) + - Spur Gearbox Motors (NOT recommended) + + - :term:`REV HD Hex ` & :term:`Core Hex ` + - :term:`AndyMark NeveRest Classic ` + - TETRIX TorqueNado - Servos - - HiTec (from ServoCity); 24 tooth spline + - goBILDA servos (all use a 25 tooth spline) + + - Dual Mode Servos + - 5-Turn Dual Mode Servos + - Proton Servos + - Axon Micro, Mini, and Max servos; 25 tooth spline (Note: the Micro uses a smaller B25T spline) - REV Smart Robot Servo; 25 tooth spline - - Axon Mini & Max; 25 tooth spline - - goBILDA Dual Mode Servo; 25 tooth spline + - HiTec (from ServoCity); 24 and 25 tooth spline options - Futaba (Futaba servos are widely used in RC and hobby aircraft); 25 tooth spline - Savox heavy-duty servos; 25 tooth spline - Actuonix (linear actuators) @@ -64,34 +72,31 @@ Where can I get ...? - Aluminum Components - - Actobotics :term:`channel `, mini :term:`channel `, X-rail :term:`extrusion ` + - goBILDA :term:`channel `, goRAIL :term:`extrusion `, goTUBE - REV extrusion, C :term:`channel `, U :term:`channel ` - - goBILDA :term:`channel `, goRAIL :term:`extrusion ` - TETRIX :term:`channel ` - MiSUMI :term:`extrusion ` - Gears/Sprockets/Pulleys - - REV :term:`gears `, :term:`sprockets `, pulleys - - Actobotics :term:`gears `, :term:`sprockets `, pulleys - goBILDA :term:`gears `, :term:`sprockets `, pulleys + - REV :term:`gears `, :term:`sprockets `, pulleys - TETRIX :term:`gears ` and pulleys - AndyMark :term:`gears ` and pulleys - Wheels - - AndyMark traction, :term:`compliant `, :term:`mecanum wheel ` + - goBILDA traction, :term:`omni `, :term:`mecanum wheel ` - REV grip, traction, :term:`omni `, :term:`mecanum wheel ` + - AndyMark traction, :term:`compliant `, :term:`mecanum wheel ` - ServoCity traction, :term:`omni wheel ` - - goBILDA traction, :term:`omni `, :term:`mecanum wheel ` - TETRIX traction, :term:`omni `, :term:`mecanum wheel ` - Nexus :term:`mecanum wheel ` - Linear Slide Kits + - goBILDA Viper-Slide kit, Linear Actuator kit, other `goBILDA linear motion kits `_ - REV 15 mm :term:`extrusion ` slide kit - - Actobotics linear slide kit - - goBILDA linear slide kit - Drawer Slides diff --git a/source/docs/appendix/vendor-list.rst b/source/docs/appendix/vendor-list.rst index dbc03238..26b75206 100644 --- a/source/docs/appendix/vendor-list.rst +++ b/source/docs/appendix/vendor-list.rst @@ -10,11 +10,12 @@ Vendor List - `AndyMark `_ - AndyMark sells the official game field and game sets, as well as individual game parts and the SoftTiles foam tiles. - - AndyMark also sells NeveRest and NeveRest Sport motors, TileRunner, compliant, stealth, and mecanum wheels, as well as many other items. - - AndyMark sells the Robits build system, which uses non-metric components similar to the Tetrix build system. + - AndyMark also sells NeveRest and NeveRest Sport motors, TileRunner chassis, compliant, stealth, and mecanum wheels, as well as many other items. + - AndyMark sells the Robits build system, which uses non-metric components similar to the Tetrix build system. This system is primarily marketed by accessibility/ease-of-use, which may be attractive for beginner teams. - `Axon Robotics `_ - - Vendor for highly customizable servos, with software functionality for range increases to switch between positional mode and continuous rotation mode. + + - Vendor for highly powerful and configurable servos, with software functionality for range increases, switching between positional mode and continuous rotation mode, and more. - `CopperState `_ @@ -30,7 +31,7 @@ Vendor List - Mid-range vendor for fasteners/other hardware, including tools. - `goBILDA `_ - - goBILDA sells its own build system, complete with Yellow Jacket motors, channel, motion components, and battery. Note that the cheapest batteries are found here, the MATRIX 12V Batteries are $39.99, with the team discount they are $29.99, nearly half the price of the $50 batteries sold elsewhere. + - goBILDA sells its own build system, complete with motors, channel, motion components, and battery. - Teams can get a 25% Team Discount from goBILDA. - `McMaster-Carr `_ @@ -38,8 +39,8 @@ Vendor List - Don't be turned off by the hidden shipping. Generally, McMaster-Carr's shipping is around the same price as other vendors, and shipping is usually next-day. - `MiSUMI `_ - - MiSUMI is a Japanese company specializing in industrial and manufacturing components. They sell bulk 15mm anodized :term:`extrusion ` similar to the REV Robotics :term:`extrusion `. The 15mm :term:`extrusion ` can be cut to length as well. - - MiSUMI also sells aluminum drawer slides that are popular for linear extensions. They are available in different lengths, but the most common is 400mm. + - MiSUMI is a Japanese company specializing in industrial and manufacturing components. They sell the SAR2 and SAR3 series aluminum drawer slides that are popular for linear extensions. They are available in many different lengths, but the most common are 300mm and 400mm. + - MiSUMI also sells bulk 15mm anodized :term:`extrusion ` similar to the REV Robotics :term:`extrusion `. The 15mm :term:`extrusion ` can be cut to length as well. - `OnlineMetals `_ - A common vendor for purchasing various raw metals. @@ -49,10 +50,10 @@ Vendor List - `REV Robotics `_ - REV Robotics sells the REV build system, which is an :term:`extrusion `-based ecosystem complete with motors (HD Hex, HD Planetary, Core HEX), :term:`extrusion `, :term:`servos ` (Smart Robot Servo), brackets, and battery. - - REV also sells the control system for FTC\ |reg| (Expansion Hub and Control Hub). + - REV also sells the control system for FTC\ |reg| (Control Hub, Expansion Hub, Driver Hub, and optional Servo Hub). - REV offers various sensors (Magnetic Limit Switch, Color Sensor, Touch Sensor, Distance Sensor, Potentiometer, etc.) - - Additionally, electronic components such as the Servo Power Module, SPARKmini, or Blinkin may be purchased. + - Additionally, electronic components such as the SPARKmini and Blinkin may be purchased. - `Servocity `_ - Servocity sells a wide range of :term:`servos `, from Hitec to Futaba, at all price points. @@ -60,8 +61,7 @@ Vendor List - `Studica `_ - - Studica sells the Studica build system, which has hole patterns compatible with most systems. - - Additionally Studica owns and sells the navX product, a higher-end IMU than what is provided in the Control Hub. + - Studica sells the Studica build system, which uses M3 screws and has hole patterns compatible with many systems. - `West Coast Products `_ diff --git a/source/docs/awards/award-types.rst b/source/docs/awards/award-types.rst index 92ac5b3f..d6999240 100644 --- a/source/docs/awards/award-types.rst +++ b/source/docs/awards/award-types.rst @@ -6,7 +6,7 @@ Award Categories Advancing Awards ---------------- -There are 7 awards for FTC\ |reg| teams (excluding optional awards). For more information on the exact requirements for these awards, see |gm1|. In order of advancement priority, these are: +There are 7 awards for FTC\ |reg| teams (excluding optional awards). For more information on the exact requirements for these awards, see the |cm|. In order of advancement priority, these are: .. glossary:: @@ -17,30 +17,34 @@ There are 7 awards for FTC\ |reg| teams (excluding optional awards). For more in Of all the awards, this one is arguably the most subjective, as it is about how good does a team does overall, including and how much they weigh outreach as compared to robot performance along with documentation. - Official Game Manual Description - This judged award is given to the team that best embodies the 'challenge' of the *FIRST*\ |reg| Tech Challenge program. The Team that receives this award is a strong ambassador for *FIRST* programs and a role model *FIRST* Team. This Team is a top contender for many other judged awards and is a gracious competitor. The Inspire Award winner is an inspiration to other Teams, acting with Gracious Professionalism\ |reg| both on and off the playing field. This Team shares their experiences, enthusiasm and knowledge with other teams, sponsors, their community, and the Judges. Working as a unit, this Team will have shown success in performing the task of designing and building a Robot. + Official Competition Manual Description + The team that receives this award is a strong ambassador for *FIRST* programs and a role model *FIRST* team. This team is a top contender for many other judged awards and is a gracious competitor. + + The Inspire Award winner is an inspiration to other teams, acting with Gracious Professionalism\ |reg| both on and off the playing FIELD. This team shares their experiences, enthusiasm and knowledge with other teams, sponsors, their community, and the JUDGES. Working as a unit, this team will have shown success in performing the task of designing and building a ROBOT. Think Award The Think Award is based entirely on the |EN| and Engineering Portfolio. In order to have a chance at winning, the |EN| should include as much math and physics as possible, document the entire journey of the robot through iterations, and other documentation of design and game strategy. In addition, the portfolio should be well laid out and contain information on various non-technical aspects of the team, such as sustainability (recruitment of new team member and mentors), training, outreach (especially the impact of the outreach and what was learned from it), and team structure. While these categories aren't as strictly important as robot documentation, they are generally recommended for a strong engineering portfolio. - Official Game Manual Description - This judged award is given to the Team that best reflects the journey the Team took as they experienced the engineering design process during the build season. The engineering content within the portfolio is the key reference for judges to help identify the most deserving Team. The Teams engineering content must focus on the design and build stage of the Team's Robot. + Official Competition Manual Description + *Removing engineering obstacles through creative thinking.* - The Team must be able to share or provide additional detailed information that is helpful for the judges. This could include descriptions of the underlying science and mathematics of the Robot design and game strategies, the designs, redesigns, successes, and opportunities for improvement. A Team is not a candidate for this award if their portfolio does not include engineering content. + This judged award is given to the team that best reflects the journey the team took as they experienced the engineering design process during the build season. The engineering content within the PORTFOLIO is the key reference for JUDGES to help identify the most deserving team. The team could share or provide additional detailed information that is helpful for the JUDGES. Connect Award - The Connect Award is one of the two outreach awards. This award is for teams that work with their local STEM community and corporate community. Unfortunately, the line between the Connect and Motivate award can be vague, and judges may not differentiate which outreach falls under which award. + The Connect Award is one of the two outreach awards. This award is for teams that connect with professionals in their local STEM community and corporate community, for the purpose of development of team member skills. + + For both outreach awards, a Team Plan (preferably in the portfolio, but verbally-communicated is also allowed) is required. Refer to the section about writing a team plan for advice. - Look at the section about differentiating connect and motivate for more advice on this. For both outreach awards, a Team Plan is required. Refer to the section about writing a team plan for advice. + Your portfolio should contain descriptions of the outreach as well as what the team gained from the outreach. In addition, the portfolio should also contain information on plans for recruitment of mentors as well as how the team plans to meaningfully develop their STEM connections. - A portfolio is also required for this award, and should contain descriptions of the outreach as well as what the team gained from the outreach. In addition, the portfolio should also contain information on plans for recruitment of mentors as well as how the team plans to meaningfully develop their STEM connections. + Be prepared for judges to ask you how your outreaches were meaningful, and try to avoid connecting with peopl just for the sake of saying you made a connection. Successful STEM connections are those that are undertaken for a specific purpose and have a clear intent and goal, such as meeting with an expert on computer vision to ask for advice on a vision task for the game. If you are struggling to find STEM connections, local colleges and businesses are a good start. - Be prepared for judges to ask you how your outreaches were meaningful, and try to avoid doing STEM outreaches just for the sake of saying you did a STEM outreach. Successful STEM outreaches are those that are undertaken for a specific purpose and have a clear intent and goal, such as meeting with an expert on computer vision to ask for advice on a vision task for the game. If you are struggling to find STEM outreaches, local colleges and businesses are a good start. + Official Competition Manual Description + *Connecting the dots between the STEM community, FIRST, and the diversity of the engineering world.* - Official Game Manual Description - This judged award is given to the Team that most connects with their local science, technology, engineering, and math (STEM) community. A true *FIRST* team is more than a sum of its parts and recognizes that engaging their local STEM community plays an essential part in their success. The recipient of this award is recognized for helping the community understand *FIRST*, the *FIRST* Tech Challenge, and the Team itself. The Team that wins the Connect Award aggressively seeks and recruits engineers and explores the opportunities available in the world of engineering, science and technology. This Team has a clear Team plan and has identified steps to achieve their goals. + This judged award is given to the team that connects with their local science, technology, engineering, and math (STEM) community. A true *FIRST* team is more than a sum of its parts and recognizes that engaging their local STEM community plays an essential part in their success. This team has a team plan and has identified steps to achieve their goals. A PORTFOLIO is not required for this award. Innovate Award The Innovate award is what it sounds like - it's for teams with innovative robots or robot mechanisms. @@ -51,20 +55,22 @@ There are 7 awards for FTC\ |reg| teams (excluding optional awards). For more in The engineering portfolio should contain information on your robot's mechanisms, and your presentation should also mention the innovative parts of your robot. However, refrain from over describing the mechanisms you intend to sell as innovative, as you want to leave room for the judges to ask questions, which gives you more opportunities and time to sell your mechanisms. In addition, practice what aspects of the mechanisms you want to sell as innovative, and make sure you are able to thoroughly describe why they are innovative when asked. - Official Game Manual Description - The Innovate Award celebrates a Team that thinks imaginatively and has the ingenuity, creativity, and inventiveness to make their designs come to life. This judged award is given to the Team that has the most innovative and creative Robot design solution to any specific components in the *FIRST* Tech Challenge game. Elements of this award include elegant design, robustness, and 'out of the box' thinking related to design. This award may address the design of the whole Robot or of a sub-assembly attached to the Robot. The creative component must work consistently, but a Robot does not have to work all the time during Matches to be considered for this award. The Team's engineering portfolio must include a summary of the design of the component or components and the Team's Robot to be eligible for this award. Entries must describe how the Team arrived at their solution. + Official Competition Manual Description + *Bringing great ideas from concept to reality.* + + The Innovate Award celebrates a team that thinks imaginatively and has the ingenuity, creativity, and inventiveness to make their designs come to life. This judged award is given to the team that has an innovative and creative ROBOT design solution to any specific components in the *FIRST* Tech Challenge game. Elements of this award include design, robustness, and creative thinking related to design. This award may address the design of the whole ROBOT or of a MECHANISM attached to the ROBOT and does not have to work all the time during matches to be considered for this award. A PORTFOLIO is not required for this award. Control Award The Control award is meant to recognize a team that has a good software solution to make their robot "intelligent". It's known as the "software award" and is for the team with the best or most innovative software and sensor solution for the game. Don't be tempted to overlook the control award even though it doesn't advance at most competitions. The control award counts for the inspire award, and strong performance in control counts towards inspire ranking. - This award requires a separate submission sheet which is a condensed summary of a team's software. Check your region's rules, some require `the traditional (in person) `_ or `remote `_ form, but some accept custom forms. Check with your affiliate partner or judges if you are unsure. **Do not directly put code into your portfolio, control award sheet or notebook, the judges will not care**. Instead, focus on explaining key algorithms that you use, and explain the software in an easy to understand way. Remember, your control award judges may not be software engineers or programmers, so make sure you can explain everything to someone without a software background. + **Do not directly put code into your portfolio, the judges will not care**. Instead, focus on explaining key algorithms that you use, and explain the software in an easy to understand way. Remember, your control award judges may not be software engineers or programmers, so make sure you can explain everything to someone without a software background. In addition, control award software is more then just your autonomous mode programs. Driver assistance, feedback, and automation all are vital to the control award. - Official Game Manual Description - The Control Award celebrates a Team that uses sensors and software to increase the Robot's functionality in the field. This award is given to the Team that demonstrates innovative thinking to solve game challenges such as autonomous operation, improving mechanical systems with intelligent control, or using sensors to achieve better results. The control component should work consistently in the field. The Team's engineering portfolio must contain a summary of the software, sensors, and mechanical control, but would likely not include copies of the code itself. + Official Competition Manual Description + The Control Award celebrates a team that uses sensors and software to increase the ROBOT'S functionality during gameplay. This award is given to the team that demonstrates innovative thinking and solutions to solve game challenges such as autonomous operation, improving mechanical systems with intelligent control, or using sensors to achieve better results. The solution(s) should work consistently during MATCHES. The team's PORTFOLIO must contain a summary of the software, sensors, and mechanical control but would not include copies of the code itself. Some examples of control award sheets are: @@ -76,15 +82,20 @@ There are 7 awards for FTC\ |reg| teams (excluding optional awards). For more in - `11528 Bots of Prey Skystone `_ - `9794 Wizards.exe Skystone `_ + .. note:: + These sheets used to be submitted separately, but the contents are now part of the Engineering Portfolio, and therefore has to fit with all your other Portfolio content within the 15 allowed Portfolio pages. + Motivate Award - The Motivate Award is one of the two outreach awards. It's for teams that work with their local and *FIRST* community. Unfortunately, the line between the :term:`connect award ` and motivate award can be vague, and most judges don't know how to differentiate which outreach falls under which award. + The Motivate Award is one of the two outreach awards. It's for teams that work with their local community. Unfortunately, the line between the :term:`connect award ` and motivate award can be vague, and most judges don't know how to differentiate which outreach falls under which award. Read `Connect vs. Motivate`_ for more advice on this. - Look at the section about differentiating connect and motivate for more advice on this. For both outreach awards, a Team Plan is required. Refer to the section about writing a team plan for advice. + For both outreach awards, a Team Plan (preferably in the portfolio, but verbally-communicated is also allowed) is required. Refer to the section about writing a team plan for advice. - The key aspects to include in your portfolio and presentation for motivate is showing how all team members contribute to the success of the team, how your team is recruiting members from non-stem areas, as well as plans for fundraising, funding, sustainability, and recruitment. + The key aspects to include in your portfolio and presentation for Motivate is showing how all team members contribute to the success of the team, how your team is recruiting members from non-STEM areas, as well as plans for fundraising, funding, sustainability, and recruitment. - Official Game Manual Description - This Team embraces the culture of *FIRST* and clearly shows what it means to be a team. This judged award celebrates the Team that represents the essence of the *FIRST* Tech Challenge competition through Gracious Professionalism and general enthusiasm for the overall philosophy of *FIRST* and what it means to be a *FIRST* Tech Challenge Team. This is a Team who makes a collective effort to make *FIRST* known throughout their school and community, and sparks others to embrace the culture of *FIRST*. + Official Competition Manual Description + *Sparking others to embrace the culture of STEM through FIRST!* + + This team embraces the culture of *FIRST* and shows what it means to be a team. This team makes a collective effort to make *FIRST* known throughout their school and community and sparks others to embrace *FIRST*'s culture. A PORTFOLIO is not required for this award. Design Award The Design Award is one of the robot awards that primarily focuses on the hardware aspect of the robot. It is for robots that are both functional, aesthetic, and use good design practices, including CAD. @@ -93,11 +104,11 @@ There are 7 awards for FTC\ |reg| teams (excluding optional awards). For more in While functionality is what most teams focus on, the Design Award also takes into account aesthetics, and most judges will generally be turned off by an ugly robot for this award (no cardboard on the robot!), so make sure your robot looks presentable. - Official Game Manual Description - This judged award recognizes design elements of the Robot that are both functional and aesthetic. The Design Award is presented to Teams that incorporate industrial design elements into their solution. These design elements could simplify the Robot's appearance by giving it a clean look, be decorative in nature, or otherwise express the creativity of the Team. The Robot should be durable, efficiently designed, and effectively address the game challenge. + Official Competition Manual Description + The Design Award celebrates the team that demonstrates industrial design principles, striking a balance between form, function, and aesthetics. The design process used should result in a ROBOT which is efficiently designed, and effectively addresses the game challenge. A PORTFOLIO is not required for this award. -Connect vs Motivate -^^^^^^^^^^^^^^^^^^^ +Connect vs. Motivate +^^^^^^^^^^^^^^^^^^^^ Both outreach awards can be hard to differentiate, as the official descriptions are super vague, and most judges don't know the difference perfectly. Since the descriptions are very vague, it is up to you to determine what goes towards which award. Oftentimes, teams will put more outreach in :term:`Connect ` than :term:`Motivate `, as Connect is fairly high up on the advancement list unlike Motivate, so putting more into Connect and winning Connect may advance, though make sure to do your research before trying a strategy like this. @@ -118,7 +129,7 @@ Tips for Both - Make sure your numbers are somewhat accurate! If you are at a large event, you can get a rough headcount from the organizers, but its generally better to know roughly how many people actually stopped and looked at your team. - Present stories to the judges, not just overviews. Tell personal stories. - Log all your outreach events, with who went and how many hours each person did in its own place separate from the engineering notebook. This makes it easier to compile total numbers and shows the judges every outreach activity/event in one place. -- For a bigger impact make sure you have more resources then just your team's information at an event, having details for *FIRST* Lego League teams in addition to your *FIRST* Tech Challenge information can broaden how many people you reach. +- For a bigger impact make sure you have more resources then just your team's information at an event, having details for *FIRST* LEGO\ |reg| League teams in addition to your *FIRST* Tech Challenge information can broaden how many people you reach. - Follow up, follow up, follow up! If a person gives you a business card or a student expresses interest, it doesn't hurt to follow up if they don't reach out as promised. People can forget or get busy, sometimes a reminder is useful! Optional Awards @@ -131,15 +142,15 @@ There are some awards that events are not required to present; these do not adva Judges Choice Award The Judges Choice Award is meant to recognize a team that doesn't fit into any of the existing award categories, but the judges still felt the team deserved to win an award for their outstanding effort or other experience. This award is very subjective, and doesn't advance teams. It is also optional to give at every competition, but in some regions given at every competition unless the judges don't find a deserving team. - Promote Award and Compass Award - The Promote and Compass awards are optional awards that are usually given only at state championships and world championships. These awards do not require an engineering notebook to win, but do not advance teams. They are submitted as a video no longer than 1 minute. The Promote award is for creating a PSA for *FIRST* with a specific video prompt. This prompt changes every year, and is found in |gm1|. The Compass award is for recognizing an outstanding mentor. Submitting these awards is usually done on a case-by-case basis, where the event organizer sends teams instructions on how to submit. + Official Competition Manual Description + This award is optional and not given at all *FIRST* Tech Challenge events. + + During the competition, the judging panel may meet a team whose unique efforts, performance, or dynamics merit recognition, but does not fit into any of the existing award categories. To recognize these unique teams, *FIRST* offers a Judges' Choice Award. - Some good Promote award submissions include: + The Judges' Choice Award recognizes a team for their outstanding efforts but does not factor into the advancement criteria. - - `Team 3595 in 2014 `_ - - `Team 8808 in 2017 `_ - - `Team 5795 in 2017 `_ - - `Team 4924 in 2016 `_ + Compass Award + The Compass award is an optional award that is usually given only at state championships and world championships. The Compass award is for recognizing an outstanding mentor. This award does not require an engineering portfolio to win, but does not advance teams. It is submitted as a video no longer than 1 minute. Submitting this award is usually done on a case-by-case basis, where the event organizer sends teams instructions on how to submit. Some good Compass award submissions include: @@ -148,4 +159,7 @@ There are some awards that events are not required to present; these do not adva - `Team 9879 in 2017 `_ - `Team 6510 in 2015 `_ - For more information on these awards, take a look at the specific section for each award in |gm1|. + Official Competition Manual Description + This is an optional award and is only offered at the Regional Championship tournament level of competition. All teams attending *FIRST* Championship will have an opportunity to submit for this award. + + The Compass Award recognizes an adult coach or mentor who has given outstanding guidance and support to a team throughout the year and demonstrates to the team what it means to be a Gracious Professional. The winner of the Compass Award will be chosen from candidates nominated by *FIRST* Tech Challenge STUDENT team members, via a 40-60 second video submission. The video must highlight how their mentor has helped them become an inspirational team. The video should emphasize what sets the mentor apart. diff --git a/source/docs/awards/index.rst b/source/docs/awards/index.rst index e444be8f..92baf368 100644 --- a/source/docs/awards/index.rst +++ b/source/docs/awards/index.rst @@ -5,11 +5,11 @@ Awards *FIRST*\ |reg| Tech Challenge is more than just building robots, it contains elements of engineering documentation, outreach, and more. While the majority of |gm0| talks about how to make decisions about creating your robot, the portfolio you write is actually showing how you made those decisions and how you impact the STEM community around you in a positive way. -**It only benefits you to go for awards. You can't win awards without making a portfolio, and in certain states the only way to advance is awards and in others it can make it significantly easier to advance.** In the past an engineering notebook was required for awards, however this is no longer true. Therefore, these are the topics that will be covered in this section of |gm0|. +**It only benefits you to go for awards, as winning awards significantly improves your chance of advancing to the next level of competition. You likely will not win any awards without making a portfolio, and some awards strictly require a portfolio to be eligible for that award.** -.. warning:: Judging and awards are extremely subjective and some rules change a bit from state to state. What works in one region may not in other regions. So contact your judges about specifics of some things; for example some competitions allow you to turn a custom control award sheet, others only accept the one listed by *FIRST*. The writers of this part of |gm0| have extensive experience with awards and have even been winners and finalists for the Inspire Award at the World Championships. +.. warning:: Judging and awards can be extremely subjective and some rules can change a bit from state to state. What works in one region may not in other regions, so contact your judges about specifics of some things; for example, some competitions have you submit your portfolio the day of, while others have you submit it digitally a few days before the competition. The writers of this part of |gm0| have extensive experience with awards and have even been winners and finalists for the Inspire Award at the World Championships. -For most awards, teams have a 5 minute presentation at the beginning of the day followed by some Q&A time and possibly pit judging later on (read the section on the judging process for more detail). There are 7 awards for FTC\ |reg| teams (excluding awards that cannot advance a team). +For most awards, teams have a 5 minute presentation at the beginning of the day followed by some Q&A time and possibly pit judging later on (read the section on the judging process for more detail). There are 7 awards for FTC\ |reg| teams that are relevant for advancement. For winning every award, the Engineering Portfolio is a key reference and is quintessential, so make sure that your team focuses on the Engineering Portfolio. diff --git a/source/docs/awards/judging-presentation.rst b/source/docs/awards/judging-presentation.rst index 984f11bd..e13d91d6 100644 --- a/source/docs/awards/judging-presentation.rst +++ b/source/docs/awards/judging-presentation.rst @@ -12,7 +12,7 @@ Overall Tips - Vary who answers the questions. **Make sure everybody has an opportunity to speak.** - Use your portfolio! You can use it to reference things or point to various sections, especially if you can't remember something in the moment. - Don't ramble but also don't cut it short. Answer questions fully, but there is no benefit to wasting judges time. **Most of the time, judges have a set time allotment with each team so wasting time may decrease the number of questions you can answer.** -- Try not to go off topic. If a judge asks about outreach, don't talk about robot design too much. Judges are usually asking things for a specific purpose and other information may get wasted. +- Try not to go off topic. If a judge asks about outreach, don't talk about robot design too much. Judges are usually asking things for a specific purpose and other information may get wasted. Also, the judges for one awards category are often completely different than the judges for another category, e.g. the judges for an outreach award are likely completely different than the judges for robot design. The Presentation ---------------- @@ -28,7 +28,7 @@ Presentation Tips - Practice speaking clearly and precisely. You should practice multiple times and not only know your lines, but what people around you are going to say. - Use the robot! Have other team members point and move things on the robot as you speak to demonstrate. -- While having a script won't be held against you, try to avoid gluing your eyes to your script and looking down. Looking at the judges occasionally will go a long way in making your presentation more professional +- While having a script won't be held against you, try to avoid gluing your eyes to your script and looking down. Looking at the judges occasionally will go a long way in making your presentation more professional. - **Make sure everybody gets a chance to say something or answer a question**. Having students say nothing during judging can look bad. Q&A Period @@ -47,7 +47,7 @@ Pit judging can be difficult sometimes since judges might want to talk to your t When pit judges arrive, one should try to determine roughly what they are there for. Judges will make it clear pretty quickly if they are there for control, robot-based awards, outreach, etc. If a judge is there to talk to you about the robot, don't waste their time with outreach. Similarly, if a judge is asking about your outreach don't divert to talking about the robot. Judges are there for a specific purpose, other information may essentially be discarded by them. -.. important:: When judges come near your pits, STAND UP and PUT THE PHONES DOWN. Uninterested students can cause a judge's opinion of your team to quickly sour. All students should try to look interested and should participate, get as many different people speaking as you can. +.. important:: When judges come near your pits, STAND UP and PUT THE PHONES DOWN. (Even if you're not the one talking to the judges!) Uninterested students can cause a judge's opinion of your team to quickly sour. All students should try to look interested and should participate, get as many different people speaking as you reasonably can. Pit Judging Tips ^^^^^^^^^^^^^^^^ diff --git a/source/docs/awards/notebook.rst b/source/docs/awards/notebook.rst index 2a802abe..b3f48f7f 100644 --- a/source/docs/awards/notebook.rst +++ b/source/docs/awards/notebook.rst @@ -42,7 +42,7 @@ Generally, humor is acceptable, but try to keep jokes down to a minimum (after a Individual sections ------------------- -Section 9.2.2 of |gm1| lists out the type of things that are expected to see in your notebook. +Section 9.2.2 of the |cm| (FIXME: update) lists out the type of things that are expected to see in your notebook. They are listed here: @@ -59,7 +59,7 @@ They are listed here: - Planning - Outreach -Specific sections named in |gm1|, the Judges Manual, and Notebook Guidelines are not plentiful. They include a team plan, which is pretty much all non-robot writing---a sustainability plan, a strategic plan, and a business plan all fall into it, and doing one of these sections is required for Inspire award, and telling us what they want in the notebook (listed above). It falls to the individual notebook writers to figure out what they specifically want to call each section and what to put in each section. +Specific sections named in the |cm| (FIXME: update), the Judges Manual, and Notebook Guidelines are not plentiful. They include a team plan, which is pretty much all non-robot writing---a sustainability plan, a strategic plan, and a business plan all fall into it, and doing one of these sections is required for Inspire award, and telling us what they want in the notebook (listed above). It falls to the individual notebook writers to figure out what they specifically want to call each section and what to put in each section. Daily Logs and Other Ways of Documenting ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ diff --git a/source/docs/awards/portfolio.rst b/source/docs/awards/portfolio.rst index 0f233b03..05036967 100644 --- a/source/docs/awards/portfolio.rst +++ b/source/docs/awards/portfolio.rst @@ -8,9 +8,9 @@ The engineering portfolio is a concise but detailed overview of your team and se Portfolio Requirements ---------------------- -.. tip:: A detailed list of the requirements is listed in section 9.3 of |gm1| +.. tip:: A detailed list of the requirements is listed in section 6 of the |cm|. -The engineering portfolio is a 15 page document consisting of standard A4 or letter sized pages and a minimum 10 point font. However, despite the small number of pages, there is a lot of information that needs to be packed into the document to meet the requirements for all awards. +The engineering portfolio is a 15 page document consisting of standard A4 or letter sized pages and a minimum 10 point font. Despite the small number of pages, a lot of information needs to be put into it to meet the requirements for all awards. Overall Tips ^^^^^^^^^^^^ @@ -105,13 +105,13 @@ Outreaches with the General Community Often teams will host events or outreaches with the intent of spreading the idea of *FIRST*\ |reg| and recruiting new members to their team. Documenting this correctly is important for some awards. Generally, these sections should contain details about the event such as when it took place, what your team did, and how many people you reached. -.. attention:: Appendix F of |gm1| contains **very specific definitions of words like Mentored, Started, Reached, Ran, and more**. Misuse of these words can be held against you in judging, so make sure you meet the definitions of terms if you use them. +.. attention:: The `Award Terms and Definitions `_ document contains **very specific definitions of words like Started, Mentored, Assisted, Reached, and more**. Misuse of these words can be held against you in judging, so make sure you meet the definitions of terms if you use them. -When documenting how many people an event reached, it can be tempting to ask the organizers for an official head count and use that number. However, |gm1| specifically details that simply being at an event does not count someone as being reached by the team, they have to interact with your team in some way. Keeping a rough count of how many people you interact with can help you keep track of accurate numbers. **You may be questioned on how you know your numbers are accurate, so be ready to answer questions on how you kept track**. +When documenting how many people an event reached, it can be tempting to ask the organizers for an official head count and use that number. However, the document specifically details that simply being at an event does not count someone as being reached by the team, they have to interact with your team in some way. Keeping a rough count of how many people you interact with can help you keep track of accurate numbers. **You may be questioned on how you know your numbers are accurate, so be ready to answer questions on how you kept track**. Working with Other Teams ^^^^^^^^^^^^^^^^^^^^^^^^ -Mentoring, starting, and helping other teams is critical to the program itself as well as some awards. These interactions should be documented in the portfolio, as well as evidence that proves that you meet the definitions of Mentoring, Starting, and Assisting as outlined in |gm1|. In general, Mentoring requires regular, meaningful communication between you and a team, and Starting requires the new team agreeing that they were started by you. +Mentoring, starting, and helping other teams is critical to the program itself as well as some awards. These interactions should be documented in the portfolio, as well as evidence that proves that you meet the definitions of Mentoring, Starting, and Assisting as outlined in the `Award Terms and Definitions `_ document. In general, Mentoring requires regular, meaningful communication between you and a team, and Starting requires the new team agreeing that they were started by you. .. tip:: An easy way to prove you met the definitions is to have screenshots of emails from mentors on the teams you helped stating that you Mentored, Started, or Assisted that team. diff --git a/source/docs/being-a-team/outreach-basics.rst b/source/docs/being-a-team/outreach-basics.rst index 710aa4e7..8a6dfc2c 100644 --- a/source/docs/being-a-team/outreach-basics.rst +++ b/source/docs/being-a-team/outreach-basics.rst @@ -124,5 +124,5 @@ Housekeeping Keep a list of the programs your team has created or contributed to. Ensure you take photos at every event with team members. Keep track of your **Reach** (tangible interaction or observation of your team), **Engagement** (how many people interacted with your team/you interacted with, e.g. by attending events), **Impact** (how many people are directly impacted by your outreach events), and **Conversion** (how many people get involved with your program.) -If looking to include these statistics in your judged presentation or portfolio, ensure you adhere to the "Awards Definitions" located in the appendix of |gm1| that outline terms relating to outreach. These terms are: *Started*, *Mentored*, *Assisted*, *Provided Published Resources*, *Ran*, *Hosted*, *Reached*, and *Advocated*. +If looking to include these statistics in your judged presentation or portfolio, ensure you adhere to the definitions located in the `Award Terms and Definitions `_ document. These terms are: *Started*, *Mentored*, *Assisted*, *Provided Published Resources*, *Ran an Event*, *Hosted an Event*, *Supported an Event*, *Reached*, and *Advocated*. diff --git a/source/docs/being-a-team/starting-a-team.rst b/source/docs/being-a-team/starting-a-team.rst index 45bdc41a..b9d3d8eb 100644 --- a/source/docs/being-a-team/starting-a-team.rst +++ b/source/docs/being-a-team/starting-a-team.rst @@ -130,10 +130,10 @@ The above budget adds up to $4,000 in startup costs, and roughly $2,500 per year - Several general **cost-saving measures** can be employed throughout the season. These include: - Keeping stock of your inventory and not over-ordering parts. - Treating your parts well. - - Using #black-market on the FTC Discord to obtain used parts. + - Using #marketplace on the FTC Discord to obtain used parts. - Applying for seasonal FTC grants and the goBILDA FTC Discount. - Investing in a 3D printer to fabricate your own parts. - - If using custom metal parts, utilizing SendCutSend or Fabworks, which are generally more financially viable than in-house CNC machining. + - If using custom metal parts, utilizing `Fabworks `_ or `SendCutSend `_, which are generally more financially viable than in-house CNC machining. - As a last resort, **team fees** can be collected from members as a requirement to participate. These can bar less fortunate individuals from participating, so they are not recommended. **Minimum fundraising requirements** for your members can boost your budget similarly and without hardship for these members. Now what? diff --git a/source/docs/common-mechanisms/active-intake/index.rst b/source/docs/common-mechanisms/active-intake/index.rst index dadaaee7..681a6b39 100644 --- a/source/docs/common-mechanisms/active-intake/index.rst +++ b/source/docs/common-mechanisms/active-intake/index.rst @@ -3,7 +3,7 @@ Active Intake ============= -There's one main rule when it comes to intakes in FTC: you need one. Before diving in, what *is* an intake in the first place? +There's one main rule when it comes to active intakes: you *probably* need one. (A notable exception was the 2024-25 Into the Deep game, where both claws and active intakes were competitive at all levels of play.) Before diving in, what *is* an intake in the first place? Intake A mechanism designed to pick up game elements using some component of rotational motion powered by a motor. @@ -12,11 +12,11 @@ An intake is differentiated from a claw as an intake does not grasp individual g There are multiple parts of an effective intake: intake geometry, intake type and material, and speed. However, a common rule of them is the faster the intake, often the more effective it is. For example, near the end of Rover Ruckus, many of the top performing teams used a 3.7:1 (1600 RPM) motor or a 5.2:1 (1000 RPM) motor on their intake. -.. tip:: While not a necessity, it is highly recommended that teams dedicate at least one motor to their intake if possible. +.. tip:: Teams should generally plan to dedicate either one motor, or 1-2 very high speed servos (e.g. the Melonbotics Super Servo Plus), to their intake. -.. attention:: When it comes to intakes: "**Touch it, own it**" is a really valuable concept. +.. attention:: When it comes to intakes, "**Touch it, own it**" is a really valuable concept. -When your intake comes in contact with game elements, you want it to instantly control them. You should design with a margin for error, both in the orientation of the game piece and in the alignment of the robot. For example, look at FRC\ |reg| Team 694's ball intake on their 2019 robot: +When your intake comes in contact with game elements, you want it to instantly control them. You should design with a margin for error, both in the orientation of the game piece and in the alignment of the robot. For example, look at FRC\ |reg| Team 694's ball intake on their 2019 robot: // FIXME: find an FTC example? .. figure:: images/frc694-ball-intake.png :alt: FRC Team 694's Deep Space ball intake with 2 horizontal rollers with compliant wheels diff --git a/source/docs/common-mechanisms/active-intake/types-of-intakes.rst b/source/docs/common-mechanisms/active-intake/types-of-intakes.rst index 21f9e4fb..668444f6 100644 --- a/source/docs/common-mechanisms/active-intake/types-of-intakes.rst +++ b/source/docs/common-mechanisms/active-intake/types-of-intakes.rst @@ -2,7 +2,7 @@ Types of Intake =============== Horizontal/Top Intake - A horizontal intake generally is a wider style of intake that has the intake rotating on a horizontal axis or plane. Horizontal intakes are generally used for intaking smaller game elements, as these types of intakes can control more than one piece at a time. Horizontal intakes have been used successfully in games such as Res-Q and Rover Ruckus, where teams needed to pick up small cubes and balls from the floor. + A horizontal intake generally is a wider style of intake that has the intake rotating on a horizontal axis or plane. Horizontal intakes are generally used for intaking smaller game elements, as these types of intakes can control more than one piece at a time. Horizontal intakes have been used successfully in games such as RES-Q and Rover Ruckus, where teams needed to pick up small cubes and balls from the floor. Vertical Intake A vertical intake typically has wheels or other intake components rotating on a vertical axis (the z-axis). Vertical intakes are more controllable, as they can only pick up one element at a time. Vertical intakes excel at picking up large game elements which would be impossible to control more than one piece at once, such as the foam glyphs in Relic Recovery. @@ -21,11 +21,11 @@ Roller and wheeled intakes refer to types of intakes which work by having some s Compliant Wheel A compliant wheel is a flexible rubber wheel that is primarily used for intakes. These are **NOT** designed for use in drivetrains. - The available bore options vary depending on the vendor. As with the compliant wheels, durometer (hardness of rubber) affects both traction and longevity, sacrificing one for the other. However, in the case of intakes, a lower durometer is recommended to have maximum grippiness for intaking game elements. + The available bore options vary depending on the vendor. As with standard wheels, durometer (hardness of rubber) affects both traction and longevity, sacrificing one for the other. However, in the case of intakes, a lower durometer is recommended to have maximum grippiness for intaking game elements. Durometer refers to the hardness of rubber. Having a high durometer translates to a harder rubber surface, more durability, but less traction. A low durometer means a softer rubber, worse durability, but improved traction. - Examples of compliant wheel are Andymark's Compliant Wheels, and goBILDA's Gecko Wheels. + Examples of compliant wheel are AndyMark's Compliant Wheels, and goBILDA's Gecko Wheels. .. figure:: images/compliant-wheel-2-inch.png :alt: A 2" green compliant wheel @@ -55,9 +55,9 @@ Compliant Wheel Intake A locked intake simply means that the wheels are locked into place and cannot pivot. -The compliant wheel intake is most commonly used with large game elements such as the glyphs in the 2017-2018 season, Relic Recovery. Compliant wheel intakes excel at controlling elements with flat surfaces such as cubes or rectangular prisms. They suffer at picking up balls. +The compliant wheel intake is most commonly used with large game elements, such as the "glyphs" in the 2017-2018 game Relic Recovery, and the "stones" in the 2019-2020 game Skystone. Compliant wheel intakes excel at controlling elements with flat surfaces such as cubes or rectangular prisms. They suffer at picking up balls. -In this game, robots had to pick up glyphs, which were 6 inch foam cubes, from the center pit and place them in the cryptobox. This game had many wheeled intakes primarily because the wheels had consistent and controllable contact with the glyphs. Wheeled intakes were able to propel the glyphs in a consistent fashion from the point of contact to the deposit plate, which would flip up to deposit the glyphs. +In Relic Recovery, robots had to pick up glyphs, which were 6 inch foam cubes, from the center pit and place them in the cryptobox. This game had many wheeled intakes, primarily because the wheels had consistent and controllable contact with the glyphs. Wheeled intakes were able to propel the glyphs in a consistent fashion from the point of contact to the deposit plate, which would flip up to deposit the glyphs. Wheeled intakes can be spring-loaded or locked into place. Teams could choose one or mix; in Relic Recovery, some teams spring-loaded the set of wheels that made contact first, and then had a fixed set in the back. This is up to the design team's choosing. diff --git a/source/docs/common-mechanisms/dead-wheels.rst b/source/docs/common-mechanisms/dead-wheels.rst index 0168a29f..7702a1a4 100644 --- a/source/docs/common-mechanisms/dead-wheels.rst +++ b/source/docs/common-mechanisms/dead-wheels.rst @@ -3,7 +3,7 @@ Dead Wheels =========== -.. warning:: This is a very niche aspect of design in FTC\ |reg|. Generally it is something done by more experienced teams who have had time to repeatedly test their designs and mechanisms with software during the off-season. +.. warning:: This is a very niche aspect of design in FTC\ |reg|. Generally it is something done by more experienced teams who have had time to repeatedly test their designs and mechanisms with software during the off-season. // FIXME: No longer accurate, teams should buy goBILDA Pinpoint+pods bundle, or the OTOS. TODO: Write about these COTS solutions The term dead wheels, tracking wheels, odometry pods, and odometry are often conflated in the FTC community. However, there are a few key differences one must keep in mind. Odometry is an umbrella term and refers to the general use of motion sensors for localization purposes. Meanwhile, dead wheels, tracking wheels, and odometry pods are all synonymous terms. @@ -67,7 +67,7 @@ Encoders A lot of the localization done in software relies on readings from encoders. :ref:`encoders` are sensors that track "counts" or "ticks," which are values that represent a certain amount of a rotation. Different encoders might have a different number of counts per revolution (CPR), which is also sometimes also called ticks per revolution. The greater the number of counts, the more precise the data. -Encoders are plugged into the JST-PH ports in the REV hubs. These encoders can either be built-in to the motors or external. External encoders will still need to be plugged into an encoder port but are not related to the motor in that port. Through software, we can use the motor object to determine the position of the encoder. This should be done with motors that do not use encoders. If you're using dead wheels, you will not need the drive motor encoder ports, so those are potential ports you might want to use. +Encoders are plugged into the JST PH ports in the REV hubs. These encoders can either be built-in to the motors or external. External encoders will still need to be plugged into an encoder port but are not related to the motor in that port. Through software, we can use the motor object to determine the position of the encoder. This should be done with motors that do not use encoders. If you're using dead wheels, you will not need the drive motor encoder ports, so those are potential ports you might want to use. If one chooses to design dead wheels, there are only two recommended encoders that one should use for FTC: REV Through-Bore Encoders and U.S. Digital S4T Encoders. @@ -110,7 +110,7 @@ The `S4T `_ m S4T Encoder -*****Advantages:** +**Advantages:** - Very compact @@ -126,7 +126,7 @@ The `S4T `_ m SRX Mag Encoder ^^^^^^^^^^^^^^^ -The `SRX Mag Encoder `_ from Cross The Road Electronics is a magnetic encoder. It is not used by many FTC teams due to its slightly higher complexity to use and lack of FTC centric documentation. It is more popular in FRC\ |reg|. +The `SRX Mag Encoder `_ from Cross The Road Electronics is a magnetic encoder. It is not used by many FTC teams due to its slightly higher complexity to use and lack of FTC centric documentation. It is more popular in FRC\ |reg|. .. figure:: images/odometry/srx-mag.jpg :alt: A CTRE SRX Mag encoder diff --git a/source/docs/common-mechanisms/drivetrains/drivetrain-gallery.rst b/source/docs/common-mechanisms/drivetrains/drivetrain-gallery.rst index ae5b0a94..047c7370 100644 --- a/source/docs/common-mechanisms/drivetrains/drivetrain-gallery.rst +++ b/source/docs/common-mechanisms/drivetrains/drivetrain-gallery.rst @@ -5,13 +5,10 @@ Sample Drivetrains In this section, we compile several sample drivetrains which you can use as a starting point for your own designs. You should also check the :doc:`gallery of robot designs ` in the Appendix. -`goBILDA strafer chassis `_ +`goBILDA Strafer Chassis `_ Basic mecanum chassis by goBILDA. Simple and easy to build chassis, providing an excellent starting point for robots built from goBILDA parts. -`goBILDA BeeLine Chassis `_ +`goBILDA BeeLine Chassis `_ Basic 6 wheel drive chassis by goBILDA. Simple and easy to build chassis, providing an excellent starting point for robots built from goBILDA parts. -`Strafer chassis with Dead Wheels `_ - Modification of goBILDA chassis by FTC\ |reg| 9794 Wizards.exe, which adds :term:`dead wheels `. Also see their video tutorials: - https://www.youtube.com/watch?v=OjNvAD350M4&list=PLICNg-rquurYgWAQGhu6iC0At75vgqFJp `REV Robotics 6 wheel drivetrain `_ Sample 6 wheel drivetrain built using REV kit. `AndyMark Tile Runner chassis `_ diff --git a/source/docs/common-mechanisms/drivetrains/holonomic.rst b/source/docs/common-mechanisms/drivetrains/holonomic.rst index e7282adf..a0411047 100644 --- a/source/docs/common-mechanisms/drivetrains/holonomic.rst +++ b/source/docs/common-mechanisms/drivetrains/holonomic.rst @@ -35,6 +35,12 @@ Due to the fact that mecanum wheels are more likely to slip because of the diago See `this video `_ and `this other video `_ for a more in depth explanation. + .. figure:: images/holonomic/gobilda-mecanum-direction.png + :alt: Diagram of mecanum directions + :width: 100% + + Configuration for mecanum wheels, courtesy goBILDA + Advantages ^^^^^^^^^^ @@ -59,7 +65,25 @@ Disadvantages .. raw:: html - + + + + `Click here to explore this model in OnShape online CAD `__ @@ -88,12 +112,6 @@ Disadvantages `Click here to explore this model in OnShape online CAD `__ -.. figure:: images/holonomic/gobilda-mecanum-direction.png - :alt: Diagram of mecanum directions - :width: 100% - - Configuration for mecanum wheels, courtesy goBILDA - Mecanum Wheels Miniguide ^^^^^^^^^^^^^^^^^^^^^^^^ @@ -106,8 +124,9 @@ Recommended These wheels are the gold standard of mecanum wheels, if you are buying new mecanum wheels there is very little reason to buy any mecanum wheels not from this section. -- `goBILDA Mecanum Wheels v2 `_ ($127.49 with team discount): The goBILDA v2 Mecanum Wheels are the gold standard for teams wanting a quality design in all aspects. They feature a 96mm diameter and a thickness of 38mm, with ball bearing supported, 70A durometer rollers that provide excellent strafing performance. With the use of recessed 16x16mm and 32x32mm holes, these wheels have the largest amount of mounting options and can fit all shaft styles commonly used in FTC\ |reg|. -- `REV Robotics Mecanum Wheels `_ ($127.50 with team discount): The REV Robotics Mecanum Wheels come in at only 75mm in diameter, providing a smaller mecanum wheel option to FTC teams; however, they are not the thinnest option at 40.8mm thick. They feature ball bearing supported rollers that provide exceptional strafing capabilities and traction. The hole pattern featured on these wheels is compatible with Andymark Nubs as well as the REV Robotics Universal Hex Adapter v2 (which is included); however, in order to use other shaft options the use of an adapter or physical modification will likely be required. +- `goBILDA GripForce Mecanum Wheels `_ ($142.49 with team discount): The goBILDA GripForce\ |trade| Mecanum Wheels are the gold standard for teams wanting a quality design in all aspects. They feature a 104mm diameter and a thickness of 38mm, with ball bearing supported 40A durometer rollers that provide excellent strafing performance. With the use of recessed 16x16mm and 32x32mm holes, these wheels have the largest amount of mounting options and can fit all shaft styles commonly used in FTC\ |reg|. +- `goBILDA Mecanum Wheels v2 `_ ($127.49 with team discount): The goBILDA v2 Mecanum Wheels are the previous gold standard for teams wanting a quality design in all aspects. They feature a 96mm diameter and a thickness of 38mm, with ball bearing supported 70A durometer rollers that provide good strafing performance. Teams purchasing new wheels are recommended to opt for the similarly-priced upgraded GripForce\ |trade| wheels, but these older wheels still provide rock-solid performance. +- `REV Robotics Mecanum Wheels `_ ($127.50 with team discount): The REV Robotics Mecanum Wheels come in at only 75mm in diameter, providing a smaller mecanum wheel option to FTC teams; however, they are not the thinnest option at 40.8mm thick. They feature ball bearing supported rollers that provide exceptional strafing capabilities and traction. The hole pattern featured on these wheels is compatible with AndyMark Nubs as well as the REV Robotics Universal Hex Adapter v2 (which is included); however, in order to use other shaft options the use of an adapter or physical modification will likely be required. Viable ~~~~~~ @@ -116,17 +135,9 @@ These mecanums have acceptable performance but there is very little reason to bu - `Nexus Ball Bearing Mecanum Wheels `_ ($134.00): These wheels are 100 mm in diameter and 59 mm wide. They strafe excellently because of the use of ball bearings. However, they are more expensive, take up more space, have less traction, and are harder to mount to than the recommended wheels. - `goBILDA Mecanum Wheels v1 `_ (discontinued): These wheels are very similar to the Nexus Ball Bearing Mecanum Wheels, but with a different color scheme and better mounting options. -- `Andymark Heavy Duty Mecanum Wheels `_ ($225): These are easily the most expensive mecanums on the list. These wheels are 4" in diameter and 1.65" wide. These are bushing based mecanums, so while they strafe decently they still perform worse than bearing based ones. They have a good amount of traction, more than the Nexus bearing or bushing wheels. +- `AndyMark Heavy Duty Mecanum Wheels `_ ($225): These are easily the most expensive mecanums on the list. These wheels are 4" in diameter and 1.65" wide. These are bushing based mecanums, so while they strafe decently they still perform worse than bearing based ones. They have a good amount of traction, more than the Nexus bearing or bushing wheels. - `Nexus Bushing Mecanum Wheels `_ ($80.00): This is the Nexus Ball Bearing Mecanum Wheel with bushings instead of ball bearings. There is not much to say about them except that they strafe decently but worse than the ball bearing based equivalent. -Not Recommended -~~~~~~~~~~~~~~~ - -There is almost no reason to use these mecanum wheels---they perform very poorly and are not much cheaper than those in the `Recommended`_ section. We cannot recommend the use of these on an FTC robot, if at all possible replace them with mecanums from the `Recommended`_ section. - -- `TETRIX Mecanum Wheels `_ ($149.00): These mecanums are designed with a bushing based, hard plastic roller which in turn creates poor strafing performance. The integrated hub is a set screw based design with a round bore, causing unreliability as well as taking up extra space. -- `Andymark Standard Duty Mecanum Wheels `_ ($77.00): These wheels barely strafe and are super fragile. - .. figure:: images/holonomic/8103-mecanum.png :alt: 8103 Null Robotics's mecanum drivetrain render @@ -137,6 +148,14 @@ There is almost no reason to use these mecanum wheels---they perform very poorly 731 Wannabee Strange, Rover Ruckus, using **AndyMark HD mecanum wheels** +Not Recommended +~~~~~~~~~~~~~~~ + +There is almost no reason to use these mecanum wheels --- they perform very poorly and are not much cheaper than those in the `Recommended`_ section. We cannot recommend the use of these on an FTC robot; if at all possible, replace them with mecanums from the `Recommended`_ section. + +- `TETRIX Mecanum Wheels `_ ($149.00): These mecanums are designed with a bushing based, hard plastic roller which in turn creates poor strafing performance. The integrated hub is a set screw based design with a round bore, causing unreliability as well as taking up extra space. +- `AndyMark Standard Duty Mecanum Wheels `_ ($77.00): These wheels barely strafe and are super fragile. + X-Drive ------- diff --git a/source/docs/common-mechanisms/drivetrains/images/holonomic/gobilda-mecanum-direction.png b/source/docs/common-mechanisms/drivetrains/images/holonomic/gobilda-mecanum-direction.png index e22de976..d40a59df 100644 Binary files a/source/docs/common-mechanisms/drivetrains/images/holonomic/gobilda-mecanum-direction.png and b/source/docs/common-mechanisms/drivetrains/images/holonomic/gobilda-mecanum-direction.png differ diff --git a/source/docs/common-mechanisms/drivetrains/images/tank/REV-starter-chassis.svg b/source/docs/common-mechanisms/drivetrains/images/tank/REV-starter-chassis.svg new file mode 100644 index 00000000..51aba3a5 --- /dev/null +++ b/source/docs/common-mechanisms/drivetrains/images/tank/REV-starter-chassis.svg @@ -0,0 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b/source/docs/common-mechanisms/drivetrains/index.rst @@ -49,7 +49,7 @@ When building any mechanism, teams must list out some necessities or desired fea We recommend belted drivetrains, but realize that belt is a difficult option for new teams. Chain and gears are also great options - chain requires a bit more forethought, as 1+ tensioner per side is required to maintain correct tension in the chain. - CAD or a detailed sketch is generally recommended with chain in order to visualize the chain run (where the chain will be placed). Gears are slightly simpler, and can be a fantastic and easy option, especially when using extrusion. We would advise to stay away from TETRIX gears, and use the gears from other kits such as the REV delrin gears (with hex hub strengthener) or REV aluminum gears. + CAD or a detailed sketch is generally recommended with chain in order to visualize the chain run (where the chain will be placed). Gears are slightly simpler, and can be a fantastic and easy option, especially when using extrusion. We would advise to use the gears from kit systems, such as the various goBILDA gears, the REV delrin gears (with hex hub strengthener), or the REV aluminum gears. See the :doc:`/docs/common-mechanisms/power-transmission/index` section for more details. diff --git a/source/docs/common-mechanisms/drivetrains/tank.rst b/source/docs/common-mechanisms/drivetrains/tank.rst index 642eedde..088871df 100644 --- a/source/docs/common-mechanisms/drivetrains/tank.rst +++ b/source/docs/common-mechanisms/drivetrains/tank.rst @@ -27,16 +27,15 @@ Disadvantages - Slower than other options - Underpowered (all other drivetrain options typically use 4 motors) -- Uses the Tetrix MAX motor, which is prone to burning out easily, is underpowered, and has a fragile gearbox. - Lacks agility and maneuverability due to 2 motor turning - Poor acceleration due to 2 motors - Often :term:`direct driven `, which is highly discouraged for drivetrains -.. figure:: images/tank/tetrix-pushbot.jpg - :alt: Tetrix pushbot +.. figure:: images/tank/REV-starter-chassis.svg + :alt: Drivetrain from the REV DUO FTC Starter Bot - Example pushbot drivetrain included in the starter FTC\ |reg| guide + The drivetrain included in the REV DUO FTC Starter Bot guide 4 Wheel Drive ------------- @@ -257,7 +256,7 @@ Tread Drive Tread drive is the use of tank treads or wide belts to power movement, much like a real life tank. Unfortunately, in FTC, it is not a competitive drivetrain for a number of reasons. -Tread is complex, and has many points of failure. Treads are also very prone to defense, and a slight hit from another robot is enough to misalign the treads. :term:`Commercial Off-The-Shelf (COTS) ` tread options aren't great either - TETRIX tracks have a tendency to snap and derail when used on robot drivetrains, making them not suitable for competition use. +Tread is complex, and has many points of failure. Treads are also very prone to defense, and a slight hit from another robot is enough to misalign the treads. :term:`Commercial Off-The-Shelf (COTS) ` tread options aren't great either - TETRIX tracks have a tendency to snap and derail when used on robot drivetrains, making them not suitable for competition use. // FIXME: I think goBILDA sells treads now? They are probably robust, but still, treads aren't generally recommended for other reasons. While it is possible to implement tread drive successfully, such as in the example below, most inexperienced teams do not have the capability and know-how to do so. Tread drive has negligible traction improvements at the cost of maneuverability. There are better options to traverse terrain, such as a 4WD. diff --git a/source/docs/common-mechanisms/linear-motion-guide/index.rst b/source/docs/common-mechanisms/linear-motion-guide/index.rst index 6312e03e..4fd0f223 100644 --- a/source/docs/common-mechanisms/linear-motion-guide/index.rst +++ b/source/docs/common-mechanisms/linear-motion-guide/index.rst @@ -1,7 +1,7 @@ Linear Motion Guide =================== -Linear motion is one of the most important components of a successful robot. In most games, teams are required to reach into an area that the drivetrain cannot access in order to pick up or deposit game elements. For example, in 2017-2018, Relic Recovery, teams needed to extend an arm of some sort to grab the Relic that was placed in the corner of the playing field. This area of the game field was nearly impossible for a robot to drive to, so a linear extension was necessary. +Linear motion is one of the most important components of a successful robot. In most games, teams are required to reach into an area that the drivetrain cannot access in order to pick up or deposit game elements. For example, in 2017-2018, Relic Recovery, teams needed to extend an arm of some sort to grab the Relic that was placed in the corner of the playing field. This area of the game field was nearly impossible for a robot to drive to, so a linear extension was necessary. // FIXME: More recent example(s)? e.g. Into the Deep requires extension for high basket scoring Access of > 18" is necessary for nearly all games; >24" is preferred. In some games, an extension of 36" or more may be needed. diff --git a/source/docs/common-mechanisms/linear-motion-guide/linear-bearing-slides.rst b/source/docs/common-mechanisms/linear-motion-guide/linear-bearing-slides.rst index 0bcf6fe5..d500908b 100644 --- a/source/docs/common-mechanisms/linear-motion-guide/linear-bearing-slides.rst +++ b/source/docs/common-mechanisms/linear-motion-guide/linear-bearing-slides.rst @@ -7,7 +7,7 @@ Linear bearings are specialty ball bearings. Unlike radial ball bearings, they r .. attention:: Unlike with most slides, the balls of linear bearings are not well retained when the bearings are removed from their rails. Linear bearings with a few balls missing have slightly decreased performance. Be sure to handle and store the bearings with care and to be prepared if their balls fall out. -There are two types of linear bearings generally used in FTC: round linear bearings and linear bearing blocks. +There are two types of linear bearings generally used in FTC\ |reg|: round linear bearings and linear bearing blocks. MGN Series Linear Bearing Blocks -------------------------------- diff --git a/source/docs/common-mechanisms/linear-motion-guide/rack-and-pinion.rst b/source/docs/common-mechanisms/linear-motion-guide/rack-and-pinion.rst index cea248e4..828b15f2 100644 --- a/source/docs/common-mechanisms/linear-motion-guide/rack-and-pinion.rst +++ b/source/docs/common-mechanisms/linear-motion-guide/rack-and-pinion.rst @@ -3,7 +3,7 @@ Rack and Pinion =============== -Rack and pinion refers to a a toothed linear gear (the rack), meshed with a a circular gear (the pinion gear). When the pinion gear is driven, it will drive the pinion gear upwards or downwards, depending on how the rack and pinion is mounted. +Rack and pinion refers to a toothed linear gear (the rack), meshed with a circular gear (the pinion gear). When the pinion gear is driven, it will drive the pinion gear upwards or downwards, depending on how the rack and pinion is mounted. Generally, rack and pinion is a good light-use option for FTC\ |reg| teams in terms of linear extension. However, there are some disadvantages to rack and pinion compared to the other options of linear extension. Therefore, rack and pinion is generally not recommended for teams. @@ -19,9 +19,9 @@ Disadvantages - Rack and pinion generally is only used in one stage, because multiple mechanisms require other forms of powering it (belt, string, chain, etc.) -- Rack and pinion needs to be supported very well to sustain heavy load, or else the mesh will fail. **It is not advisable to use the Tetrix rack and pinion in high stress conditions**. +- Rack and pinion needs to be supported very well to sustain heavy load, or else the mesh will fail. .. figure:: images/rack-and-pinion/tetrix-rack-and-pinion.png :alt: A marketing image for the tetrix rack and pinion - The Tetrix rack and pinion has a tendency to fail under medium to high load. + The Tetrix rack and pinion has a tendency to fail under medium to high load. // FIXME: Replace with goBILDA diff --git a/source/docs/common-mechanisms/linear-motion-guide/rigging.rst b/source/docs/common-mechanisms/linear-motion-guide/rigging.rst index b1f17de1..2ccf24b1 100644 --- a/source/docs/common-mechanisms/linear-motion-guide/rigging.rst +++ b/source/docs/common-mechanisms/linear-motion-guide/rigging.rst @@ -211,7 +211,7 @@ Almost ubiquitous in FRC\ |reg|, belt and chain elevators have existed seemingly Tensioners ---------- -Tensioning string is one of the most painstaking tasks for a builder in FTC. Ensuring that both sets of slides are tensioned evenly can be an arduous and annoying job. However, adding tensioners to your strings can help solve the uneven tension and ensure that both sides of slides run together. The most common type of tensioner is a spring that can be purchased at a hardware store. It generally will be placed at the end of the string run, near the part that extends farthest out from the robot's center. By doing so, the string will stretch out when the spool extends the arm, keeping tension so that the string does not detach from the pulleys in the linear slide extension. +Tensioning string is one of the most painstaking tasks while assembling a robot. Ensuring that both sets of slides are tensioned evenly can be an arduous and annoying job. However, adding tensioners to your strings can help solve the uneven tension and ensure that both sides of slides run together. The most common type of tensioner is a spring that can be purchased at a hardware store. It generally will be placed at the end of the string run, near the part that extends farthest out from the robot's center. By doing so, the string will stretch out when the spool extends the arm, keeping tension so that the string does not detach from the pulleys in the linear slide extension. Another form of tensioner can be a spring-loaded pulley. Since the pulley is spring-loaded, it will take up the slack in the string. Alternatively, it is possible to mount a pulley on a piece of extrusion, and slide it so the string is taut. diff --git a/source/docs/common-mechanisms/power-transmission/chain.rst b/source/docs/common-mechanisms/power-transmission/chain.rst index 0d094296..70ee4c89 100644 --- a/source/docs/common-mechanisms/power-transmission/chain.rst +++ b/source/docs/common-mechanisms/power-transmission/chain.rst @@ -30,7 +30,7 @@ A chain breaker eliminates the need for master links because it can break and jo Center-to-Center calculations ----------------------------- -The equation to calculate :term:`center-to-center ` for chain is quite complicated. Many `online calculators `_ can calculate C-C distances without going through the tedious calculations. However, the complete formula is below. +The equation to calculate :term:`center-to-center ` for chain is quite complicated. Many `online calculators `_ can calculate C-C distances without going through the tedious calculations. However, the complete formula is below. .. math:: diff --git a/source/docs/common-mechanisms/power-transmission/gears.rst b/source/docs/common-mechanisms/power-transmission/gears.rst index bdad2db9..036bc502 100644 --- a/source/docs/common-mechanisms/power-transmission/gears.rst +++ b/source/docs/common-mechanisms/power-transmission/gears.rst @@ -15,7 +15,7 @@ Gears, like sprockets and pulleys, are used in power transmission for three comm 56T REV aluminum gear -Gears are made in different materials, with the most common being 7075 aluminum. **Never mesh plastic and metal gears together**. It is acceptable to mesh different types of metal gears together, as long as they have the same diametral pitch. It is advised to stay away from TETRIX aluminum gears as they wear down very easily. Some REV gears are made out of Delrin, a self-lubricating plastic. It is a durable material, but keep in mind that it is very possible to strip the bore using a plastic gear. Thus, we advise using the REV Hex Hub Strengthener to avoid stripping the bore on Delrin gears. +Gears are made in different materials, with the most common being 7075 aluminum. **Never mesh plastic and metal gears together**. It is acceptable to mesh different types of metal gears together, as long as they have the same diametral pitch. Some REV gears are made out of Delrin, a self-lubricating plastic. It is a durable material, but keep in mind that it is very possible to strip the bore using a plastic gear. Thus, we advise using the REV Hex Hub Strengthener to avoid stripping the bore on Delrin gears. Bevel gears are a special type of gear that allows power transmission in two different planes. It is especially useful in tight spaces where a regular motor mounting position would not work. diff --git a/source/docs/common-mechanisms/power-transmission/power-transmission-glossary.rst b/source/docs/common-mechanisms/power-transmission/power-transmission-glossary.rst index f310eb92..9ad31495 100644 --- a/source/docs/common-mechanisms/power-transmission/power-transmission-glossary.rst +++ b/source/docs/common-mechanisms/power-transmission/power-transmission-glossary.rst @@ -34,8 +34,8 @@ Power Transmission Glossary Delrin 20 Tooth #25 sprocket HTD Belt - HTD belt is a type of synchronous timing belt commonly used on drivetrains. It is available in different widths to accommodate different sized pulleys. The most common is HTD3 (3mm :term:`Pitch`) and HTD5 (5mm :term:`Pitch`) belts, as these are compatible with goBILDA :term:`COTS` pulleys. See :term:`Timing Belt` + HTD belt is a type of synchronous timing belt commonly used on drivetrains and other mechanisms. It is available in different widths and pitches to accommodate different sized pulleys. The most common are HTD3 (3mm :term:`Pitch`) and HTD5 (5mm :term:`Pitch`) belts, as these are compatible with goBILDA :term:`COTS` pulleys. See :term:`Timing Belt` GT2 Belt - GT2 belt is a type of synchronous timing belt commonly used on drivetrains and other mechanisms. Its available in different widths and pitches, although the most common is GT2 3mm (3mm :term:`Pitch`), compatible with REV Robotics :term:`COTS` Pulleys. See :term:`Timing Belt` + GT2 belt is a type of synchronous timing belt commonly used on linear slides and other mechanisms. It is available in different widths and pitches to accommodate different sized pulleys. The most common are GT2 2mm (2mm :term:`Pitch`), compatible with goBILDA :term:`COTS` pulleys, and GT2 3mm (3mm :term:`Pitch`), compatible with REV Robotics :term:`COTS` pulleys. See :term:`Timing Belt` diff --git a/source/docs/common-mechanisms/power-transmission/shaft-retention.rst b/source/docs/common-mechanisms/power-transmission/shaft-retention.rst index e5e395c6..8040a13c 100644 --- a/source/docs/common-mechanisms/power-transmission/shaft-retention.rst +++ b/source/docs/common-mechanisms/power-transmission/shaft-retention.rst @@ -5,7 +5,7 @@ If you are powering any mechanism with a :term:`live axle ` system, y .. note:: Make sure to use an appropriately sized shim/washer between the thing retaining the shaft and the bearing, such that it only touches the bearings inner race. Otherwise, the rubbing will lead to inefficiency. -Outlined below are some common methods FTC teams use for shaft retention. +Outlined below are some common methods teams use for shaft retention. Shaft Collars ------------- diff --git a/source/docs/common-mechanisms/transfers/transfer-types.rst b/source/docs/common-mechanisms/transfers/transfer-types.rst index ecf410b7..76e5dc11 100644 --- a/source/docs/common-mechanisms/transfers/transfer-types.rst +++ b/source/docs/common-mechanisms/transfers/transfer-types.rst @@ -24,7 +24,7 @@ Disadvantages - Requires the scoring mechanism to be able to go both behind the intake as well as into whatever position is needed for scoring .. figure:: images/16461-transferless.png - :alt: A picture of a direct transfer intake from FTC\ |reg| 16461, where the collection bucket is behind the intake + :alt: A picture of a direct transfer intake from team 16461 Infinite Turtles, where the collection bucket is behind the intake 16461 Infinite Turtles, Freight Frenzy, Direct transfer intake, where the collection bucket is right behind the intake diff --git a/source/docs/contributing/contributors.rst b/source/docs/contributing/contributors.rst index 8184c7ec..e9331ba7 100644 --- a/source/docs/contributing/contributors.rst +++ b/source/docs/contributing/contributors.rst @@ -50,6 +50,7 @@ Other Contributors - Neo - FTC 6710 Sigmas - Oscar - FTC 6460 RoboWarriors - Peter - FTC 12533 Inception +- QwertyChouskie - FTC 10298 Brain Stormz (Alumni/Mentor) - Sam - FTC 2753 Team Overdrive - Shurik - FTC 4137 Islandbots mentor - Tom - FTC 3736 Serious Business diff --git a/source/docs/design-skills/cad-tutorials.rst b/source/docs/design-skills/cad-tutorials.rst index 228296b5..3dafa191 100644 --- a/source/docs/design-skills/cad-tutorials.rst +++ b/source/docs/design-skills/cad-tutorials.rst @@ -11,7 +11,7 @@ Choosing the Drivetrain After learning your :term:`CAD ` program of choice, determine the necessary requirements for the drivetrain based on the current game. Teams should shoot for the wheelbase that works the best in that specific field's layout. -For instance, in Relic Recovery (2017-2018) a drivetrain required precision to not only grab glyphs from the center pit, but also to line up against the cryptobox. Thus, mecanum wheels and a wide center section of the robot proved an advantage over a 6 wheel tank drive. (However, it should be noted that with sufficient practice and competent drivers, any drive base can be competitive up to a certain extent). +For instance, in Relic Recovery (2017-2018) a drivetrain required precision to not only grab glyphs from the center pit, but also to line up against the cryptobox. Thus, mecanum wheels and a wide center section of the robot proved an advantage over a 6 wheel tank drive. (However, it should be noted that with sufficient practice and competent drivers, any drive base can be competitive up to a certain extent). // FIXME: this needs updating, pretty much every team should be using mecanum unless there's a game-specific reason for something else... After selecting a drivebase, determine the number of motors. Keep in mind the eight motor limit is a pain that shouldn't be ignored. A good rule of thumb is four motors for driving and four motors for the other mechanisms (e.g. intakes, linear slides, arm, etc.) For most modern FTC\ |reg| games, you need minimum 7 motors to be highly competitive, although 8 is a good rule of thumb. diff --git a/source/docs/design-skills/cad.rst b/source/docs/design-skills/cad.rst index 63faac5c..2b057e17 100644 --- a/source/docs/design-skills/cad.rst +++ b/source/docs/design-skills/cad.rst @@ -25,7 +25,7 @@ So, what's the point of CAD, then? It is encouraged that new teams try their han **However, CAD is not the magic genie that will guarantee you success in FTC.** When used properly, it is a great tool to aid teams in building their robot. Keep in mind, though, that many teams have had success without CAD. -Starting off, choose a CAD program and learn it as well as possible. It may be a good idea to spend a few weeks just finding objects lying around, sit down with a ruler or calipers, and make a quick CAD model. A good way to test accuracy is to choose a solid object made up of one known material. Weigh the object and make the model in CAD, apply that material to it, and see what the weight difference is. This is a good way to test how accurate the CAD model is to the real part. It really doesn't matter what object it is - just find something and make it to the best of your abilities. There are also tons of videos on YouTube; a good one is TFI who makes detailed tutorials for Autodesk Inventor. +Starting off, choose a CAD program and learn it as well as possible. It may be a good idea to spend a few weeks just finding objects lying around, sit down with a ruler or calipers, and make a quick CAD model. A good way to test accuracy is to choose a solid object made up of one known material. Weigh the object and make the model in CAD, apply that material to it, and see what the weight difference is. This is a good way to test how accurate the CAD model is to the real part. It really doesn't matter what object it is - just find something and make it to the best of your abilities. There are also tons of videos on YouTube; a good one is TFI who makes detailed tutorials for Autodesk Inventor. // FIXME: give Onshape and/or Fusion 360 example instead? Overview of CAD Programs ------------------------ @@ -35,53 +35,62 @@ There are many possible CAD programs that teams can learn, all of which can be d `Onshape `_ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -A fully-featured CAD package, but it runs entirely in the cloud. It can run on any computer (even Chromebooks!) and has iOS, iPadOS, and Android apps as well. +A fully-featured CAD package, but it runs entirely in the cloud/browser. It can run on any computer (even Chromebooks!) and has iOS, iPadOS, and Android apps as well. It is currently the most popular option among FTC teams, and also the most commonly recommended option. -It has all of the same core features as SolidWorks and Inventor, as well as the best collaboration workflow in the industry - many people call it "the Google Docs of CAD." Onshape allows multiple people to work on the same document at the same time, and allows users to "follow" each other and see what's on another user's screen. +It has all of the same core features as SolidWorks and Autodesk Inventor, as well as the best collaboration workflow in the industry - many people call it "the Google Docs of CAD." Onshape allows multiple people to work on the same document at the same time, and allows users to "follow" each other and see what's on another user's screen. -OnShape also has FeatureScript, a programming language where you can write custom features. The community has created a lot of very useful FeatureScripts already which you can use completely for free. +Onshape also has FeatureScript, a programming language where you can write custom features. The community has created a lot of very useful FeatureScripts already which you can use completely for free. -Onshape also has a comprehensive tutorial system (https://learn.onshape.com) that will not only teach you how to use their software, but how to approach design problems. +Onshape has a comprehensive tutorial system (https://learn.onshape.com) that will not only teach you how to use their software, but how to approach design problems. -If you're just starting out with CAD, or you don't have access to powerful computers, Onshape is the software for you. +Onshape users can also use the `FTC Onshape Parts Library `_, which contains a majority of parts from most major vendors. This makes creating assemblies significantly easer, compared to downloading the STEP file for each part from the parts' product pages. -`SolidWorks `_ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Due to the low system requirements, excellent collaboration features, and being the only CAD software that currently has an extensive FTC parts library, Onshape has become the go-to for both new and experienced teams, and is our recommendation for most teams. -An industry standard CAD package made by Dassault Syst\ |egrave|\ mes. It's as fully featured as CAD software gets, including great simulation features and a very robust assembly environment. It's used widely in industry and is also the program of choice for most college-level engineering classes. +.. hint:: + Onshape is also currently the easiest to get set up with; creating a free education account can be done in minutes without any additional hurdles or waiting periods. -However, **it isn't available for Mac users**, and you'll need a pretty beefy computer to run it (16GB RAM is standard). SolidWorks also comes with a solid simulation program if you wish to test the structural properties of your robot or a custom-designed part. +`Autodesk Fusion 360 `_ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -If you have mentors or team members with previous experience in SolidWorks or an engineering class at your school that teaches SolidWorks, it will be your best choice. +.. warning:: + Autodesk education accounts are only available to students of "qualified educational institutions", and you will need to upload a form of documentation (School transcript, School-issued confirmation letter, or School ID) to verify your account. -`Inventor `_ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +A cloud-based all-in-one CAD/CAM package, made by Autodesk. Fusion 360 is available for both Windows and macOS, although it may not run very well on low-spec computers. It is currently the second-most commonly used CAD program in FTC. -Autodesk's industrial CAD offering. It offers many similar features to SolidWorks, but has a different UI and three distinct assembly modes. +It has a powerful CAM environment for machining your parts, and it has intuitive and easy cloud rendering that gives the heavy lifting to Autodesk's servers. To maintain a simpler UI, Fusion skips out on a lot of the more advanced features found in SolidWorks and Inventor, although this usually isn't much of a problem. -While it's used by many companies in the industry, it doesn't appear in very many college curriculums. Inventor is generally the second choice for companies who don't use SolidWorks but instead are based around the Autodesk universe. +However, a more noteworthy difference is that Fusion ignores every single industry standard, creating its own structure and organizational system. Beyond simple sketches and extrude features, Fusion's modeling and assembly system is unique and not compatible with any other CAD software, making it hard to switch away from Fusion. -**Inventor is also not available for Mac**, but it may run better on lower-spec PCs. +Because of this, if you aren't careful, Fusion's file hierarchy can actively encourage bad design habits and discourages reusability by allowing users to create new parts without designing them individually first. -If you have mentors or team members with previous experience in Inventor or an engineering class at your school that teaches Inventor, it will be your best choice. +If one is careful to follow good design practices, Fusion is a solid option. +`SolidWorks `_ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +An industry standard CAD package made by Dassault Syst\ |egrave|\ mes. It's as fully featured as CAD software gets, including great simulation features and a very robust assembly environment. It's used widely in industry and is also the program of choice for most college-level engineering classes. However, it sees little use in FTC compared to Onshape and Fusion 360, though it is more normal to see it used by FRC\ |reg| teams. -`Fusion 360 `_ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +**SolidWorks isn't available for macOS or Linux users**, and you'll need a pretty beefy computer to run it (16GB RAM and a discrete GPU are standard). SolidWorks also comes with a solid simulation program if you wish to test the structural properties of your robot or a custom-designed part. -A cloud-based all-in-one CAD/CAM package, also made by Autodesk. Fusion 360 is cross platform compatible, although it doesn't run very well on low-spec computers. +If you have mentors or team members with previous experience in SolidWorks or an engineering class at your school that teaches SolidWorks, and a powerful enough system to run it well, it can be a solid option; but if you want to receive support from other FTC teams, you will probably be better off with software more commonly used in FTC, such as Onshape or Fusion 360. -It has a powerful CAM environment for machining your parts, and it has intuitive and easy cloud rendering that gives the heavy lifting to Autodesk's servers. To maintain a simpler UI, Fusion skips out on a lot of the more advanced features found in SolidWorks and Inventor, although this isn't really much of a problem. +`Autodesk Inventor `_ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -However, a more noteworthy difference is that Fusion ignores every single industry standard, creating its own structure and organizational system. Beyond simple sketches and extrude features, Fusion's modeling and assembly system is unique and not compatible with any other CAD software, making it hard to switch away from Fusion. +.. warning:: + Autodesk education accounts are only available to students of "qualified educational institutions", and you will need to upload a form of documentation (School transcript, School-issued confirmation letter, or School ID) to verify your account. -Because of this, if you aren't careful, Fusion's file hierarchy can actively encourage bad design habits and discourages reusability by allowing users to create new parts without designing them individually first. +Autodesk's industrial CAD offering. It offers many similar features to SolidWorks, but has a different UI and three distinct assembly modes. -If one is careful to follow good design practices, Fusion is a solid option. +While it's used by many companies in the industry, it doesn't appear in very many college curriculums. Inventor is generally the second choice for companies who don't use SolidWorks but instead are based around the Autodesk universe. + +**Inventor is also not available for macOS or Linux**, but it may run better on lower-spec PCs than SolidWorks. -`Creo (formerly known as Pro/E) `_ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +If you have mentors or team members with previous experience in Inventor or an engineering class at your school that teaches Inventor, it can be a solid option; but if you want to receive support from other FTC teams, you will probably be better off with software more commonly used in FTC, such as Onshape or Fusion 360. + +`Creo `_ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ A family of CAD/CAM applications developed by PTC (Parametric Technology Corporation). Creo parametric is the main CAD package that includes robust assembly and part modeling similar to Solidworks. @@ -91,19 +100,15 @@ Creo has many features, but the general 80-20 rule applies - 20% of the features Learning Creo can be more of a challenge than other CAD software, because of the limited available tutorials online in addition to the complex relations and constraints structure. Our recommendation is to learn Creo from someone who already has experience with the software. -College-level engineering classes as well as numerous companies in the automotive, aerospace and consumer industry use Creo. Since Creo makes use of Windows OS file system it will not run on Mac. However, a Windows emulator can be installed to run Creo on Mac. +College-level engineering classes as well as numerous companies in the automotive, aerospace and consumer industry use Creo. Creo is made for Windows and will not run natively on macOS; however, virtual machine software (e.g. Parallels) can be used to run Creo on macOS or Linux. + +If you have mentors or team members with previous experience in Creo or an engineering class at your school that teaches Creo, it can be a solid option; but if you want to receive support from other FTC teams, you will probably be better off with software more commonly used in FTC, such as Onshape or Fusion 360. Getting Parts ------------- -All vendors (REV, goBILDA, Actobotics, AndyMark, Tetrix) provide 3d models of the parts they sell in STEP format, which can be imported by any of the CAD programs above. Some vendors also offer repositories or zip files containing :term:`STEP file` of all the models they sell. - -- Vendor CAD Libraries - - - `Actobotics (ServoCity) `_ - -- `10650 Hazmat Robotics CAD Library + MiSUMI Parts `_ -- `FTC Onshape Parts Library (contains a majority of parts from most major vendors) `_ +Most vendors (goBILDA, REV, AndyMark, and more) provide 3D models of the parts they sell in STEP format (usually linked on the product page of each part), which can be imported by any of the CAD programs above. Onshape users are recommended to use the `FTC Onshape Parts Library `_, which contains a majority of parts from most major vendors. +// FIXME: probably should replace last sentence with link to section that lists part libraries File sharing ------------ diff --git a/source/docs/design-skills/engineering-design-process.rst b/source/docs/design-skills/engineering-design-process.rst index 4fce7f17..a3ce11f0 100644 --- a/source/docs/design-skills/engineering-design-process.rst +++ b/source/docs/design-skills/engineering-design-process.rst @@ -38,7 +38,7 @@ In general, the design process contains these steps; however, every team will mo As an example, let's look at an imaginary team building a drivetrain for Rover Ruckus (RR2), which was 2018-2019's game. In RR2, there was a crater, which was about 3" tall, and could be traversed. In that year's game, there were two main options: traverse said crater, or not traverse it and instead reach over with an arm. -The team must first specify requirements for the drivetrain. One of the most important aspects of a drivetrain is maneuverability. Another requirement could be speed, traction, reliability, etc. From the team's specified requirements, they would now look at drivetrains that fit their requirements. If the team wanted to traverse the crater, then a 4WD or 6WD would be an optimal design. If they did not need to traverse the crater, many options are still on the table such as the holonomic drivetrains. +The team must first specify requirements for the drivetrain. One of the most important aspects of a drivetrain is maneuverability. Another requirement could be speed, traction, reliability, etc. From the team's specified requirements, they would now look at drivetrains that fit their requirements. If the team wanted to traverse the crater, then a 4WD or 6WD would be an optimal design. If they did not need to traverse the crater, many options are still on the table such as the holonomic drivetrains. // FIXME: you could totally traverse the crater with 8" mecanums. tank just doesn't make sense in this example, and really never makes sense nowadays. The next step would be to brainstorm actual designs. It would be prudent to have more than one student to design one drivetrain prototype, so that the team could test more than one drivetrain. diff --git a/source/docs/hardware-components/kit-and-hardware-guide/actobotics.rst b/source/docs/hardware-components/kit-and-hardware-guide/actobotics.rst index a1ff88e4..c89ce7a7 100644 --- a/source/docs/hardware-components/kit-and-hardware-guide/actobotics.rst +++ b/source/docs/hardware-components/kit-and-hardware-guide/actobotics.rst @@ -3,17 +3,19 @@ Actobotics (Discontinued) ========================= -.. attention:: As of June 2023, ServoCity is `discontinuing the Actobotics line `_ to focus on goBILDA. We are retaining these pages as historical reference for teams that continue to have and use Actobotics parts. +.. attention:: As of June 2023, ServoCity has `discontinued the Actobotics line `_ to focus on goBILDA. We are retaining these pages as historical reference for teams that continue to have and use Actobotics parts. The Actobotics kit from ServoCity (https://www.servocity.com/actobotics) is a fixed-pitch, :term:`channel-based ` building system using imperial units. Its 1.5" :term:`c-channel ` and :term:`ball-bearing ` based motion system allows teams to iterate and build mechanisms entirely from kit parts. +Prior to being discontinued, Actobotics was a solid choice for new teams, offering a reliable base kit with many options to expand upon. Because it is no longer being produced, we recommend teams consider other kits instead. + Special Considerations ---------------------- - Actobotics' :term:`channel ` hole pattern has many more mounting holes than a Tetrix channel, so it offers more flexibility in terms of mounting. - Actobotics uses imperial units across the board, allowing for clean spacing and fitting. However, most other kits use metric. - Actobotics can interface with other kits such as REV through a variety of Pattern Adapters. -- ServoCity offers a 25% off discount for all *FIRST*\ |reg| teams making, pricing competitive: https://www.servocity.com/first_team_discounts +- ServoCity offers a 25% off discount for all *FIRST*\ |reg| teams, making pricing competitive: https://www.servocity.com/first_team_discounts Notable Components ------------------ @@ -22,14 +24,9 @@ Notable Components - Actobotics' X-rail :term:`extrusion ` system offers immense adjustability and flexibility as it adds a :term:`extrusion ` component to a :term:`channel-based ` kit. - To complement the structural offerings, Actobotics uses a series of clamping hubs and a robust 1/4" steel :term:`D-shaft `. - The Linear Motion Kit uses X-rail :term:`extrusion ` to build extending mechanisms. -- The :term:`Servoblocks`, which prolongs the life of a servo, are recommended for all teams, regardless of kit. However, :term:`Servoblocks` seamlessly interface with the Actobotics ecosystem. +- The :term:`ServoBlocks`, which prolongs the life of a servo, are recommended for all teams, regardless of kit. However, :term:`ServoBlocks` seamlessly interface with the Actobotics ecosystem. - Actobotics furthermore offers motion options such as :term:`bevel gears ` and Linear Actuator kits (using :term:`lead screws `) for specific use cases. -Verdict -------- - -Prior to being discontinued, Actobotics was a solid choice for new teams, offering a reliable base kit with many options to expand upon. Because it is no longer being produced we recommend teams consider other kits instead. - Kit of Parts ------------ @@ -39,7 +36,7 @@ Advantages ---------- - Actobotics provides a great value fixed pitch build system that is generally easier to assemble than :term:`extrusion-based ` systems which require cutting :term:`extrusion ` to length. -- Actobotics has the patented :term:`Servoblocks`, which help drastically increase servo life by protecting it from shock loads. More information may be found in the glossary. +- Actobotics has the patented :term:`ServoBlocks`, which help drastically increase servo life by protecting it from shock loads. More information may be found in the glossary. - Actobotics is easily compatible with other build systems such as REV's kit using adapters which can be found on the Servocity website. - Actobotics is more sturdy than TETRIX in terms of drivetrain flex and has more support options to prevent structural bending. - The :term:`clamping hubs ` offered are more reliable than :term:`set screws `, as clamping engages the shaft in more places than a :term:`set screw ` (one face). As discussed in the :doc:`TETRIX section `, set screws in particular are vulnerable to loosening, especially without application of Loctite. @@ -49,11 +46,14 @@ Advantages Disadvantages ------------- -- Actobotics is no longer being produced by ServoCity, so it may be difficult to locate some parts. +- Actobotics is no longer being produced by ServoCity, so it may be difficult to locate parts. - Actobotics is not very cheap, so its cost may be prohibitive for some teams with a low budget. Note that with the 25% off FTC\ |reg| team discount, Actobotics can be cheaper than TETRIX. The only cheaper build system is REV. -- The XL :term:`belts ` from ServoCity are not great. It is recommended that :term:`belts ` are purchased from ServoCity instead, which may necessitate the use of 3d printed pulleys. There also isn't a large amount of space inside the channel for a belt or chain run, vastly limiting the size of the pulleys. +- The XL :term:`belts ` from ServoCity are not great. It is recommended that :term:`belts ` are purchased from ServoCity instead, which may necessitate the use of 3D printed pulleys. There also isn't a large amount of space inside the channel for a belt or chain run, vastly limiting the size of the pulleys. - :term:`Channel` takes up more space than :term:`extrusion `, so mechanisms can be a bit larger with the Actobotics kit. To remediate this issue, ServoCity sells :term:`mini-channel ` which is a similar size as :term:`extrusion `. +Example Robots +-------------- + .. figure:: images/actobotics/8644-rr1.jpg :alt: 8644 Brainstormers' Relic Recovery robot diff --git a/source/docs/hardware-components/kit-and-hardware-guide/custom.rst b/source/docs/hardware-components/kit-and-hardware-guide/custom.rst index 54213644..48b63a42 100644 --- a/source/docs/hardware-components/kit-and-hardware-guide/custom.rst +++ b/source/docs/hardware-components/kit-and-hardware-guide/custom.rst @@ -1,11 +1,11 @@ Custom ====== -Many teams elect to ignore kits entirely and instead make their own mechanisms completely from scratch. While this allows for nearly unlimited design freedom, keep in mind *full* Custom has many caveats and drawbacks. A full CAD model is required for a custom robot, as well as machining capability. Custom robots are not suitable for a new team. +Many teams elect to ignore kits entirely and instead make their own mechanisms completely from scratch. While this allows for nearly unlimited design freedom, keep in mind *full* Custom has many caveats and drawbacks. A full CAD model is required for a custom robot, as well as machining capability. Fully custom robots are generally not suitable for a new team, though custom designs of individual components (e.g. a claw) are generally within reach even for new teams. Also, keep in mind that even with a fully custom design, you will need certain components such as motors, wheels, and other motion components from kit vendors such as goBILDA. However, forgoing a full custom robot opens up many opportunities. Many teams choose to create a robot that is a mix of kit parts and custom parts. Our recommendation is to use kit parts as the backbone of the robot, and custom fabricate any additional parts necessary, instead of the other way around. That way, you can rely on the strength and durability of the kit while retaining the ability to customize small pieces and mechanisms to your advantage. -The methods that teams use to make custom parts typically involve either additive or subtractive manufacturing: either building a part from raw material (3d printing) or removing material from stock to create a part (Milling, Routing, and Laser Cutting). +The methods that teams use to make custom parts typically involve either additive or subtractive manufacturing: either building a part from raw material (3D printing) or removing material from stock to create a part (Milling, Routing, and Laser Cutting). -You can now find details on 3d printing and milling in our :doc:`Custom Manufacturing ` section, with tutorials and general tips to help bring your parts from CAD to real life. +Details on 3D printing and machining can be found in the :doc:`Custom Manufacturing ` section, with tutorials and general tips to help bring your parts from CAD to real life. diff --git a/source/docs/hardware-components/kit-and-hardware-guide/gobilda.rst b/source/docs/hardware-components/kit-and-hardware-guide/gobilda.rst index 38b3a4b2..8244fff7 100644 --- a/source/docs/hardware-components/kit-and-hardware-guide/gobilda.rst +++ b/source/docs/hardware-components/kit-and-hardware-guide/gobilda.rst @@ -3,25 +3,28 @@ goBILDA ======= -goBILDA (https://www.gobilda.com/) is a fixed-pitch, :term:`channel ` based building system using metric units. It was recently released in the 2018-2019 season and is made by the same company as Actobotics. +goBILDA (https://www.gobilda.com/) is a fixed-pitch, :term:`channel ` based building system using metric units. It was first released in the 2018-2019 season and is made by the same company that previously made Actobotics. + +goBILDA's kit is a solid, albeit slightly more expensive, option for new teams. It offers a great deal of flexibility and part options from their catalog. goBILDA is a solid choice due to reasonable pricing, low learning curve, and thought-out design that reduces headaches. Special Considerations ---------------------- -- goBILDA is based on metric measurements using M4 hardware. The hole pattern has 4mm holes on 8mm grid. +- goBILDA is based on metric measurements using M4 hardware. The hole pattern has 4mm holes on an 8mm grid. - The kit is primarily structured around :term:`U-channel `, which is strong and durable. - goBILDA's robust motion system allows teams to easily build drivetrains and mechanisms without worrying about placement and tensioning. -- It is arguable, but goBILDA has likely a low learning curve due to its simple yet extremely functional catalog of parts. +- goBILDA arguably has a low learning curve due to its simple yet extremely functional catalog of parts. - goBILDA parts can generally be easily adapted to other kit parts such as REV. +- goBILDA arguably has the largest and widest parts library of any vendor in FTC, meaning that most any mechanism you can imagine can be quickly, easily, compactly, and robustly built with goBILDA. - Additionally, goBILDA is still being developed at a quick pace and is responsive to the needs of the FTC\ |reg| community. - **goBILDA offers a 25% discount for** *FIRST*\ |reg| **teams**. Notable components ------------------ -- goBILDA uses :term:`8mm pitch chain ` and HTD 3 or HTD 5 :term:`belts ` for motion. +- goBILDA uses :term:`8mm pitch chain `, 2mm :term:`GT2 belts `, and 3mm and 5mm :term:`HTD belts ` for motion. - goBILDA mostly uses :term:`clamping hubs ` (called Sonic hubs), eliminating the unreliable :term:`set screws `. -- goBILDA :term:`shafts ` are metric (:term:`6mm D ` and :term:`8mm rounded hex `). +- goBILDA :term:`shafts ` are metric (:term:`6mm D ` and :term:`8mm rounded hex (REX) `). - The primary structural component is the 48mm aluminum :term:`U-channel `, shown below. .. figure:: images/gobilda/gobilda_channel.jpg @@ -47,15 +50,11 @@ Notable components - goRAIL is :term:`extrusion ` that complements the :term:`channel ` offerings well. goRAIL is used in the linear actuator kit for extending mechanisms. -Verdict -------- - -goBILDA's kit is a solid, albeit slightly more expensive, option for new teams. It offers a great deal of flexibility and part options from their catalog. goBILDA is a solid choice due to reasonable pricing, low learning curve, and thought-out design that reduces headaches. - Kit of Parts ------------ -- `2023-2024 Kit Parts `_ +- `FTC Starter Kit (2025-2026 Season) `_ +- `Strafer Chassis Kit (104mm GripForce Mecanum Wheels) `_ Advantages ---------- @@ -63,10 +62,9 @@ Advantages - goBILDA's Low-Side U-channel opens up many new possibilities due to its flexibility and compactness. For example, one can now make a :term:`parallel plate drivetrain ` without custom machining, or make custom width :term:`U-channel `. - goBILDA also has :term:`Servoblocks` (identical to Actobotics other than hole pattern) which drastically increase servo life. - goBILDA has native large bore :term:`hex shaft ` support (12 mm REX is comparable to 3/8" rounded hex) which is one of the main advantages of custom fabrication brought to a kit based system. -- goBILDA also is able to interface with TETRIX :term:`channel ` because they share some holes. For more information about TETRIX-goBILDA compatibility, check out this `website `_. It is also quite compatible with REV's ecosystem. - goBILDA has a well thought-out :term:`ball bearing ` based motion system with smart motion transfer. It is easy to do :term:`chain ` or :term:`belt ` in channel. - .. note:: 8mm :term:`chain `, HTD 3, and HTD 5 mm :term:`belt ` can do perfect :term:`C2C (center to center) ` on the goBILDA pattern. This saves a lot of headache when needing to calculate :term:`C2C` distances. + .. note:: 8mm :term:`chain `, HTD 3, and HTD 5 :term:`belt ` can do perfect :term:`C2C (center to center) ` on the goBILDA pattern. This saves a lot of headache when needing to calculate :term:`C2C` distances. - goBILDA has plenty of :term:`shaft `, :term:`ball bearing `, and pillow block options. - goBILDA motors can :term:`face mount ` natively into :term:`channel `, eliminating the need for motor mounts and providing a robust, reliable way to mount motors. @@ -76,10 +74,13 @@ Advantages Disadvantages ------------- -- goBILDA is not the cheapest build system; it is relatively equivalent in pricing to Actobotics, but REV is cheaper. -- goBILDA :term:`U-channels ` are larger than the :term:`channels ` from Tetrix, resulting in larger builds. However, this is more than compensated by the fact that one can put a :term:`goBILDA motor ` *inside* a :term:`channel `. In addition, the introduction of mini-low-side channel allows for more compact builds where needed +- goBILDA is not the cheapest build system; while it is reasonably price-competitive, REV is cheaper. +- goBILDA :term:`U-channels ` are larger than the :term:`channels ` from Tetrix, resulting in larger builds. However, this is more than compensated by the fact that one can put a :term:`goBILDA motor ` *inside* a :term:`channel `. In addition, the introduction of mini-low-side channel allows for more compact builds where needed. - Because of metric pattern spacing, goBILDA utilizes 8mm pitch :term:`chain `, as opposed to the FTC standard #25 Imperial :term:`chain `. This means that other kits' :term:`chain ` and :term:`sprockets ` won't work with goBILDA :term:`chain ` and :term:`sprockets `. +Example Robots +-------------- + .. image:: images/gobilda/7182-rr2-hanging.png :alt: 7182 Mechanical Paradox Cubed's Rover Ruckus robot hanging on the lander diff --git a/source/docs/hardware-components/kit-and-hardware-guide/images/actobotics/actobotics-dual-ball-bearing-hub.png b/source/docs/hardware-components/kit-and-hardware-guide/images/actobotics/actobotics-dual-ball-bearing-hub.png deleted file mode 100644 index 63b73502..00000000 Binary files a/source/docs/hardware-components/kit-and-hardware-guide/images/actobotics/actobotics-dual-ball-bearing-hub.png and /dev/null differ diff --git a/source/docs/hardware-components/kit-and-hardware-guide/images/actobotics/clamping-hub.png b/source/docs/hardware-components/kit-and-hardware-guide/images/actobotics/clamping-hub.png deleted file mode 100644 index fa0e593f..00000000 Binary files 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b/source/docs/hardware-components/kit-and-hardware-guide/images/gobilda/sonic-hub.jpg differ diff --git a/source/docs/hardware-components/kit-and-hardware-guide/index.rst b/source/docs/hardware-components/kit-and-hardware-guide/index.rst index c3eb189d..1032271e 100644 --- a/source/docs/hardware-components/kit-and-hardware-guide/index.rst +++ b/source/docs/hardware-components/kit-and-hardware-guide/index.rst @@ -3,7 +3,7 @@ Kit and Hardware Guide ====================== -Before beginning your season, your team is presented with a crucial decision - one that will undoubtedly heavily influence the team's direction of hardware design in at least the first year. The *FIRST*\ |reg| storefront currently offers two kits for new teams: the TETRIX kit from Pitsco, and the REV Starter kit from REV Robotics. However, teams should carefully consider other options, such as goBILDA, before selecting a kit. +Before beginning your season, your team is presented with a crucial decision - one that will undoubtedly heavily influence the team's direction of hardware design in at least the first year. The *FIRST*\ |reg| storefront currently offers the REV Starter kit from REV Robotics. However, teams should carefully consider other options, such as goBILDA, before selecting a kit. Every build system has advantages and disadvantages, which we have highlighted in our detailed build system guides below. While the guide may not be fully objective, recommendations are based on our own experience with the different kits, so the slant is there with reason. As with pretty much anything in FTC\ |reg|, there is no one right answer - but there are better answers than others. Hopefully, this guide gives some solid advice on which kit might be the best for your team. @@ -15,13 +15,12 @@ After all, plenty of successful robots have not followed this framework. However Which Kit Should One Choose? ---------------------------- -Choice of a kit is a matter of many a debate in FTC forums, and each team has their favorites. If you are a rookie team and do not have any experience with any of the kits above, we would recommend starting with a kit from either REV Robotics or goBILDA. These kits provide a good selection of parts, reliability, and value for money. They are easily expandable and great part flexibility allows for customization. Keep in mind that compatibility between kits varies and will be impacted by the unit system used. +Choice of a kit is a matter of many a debate in FTC forums, and each team has their favorites. If you are a rookie team and do not have any experience with any of the kits above, we would recommend starting with a kit from either goBILDA or REV Robotics. These kits provide a good selection of parts, reliability, and value for money. They are easily expandable and great part flexibility allows for customization. Keep in mind that compatibility between kits varies and will be impacted by the unit system used. -- goBILDA (metric) is slightly more expensive, but is easier to get started with. It has an extensive parts catalog and can be adapted to other build systems like REV. However, its price point may deter some teams with lesser budgets. -- REV Robotics (metric) is slightly cheaper but generally has a bit higher learning curve than most other kits, as it is :term:`extrusion ` rather than :term:`channel ` based. :term:`Extrusion` takes more effort to work with (you need to cut aluminum extrusion to length); however, it allows for maximum design freedom and adjustability. REV is also available from the *FIRST* storefront, which might be convenient for teams doing their purchasing through official school procurement systems. -- Tetrix (metric and imperial) is probably the simplest system to work with, but its part selection is limited, and the use of :term:`4.7mm shaft ` with :term:`set screws ` is inferior to :term:`clamping hubs ` used in other systems. +- goBILDA (metric) is used by the majority of teams, especially top-performing teams. It is slightly more expensive, but is easy to get started with while also meeting the needs of advanced teams. It has an extensive parts catalog and can be adapted to other build systems like REV. However, its price point may deter some teams with lesser budgets. Most top teams currently use goBILDA, in whole or in combination with custom-fabricated parts. +- REV Robotics (metric) is slightly cheaper, but generally has a bit higher of a learning curve than most other kits, as it is primarily :term:`extrusion `-based rather than :term:`channel `-based, though REV has been expanding their selection of channel-based components in recent years. :term:`Extrusion` takes more effort to work with (e.g. you need to cut aluminum extrusion to length); however, it theoretically allows for significant design freedom and adjustability. REV is also available from the *FIRST* storefront, which might be convenient for teams doing their purchasing through official school procurement systems. -.. attention:: While VEX also sells some parts aimed towards FTC, **Game Manual 0 cannot endorse or support any VEX Robotics/IFI (VEX's parent company) products in any manner.** We cannot in good conscience drive people to support a business with a history of extremely concerning accusations of workplace harassment, toxicity, and general behavior that does not align with the ideals of *FIRST*. +.. attention:: While VEX also sells some parts aimed towards FTC, **Game Manual 0 cannot endorse or support any VEX Robotics/IFI (VEX's parent company) products in any manner.** We cannot in good conscience drive people to support a business with a history of extremely concerning accusations of workplace harassment, toxicity, and general behavior that does not align with the ideals of *FIRST*. Additionally, there have been reports of significant quality control issues with some components. .. toctree:: :maxdepth: 1 diff --git a/source/docs/hardware-components/kit-and-hardware-guide/kit-glossary.rst b/source/docs/hardware-components/kit-and-hardware-guide/kit-glossary.rst index 35ea86fd..ed1feee2 100644 --- a/source/docs/hardware-components/kit-and-hardware-guide/kit-glossary.rst +++ b/source/docs/hardware-components/kit-and-hardware-guide/kit-glossary.rst @@ -6,66 +6,80 @@ Kit Glossary .. glossary:: Channel - Channel (more precisely called C-Channel) is aluminum that is in the profile of a C. (It is also sometimes called U-Channel.) Channel, along with :term:`extrusion `, is the most common structural build element in FTC\ |reg|, and is found in Tetrix, REV, Actobotics, and goBILDA kits. + Channel (more precisely called C-Channel) is aluminum that is in the profile of a C. (It is also sometimes called U-Channel.) Channel, along with :term:`extrusion `, is the most common structural build element in FTC\ |reg|, and is found in goBILDA, REV, and other kits. Channel is fixed pitch, which means that there are pre-drilled holes that limit mounting to finite locations. It can be used to easily construct drivetrains; however, be aware that :term:`gear ` and :term:`chain ` mesh may not be with channel. - .. image:: images/tetrix/tetrix-channel.png - :alt: A piece of tetrix channel + .. figure:: images/gobilda/gobilda_channel.jpg + :alt: A piece of goBILDA U-Channel :width: 200 + A piece of goBILDA U-Channel + Extrusion Extrusion is aluminum shaped into slotted profiles able to accept certain types of hardware. For FTC, the most common is the 15mm extrusion, used in the REV and Misumi products. 15mm extrusion accepts M3 bolts and nuts (note that only regular M3 nuts can fit inside the slot, not :term:`locknuts `). Extrusion is not a fixed pitch system, allowing teams to adjust components as they wish. This makes it simple to achieve correct tension and put mechanisms where :term:`channel ` would limit mounting. The adjustability of extrusion is especially useful in precise situations, such as intake geometry. However, extra care must be taken to ensure components do not shift under load. - .. image:: images/rev-robotics/extrusion.png + .. figure:: images/rev-robotics/extrusion.png :alt: A piece of REV Robotics extrusion :width: 200 + A piece of REV Robotics extrusion + Ball Bearing Ball bearings refer to bearings with steel balls arranged in a circular fashion. This allows rotation of an element with less friction than a bushing, primarily because the surface area (or contact area) is much less than in a :term:`bushing `. - Bearings are definitely recommended for drivetrain and high speed usage. Bearings are used in the Actobotics, goBILDA, and REV kits, and are commonly sold by most robotics vendors. + Bearings are definitely recommended for drivetrain and high speed usage. Bearings are used in the goBILDA, REV, and other kits, and are commonly sold by most robotics vendors. - .. figure:: images/actobotics/actobotics-dual-ball-bearing-hub.png - :alt: Actobotics dual ball bearing hub + .. figure:: images/gobilda/bearings.jpg + :alt: Bearings commonly used by the goBILDA system :width: 200 - Actobotics dual ball bearing hub + Bearings commonly used by the goBILDA system - Servoblocks - Servoblocks, sold by Servocity/Actobotics/goBILDA, are a way to mount :term:`servos ` to the goBILDA and Actobotics systems. It is by far the best way to mount servos because it decreases the load on the servo spline, which is the weakest part of the servo. This is because under load, the servo spline teeth can easily become stripped, rendering the servo unusable. While Servoblocks are not cheap, they are one of the best investments for teams to pursue. + ServoBlocks + ServoBlocks, sold by goBILDA, are a way to mount :term:`servos ` to the goBILDA system. It is by far the best way to mount servos because it decreases the load on the servo spline, which is the weakest part of the servo. This is because under load, the servo spline teeth can easily become stripped, rendering the servo unusable. While ServoBlocks are not cheap, they are one of the best investments for teams to pursue to prevent servo failure in high-load mechanisms. - .. image:: images/actobotics/servoblock.png - :alt: An Actobotics Servoblock + .. figure:: images/gobilda/servoblock.jpg + :alt: A servo in a compact ServoBlock + + A servo in a compact ServoBlock .. figure:: images/actobotics/10030-servoblock-usage.png - :alt: An example of a servoblock being used on a robot + :alt: An example of an original ServoBlock being used on a robot (10030 7 Sigma, Relic Recovery) - 10030 7 Sigma, Relic Recovery + An example of an original Actobotics ServoBlock being used on a robot (Team 10030 7 Sigma, Relic Recovery) Clamping Hub - A clamping hub is used to fixate part such as :term:`sprockets ` or :term:`gears ` on shafts. It is also used to prevent shafts from moving laterally. Unlike shaft collars, clamping hubs use screws to apply clamping force around the entire shaft, giving a better hold. As a result, clamping hubs are recommended over shaft collars. + A clamping hub is used to fixate part such as :term:`sprockets ` or :term:`gears ` on shafts. It is also used to prevent shafts from moving laterally. Unlike shaft collars, clamping hubs use one or more screws to apply clamping force around the entire shaft, giving a better hold. As a result, clamping hubs are recommended over shaft collars. - .. image:: images/actobotics/clamping-hub.png - :alt: An Actobotics clamping hub + .. figure:: images/gobilda/sonic-hub.jpg + :alt: A goBILDA Sonic hub :width: 200 + A goBILDA Sonic hub + Bevel gear - Bevel gears are :term:`gears ` that transfer power along different axes, which are perpendicular to each other. Bevel gears are generally considered more inefficient than regular gears. + Bevel gears are :term:`gears ` that transfer power along different axes, which are perpendicular to each other. + + Bevel gears are generally considered more inefficient than regular gears. However, bevel gears can be very useful, especially in areas of limited space where the motor can be placed perpendicular to the element it is driving, and not in the same plane. + + .. figure:: images/gobilda/clamping_miter_gear.jpg + :alt: A goBILDA clamping miter gear, a type of bevel gear + :width: 200 - However, bevel gears can be very useful, especially in areas of limited space where the motor can be placed perpendicular to the element it is driving, and not in the same plane. + A goBILDA clamping miter gear, a type of bevel gear .. figure:: images/actobotics/3736-bevel-gear-usage.png :alt: 3736 Serious Business' use of bevel gears in Rover Ruckus - 3736 Serious Business, Rover Ruckus + 3736 Serious Business' use of bevel gears in Rover Ruckus Lead Screw A lead screw is very similar to a threaded rod. It is used for high load and high torque application such as hanging. However, due to the nature of the threaded rod, lead screws are generally quite slow compared to linear slides. The speed of a lead screw is determined by two factors. The first is how fast the motor outputs, and the second is the number of threads per inch (TPI). - .. image:: images/actobotics/lead-screw.png + .. image:: images/gobilda/lead-screw.jpg :alt: A leadscrew :width: 200 @@ -110,7 +124,7 @@ Kit Glossary Set Screw A set screw is generally a hex socket screw that is used to fasten parts such as :term:`sprockets ` or :term:`gears ` to a :term:`shaft `, or to fix a shaft in place so that it doesn't move around. Due to the hex socket, allen keys must be used to tighten and loosen set screws. - .. warning:: **Set screws are not recommended for drivetrain and high-load applications** since there is very little surface area in contact with the shaft (only the tip of the screw). This makes the set screw likely to damage the shaft. Therefore, set screws can become loose very easily. + .. warning:: **Set screws are usually best to avoid, especially for drivetrain and high-load applications**, since there is very little surface area in contact with the shaft (only the tip of the screw). This makes the set screw likely to damage the shaft, which allows them to become loose very easily. If set screws must be used, then it is imperative to use :term:`Loctite` to reduce the chance of them shaking loose. @@ -145,7 +159,7 @@ Kit Glossary :alt: A TETRIX v1 motor attached with a TETRIX Clamp Mount :width: 200 - TETRIX clamp mount and v1 motor + TETRIX clamp mount and v1 motor // FIXME: replace with non-Tetrix example? Face Mounting Face mounting refers to mounting the motor by affixing the motor directly to the mount using bolts. This is the preferable way of mounting the motor (compared to :term:`clamp mounting `) because it is less likely to loosen over time, especially with the use of :term:`Loctite` on the bolts. diff --git a/source/docs/hardware-components/kit-and-hardware-guide/rev-robotics.rst b/source/docs/hardware-components/kit-and-hardware-guide/rev-robotics.rst index 6f7385fa..8e0f6602 100644 --- a/source/docs/hardware-components/kit-and-hardware-guide/rev-robotics.rst +++ b/source/docs/hardware-components/kit-and-hardware-guide/rev-robotics.rst @@ -5,6 +5,8 @@ REV Robotics The REV kit is an infinite-pitch, :term:`extrusion ` based building system which uses the metric system and M3 hardware. +**The REV kit is good for teams willing to invest the time into an extrusion building system.** It is a very flexible kit as it is extrusion based, yet it has the ability to integrate :term:`channel ` along with :term:`extrusion `. REV offers the option to upgrade parts for those wanting a further investment into the REV building system. + Special Considerations ---------------------- @@ -25,11 +27,6 @@ Notable components - REV offers 3 types of :term:`HD HEX motors `: spur gear, planetary, and UltraPlanetary motors. The UltraPlanetary has customizable planetary ring gear ratios for a very affordable price. - REV also has pattern adapters for other systems built into many parts such as the aluminum brackets. -Verdict -------- - -**The REV kit is good for teams willing to invest the time into an extrusion building system.** It is the most flexible kit as it is extrusion based, yet it has the ability to integrate :term:`channel ` along with :term:`extrusion `. REV offers the option to upgrade parts for those wanting a further investment into the REV building system. - .. note:: One advantage to the REV kit is the compatibility of 15x15mm MiSUMI :term:`extrusion `. 15x15mm REV :term:`extrusion ` isn't as structurally strong as MiSUMI for two reasons. @@ -92,6 +89,9 @@ Disadvantages - M3 bolts, especially those sold directly by REV, are prone to bending under higher load (such as when used as an :term:`axle ` for a pulley) - 5 mm hex :term:`shaft ` is also prone to bending, especially if the :term:`shaft ` is long. +Example Robots +-------------- + .. figure:: images/rev-robotics/7161-rr1.png :alt: 7161 ViperBots Hydra's Relic Recovery robot @@ -110,4 +110,4 @@ Disadvantages .. figure:: images/rev-robotics/11115-rr1.png :alt: 11115 Gluten Free's Relic Recovery robot - 11115 Gluten Free used both REV and Actobotics for the 2017-2018 season. Finalist Alliance Captain (Detroit), Relic Recovery + 11115 Gluten Free, Finalist Alliance Captain (Detroit), Relic Recovery. They used both REV and Actobotics in this robot. diff --git a/source/docs/hardware-components/kit-and-hardware-guide/tetrix.rst b/source/docs/hardware-components/kit-and-hardware-guide/tetrix.rst index c8e4f495..9ea58659 100644 --- a/source/docs/hardware-components/kit-and-hardware-guide/tetrix.rst +++ b/source/docs/hardware-components/kit-and-hardware-guide/tetrix.rst @@ -1,11 +1,11 @@ -TETRIX -====== - -.. attention:: - TETRIX is generally not recommended due to its restricted flexibility and low long-term reliability. This page serves as historical reference for teams that have and use TETRIX parts, but there is little reason to purchase them. +TETRIX (Not Recommended) +======================== The TETRIX build system is a fixed pitch, channel-based building system that uses both imperial and metric units. +.. attention:: + TETRIX is not recommended due to its restricted flexibility and low long-term reliability. This page serves as historical reference for teams that have and use TETRIX parts, but teams should no longer purchase them. This page is provided for historical reasons only. + Special Considerations ---------------------- @@ -17,16 +17,11 @@ Special Considerations - Tetrix parts generally do not have the best track record for reliability and longevity due to subpar material choices. - Tetrix parts are slightly overpriced and lack bang-for-your-buck value found in kits such as REV and goBILDA. -Verdict -------- - -While you may be considering TETRIX as a starter kit, we encourage you to explore your options before selecting a kit. While Tetrix does pick up quite a lot of flak from the community, it isn't a bad choice in terms of physical qualities such as strength, but the mounting options and hole patterns leave more to be desired and restrict teams in terms of flexibility. - Kit of Parts ------------ -- `Kit of Parts `_ -- `2020-2021 Kit of Parts BoM `_ +- `Kit of Parts `_ +- `Kit of Parts BoM `_ Advantages ---------- @@ -50,10 +45,12 @@ Tips for use In any build system, it is important to properly support the structure of your robot. This includes supporting axles at two or more points of contact, or having multiple points of support for a piece of :term:`channel `. Due to TETRIX's relatively fragile nature, this advice goes double with TETRIX. Instead of just supporting a :term:`shaft ` at two points, it is recommended to support the :term:`shaft ` at 4 or more (if you are using a 4.7mm standard). When mounting motors, it is recommended that :term:`two clamping motor mounts ` are used to mount one motor. Using :term:`standoffs ` inside :term:`channel ` to prevent the :term:`channel ` from bending inward or outward is also highly recommended. +Example Robots +-------------- + .. figure:: images/tetrix/6022-vv.jpg :alt: 6022 To Be Determined's Velocity Vortex Robot 6022 To Be Determined: Worlds Semifinalist (St. Louis), Velocity Vortex - TETRIX based robots have succeeded in competition, albeit it has become - rarer in recent years. + TETRIX-based robots have historically seen competitive success in the earlier days of FTC; however, with the introduction of much more robust, extensive, and easy-to-use building systems (e.g. goBILDA), TETRIX has become obsolete. diff --git a/source/docs/hardware-components/tips-and-tricks.rst b/source/docs/hardware-components/tips-and-tricks.rst index 6ef91915..327da129 100644 --- a/source/docs/hardware-components/tips-and-tricks.rst +++ b/source/docs/hardware-components/tips-and-tricks.rst @@ -7,7 +7,7 @@ Below is a collection of tips and tricks on basic building. Some of them may see - **Color code your tools**. If you are using several different sizes of hex drivers (e.g. 2.5 mm and 3 mm used in goBILDA), color code them, using different color electric tape for different sizes. - **Avoid set screws**. :term:`Set screws ` easily come loose, causing the hub to slip. In addition, :term:`set screws ` damage the :term:`axle `, sometimes making it very hard to remove the hub later. For these reasons, whenever possible, use :term:`clamping hubs ` and collars instead of :term:`set screw ` ones. If you must use set screw hubs, use a non-permanent threadlocker such as `Loctite blue `_ to prevent them from loosening. -- **Only use locknuts**. Never use regular nuts in your builds - they easily come loose under vibration. Kep nuts used in TETRIX are better, but they are still prone to loosening. For best results, always use :term:`nylon locknuts `. +- **Only use locknuts**. Never use regular nuts in your builds - they easily come loose under vibration. Kep nuts are better, but they are still prone to loosening. For best results, always use :term:`nylon locknuts `. - **Do not use socket head screws on plastic**. Using socket head screws for attaching plastic parts (in particular, for attaching servos) damages the plastic. Use button head screws instead, or use socket head screws with washers. - **Make sure screws are not hitting anything**. When you are attaching a part, make sure the screw you are using is not longer than the depth of the threaded hole - otherwise, the screw will hit the bottom of the hole and you will be unable to tighten it properly. diff --git a/source/docs/hardware-components/tools-list.rst b/source/docs/hardware-components/tools-list.rst index 42de1a95..d68fd1d5 100644 --- a/source/docs/hardware-components/tools-list.rst +++ b/source/docs/hardware-components/tools-list.rst @@ -9,8 +9,6 @@ Necessary - **Safety glasses. Wear them when you're using power tools. Seriously.** - Philips screwdrivers, assorted sizes - Hex drivers and hex L-keys - - 7/64" hex (Actobotics and TETRIX) - - 3/32", ball head for set screws is discouraged (TETRIX) - 2.5/3mm hex (goBILDA) - Nut drivers and wrenches - 5.5 mm hex nut driver/wrench (REV) @@ -46,6 +44,6 @@ Helpful - Router or table saw - Jigsaw - Metal brake -- 3d printer +- 3D printer -A 3d printer, CNC machine, or laser cutter greatly increases your ability to create custom robot designs. For most teams, buying a CNC or laser cutter is way beyond their budget, but you might be able to get access to one through school, local college, or nearby makerspace. +A 3D printer, CNC machine, or laser cutter greatly increases your ability to create custom robot designs. For most teams, buying a CNC or laser cutter is way beyond their budget, but you might be able to get access to one through school, local college, or nearby makerspace. diff --git a/source/docs/know-your-lingo.rst b/source/docs/know-your-lingo.rst index d8e03e6b..ffc5365a 100644 --- a/source/docs/know-your-lingo.rst +++ b/source/docs/know-your-lingo.rst @@ -9,34 +9,37 @@ Competitions Program Delivery Partner (PDP) Director or directors for events and activities in a region. Used to be referred to as the Affiliate Partner (AP). Qualifier - Tournament with 5-6 qualifying matches and best-of-three alliance elimination matches. Judging included. Will advance to States/Regional level. + Tournament with 5-6 qualifying matches and alliance elimination matches. Judging included. Will advance to States/Regional level. League Meet Low-stress competition with matches counting towards league rank at a League Tournament. No judging. League Tournament Tournament with ranked matches and alliance elimination matches for teams participating in that League. Judging included. Will advance to States/Regional level. Sometimes called a "League Championship". +Inter-League Tournament + League Tournament with multiple (usually 2) leagues combined into the tounament Alliance Group of two or, in eliminations, two or three teams that compete. In elimination matches each team must play at least once. Ranking Points (RP) - Primary basis in rankings at traditional events. For the Power Play season, each team receives 2 RP for winning a qualification match, 1 for tying, and 0 for losing. + Primary basis in rankings at events. For the Into the Deep season, each team receives 2 RP for winning a qualification match, 1 for tying, and 0 for losing. Your overall RP is the average of your RP from each match. TieBreaker Points (TBP) - Secondary determinant in team rankings for traditional events, primary determinant for remote events. For the Power Play season, this is split up into two parts; TBP1 and TBP2. TBP1 is used before TBP2, and is - the alliances/teams autonomous period score. TBP2 is the alliances/teams end game score. (Whether it is alliances/teams depends on if the team is at traditional events, respectively.) + Secondary determinant in team rankings for traditional events. For the Into the Deep season, there are three levels of TBP; TBP1 is used before TBP2, and so on. TBP1 is + the average autonomous period score of your alliance. TBP2 is + the average ascent period score of your alliance. TBP3 is your highest score in any match. Qualification Match Qualifying matches (generally 5) with random alliance partners and opponents will be played to determine team rankings. Elimination Match - 2 alliances of 2 or 3 teams each compete in best of 3 matches to determine - winning alliance. Also known as elim matches, or just elims. + Alliances of 2 or 3 teams each compete in matches to determine + the winning alliance. Also known as elim matches, or just elims. Robot Components ---------------- DC Motor Open-loop :term:`RS-555 series ` 12 volt motors used - to power mechanisms. Max of 8. + to power mechanisms. Servo Closed-loop :term:`servo-motors ` used for precise movement. - Controlled by PWM signals. Max of 12. + Controlled by PWM signals. Drivetrain (DT) Mechanism responsible for the movement of the robot. Intake @@ -56,16 +59,16 @@ REV Expansion Hub analog, and I2C ports. Maximum of 2 hubs. REV Control Hub - Integrated Expansion Hub + :term:`Robot Controller` phone. + Integrated Expansion Hub + :term:`Robot Controller` Android device. It serves many of the same purposes as the Expansion Hub but eliminates the need for a :term:`Robot Controller` phone. 1 Expansion Hub may be used along side 1 Control Hub. Driver Station (DS) - Android phone connected to the gamepad controller. - Drivers interact with the DS phone to start/stop robot. -Robot Controller - Android phone connected to the Expansion Hub. - Connects to DS phone via WiFi-Direct. -Gamepad Controller + REV Driver Hub or Android phone connected to the robot via Wi-Fi, and with gamepad(s) plugged into it. + Drivers interact with the DS screen to start/stop the robot, and use the gamepads to control the robot. +Robot Controller (RC) + REV Control Hub or Android phone connected to the Expansion Hub. + Connects to DS phone via Wi-Fi. +Gamepad/Controller An Xbox or PS4 style controller which the driver uses to control the robot during driver-control period. Maximum of 2. diff --git a/source/docs/mission-statement.rst b/source/docs/mission-statement.rst index 7007b3dd..554c6d98 100644 --- a/source/docs/mission-statement.rst +++ b/source/docs/mission-statement.rst @@ -13,7 +13,7 @@ Hello! Welcome and thank you for taking the time to read |gm0|, the premier reso The goal of |gm0| is to create a comprehensive guide for FTC teams. Physical resources for FTC are few and far between, and online resources are scattered across the interwebs. Typically, the largest inhibitor for newer teams is the lack of knowledge base, as robotics is a relatively new STEM field. New teams also have not made connections to experienced teams who might mentor or offer advice throughout the season. Thus, they are left in the dark to figure things out, seemingly with no way out. While the journey of learning cannot be shortcut, |gm0| seeks to address these shortcomings by providing a starter's guide to the hardware and software in *FIRST* Tech Challenge. -When perusing this guide, it is important to keep in mind the authors' perspective. Many of the teams who contributed in the writing of this guide are veteran championship level teams in the upper echelon of FTC. **This means that most of our recommendations are almost solely from the competitive advantage standpoint.** For example, teams can learn just as much from using a Tetrix kit compared to a goBILDA kit. Just because there is a competitive advantage to one does not translate into a learning disadvantage for the other. The guide has a plethora of useful information and knowledge (such as FTC and basic engineering principles) for all teams, including teams which are primarily trying to learn rather than compete. However, do take our recommendations with a grain of salt. We want to help all teams in FTC, but as our experience has been on the competitive side of the fence, certain parts of the guide may not be very applicable to some teams. +When perusing this guide, it is important to keep in mind the authors' perspective. Many of the teams who contributed in the writing of this guide are veteran championship level teams in the upper echelon of FTC. **This means that most of our recommendations are almost solely from the competitive advantage standpoint.** For example, teams can learn a lot building a swerve drivetrain; but complex development challenges, space requirements, and often poor-to-mid performance means that we recommend that teams should only experiement with it as an off-season learning project. Just because there is a competitive advantage to one path does not automatically translate into a learning disadvantage for another. The guide has a plethora of useful information and knowledge (such as FTC and basic engineering principles) for all teams, including teams which are primarily trying to learn rather than compete. However, do take our recommendations with a grain of salt. We want to help all teams in FTC, but as our experience has been on the competitive side of the fence, certain parts of the guide may not be very applicable to some teams. Furthermore, the guide was originally written with a specific audience in mind - young teams who have recently begun their journey in FTC. Our recommendations are generally geared towards more inexperienced teams. However, in the past couple years we have expanded the guide to provide more in-depth resources around more complex topics. In doing so, we hope that |gm0| will be a useful resource to rookie and veteran teams alike. diff --git a/source/docs/power-and-electronics/connectors-and-wires.rst b/source/docs/power-and-electronics/connectors-and-wires.rst index fb01a236..ade7e9ed 100644 --- a/source/docs/power-and-electronics/connectors-and-wires.rst +++ b/source/docs/power-and-electronics/connectors-and-wires.rst @@ -3,7 +3,7 @@ Connectors and Wires ==================== -There are many types of connectors for use in FTC\ |reg|. Here are the most common connectors you will find on an FTC robot. +There are many types of connectors for use in FTC\ |reg|. Here are the most common connectors you will find on an FTC robot. // FIXME: Talk about the new connectors on the 2027 SystemCore and MotionCore. Also talk about the Wago-style connectors used by the Servo Hub. .. glossary:: @@ -13,7 +13,7 @@ There are many types of connectors for use in FTC\ |reg|. Here are the most comm .. warning:: While OEM Anderson brand PowerPole connectors are extremely reliable, off-brand PowerPole connectors, commonly available on sites like Amazon, often have major reliability issues. When purchasing PowerPole connectors, only purchase ones specifically listed as Anderson brand. - Additionally, it is important to use crimpers specifically designed for PowerPole connectors. The `IWISS iCrimp AP-11 `_ crimpers are a solid choice at a reasonable price point on Amazon, though any quality crimpers specifically designed for PowerPole should work fine. + Additionally, it is important to use crimpers specifically designed for PowerPole connectors. The `IWISS iCrimp AP-11 `_ crimpers are a solid choice at a reasonable price point on Amazon, though any good quality crimpers specifically designed for PowerPole should work fine. .. image:: images/wiring/powerpole-connector.png :alt: A PowerPole connector @@ -43,7 +43,7 @@ There are many types of connectors for use in FTC\ |reg|. Here are the most comm :width: 300px XT30 - The XT30 connector is commonly used by batteries (such as the goBILDA Nested Battery and the REV Slim Battery), the robot power switch, the REV Control Hub and Expansion Hub, the :term:`REV Grounding Strap `, and others. XT30 connectors are soldered onto wires. + The XT30 connector is commonly used by batteries (such as the goBILDA Nested Battery and REV Slim Battery) and things connected to battery power, such as the robot power switch, the REV Control Hub and Expansion Hub, the :term:`REV Grounding Strap `, and others. XT30 connectors are soldered onto wires. .. warning:: The pins in the XT30 connectors on the Control Hub and Expansion Hub often compress over time, causing loose power connectivity. See `XT30 Pins are Compressed - Expansion Hub Troubleshooting `_ for details on the issue and how to fix it. diff --git a/source/docs/power-and-electronics/control-system.rst b/source/docs/power-and-electronics/control-system.rst index 6ccc2429..17823dbe 100644 --- a/source/docs/power-and-electronics/control-system.rst +++ b/source/docs/power-and-electronics/control-system.rst @@ -3,7 +3,7 @@ Control Systems =============== -The FTC\ |reg| control system is based around a ":term:`Robot Controller`" and a ":term:`Driver Station`". The :term:`Robot Controller` is mounted on the robot. It is either embedded within or connected to special "Hub(s)", which in turn connect to motors, servos, and sensors. The :term:`Robot Controller` is linked to the :term:`Driver Station` through WiFi or WiFi Direct. +The FTC\ |reg| control system is based around a ":term:`Robot Controller`" and a ":term:`Driver Station`". The :term:`Robot Controller` is mounted on the robot. It is either embedded within or connected to special "Hub(s)", which in turn connect to motors, servos, and sensors. The :term:`Robot Controller` is linked to the :term:`Driver Station` through Wi-Fi or Wi-Fi Direct. REV Robotics is the sole manufacturer of legal FTC control system components. The REV Expansion Hub connects to motors, servos, sensors, and a :term:`Robot Controller`. A REV Control Hub has the same functionality of an Expansion Hub but with a built-in :term:`Robot Controller`. @@ -21,11 +21,9 @@ There are two possible control systems that can be run on an FTC robot legally: REV Control Hub + REV Expansion Hub ----------------------------------- -.. warning:: It is of vital importance to update the firmware on REV Expansion hubs to at least version 1.8.2. It includes better protection against disconnects and improves program performance. See the `REV Expansion Hub firmware update docs`_. +This is the standard control system for teams in FTC. -This is the standard control system for teams starting out in FTC. - -The Control Hub connects to the Expansion Hub through either a RS-485 connection, or a USB-A (Control Hub side) to mini-USB (Expansion Hub-side) connection. In either case, proper strain relief and cable management should be used. +The Control Hub connects to the Expansion Hub through either a RS-485 connection, or a USB-A (Control Hub side) to USB Mini-B (Expansion Hub-side) connection. In either case, proper strain relief and cable management should be used. For more information on setting up the Control Hub and configuring the robot, head to `REV Robotics' Technical Resources Control Hub Guide `_. @@ -36,9 +34,7 @@ For more information on setting up the Control Hub and configuring the robot, he RC Phone + REV Expansion Hub(s) ------------------------------- -.. warning:: It is of vital importance to update the firmware on REV Expansion hubs to at least version 1.8.2. It includes better protection against disconnects and improves program performance. See the `REV Expansion Hub firmware update docs`_. - -The Expansion Hub connects to the :term:`Robot Controller` phone through its mini USB port. The REV Expansion Hub is reliable, as long as proper strain relief and wiring is carried out. This includes the :term:`USB Retention Mount`, as well as 3D printing :term:`XT30` stress relief mounts. +The Expansion Hub connects to the :term:`Robot Controller` phone through its USB Mini-B port. The REV Expansion Hub is reliable, as long as proper strain relief and wiring is carried out. This includes the :term:`USB Retention Mount`, as well as 3D printing :term:`XT30` stress relief mounts. For more information on setting up the Expansion Hub and configuring the robot, head to `REV Robotics' Technical Resources Expansion Hub Guide `_. @@ -48,5 +44,3 @@ For more information on setting up the Expansion Hub and configuring the robot, .. image:: images/control-system/exh-wiring-diagram.jpg :alt: A diagram of the RC Phone + Expansion Hub(s) control system :width: 100% - -.. _REV Expansion Hub firmware update docs: https://docs.revrobotics.com/duo-control/managing-the-control-system/updating-firmware diff --git a/source/docs/power-and-electronics/driver-station-guide.rst b/source/docs/power-and-electronics/driver-station-guide.rst index cb869b67..c67de80b 100644 --- a/source/docs/power-and-electronics/driver-station-guide.rst +++ b/source/docs/power-and-electronics/driver-station-guide.rst @@ -21,10 +21,10 @@ Advantages Disadvantages ^^^^^^^^^^^^^ -- Price: A Driver Hub costs $250.00, whereas legal Android phones can be purchased secondhand for less -- Power Issues: Teams have reported random losses of power coming from an improperly sized battery. +- Price: A Driver Hub costs $250.00, whereas legal Android phones can be purchased used for much less +- Power Issues: Teams have reported random losses of power coming from improper tolerences of the battery connection. - Battery Issues: Teams have reported high battery drain in sleep mode, leading to hubs dying faster then expected -- Wifi Issues: The wifi driver will occasionally crash when the device goes to sleep, requiring a device restart +- Wi-Fi Issues: The Wi-Fi driver will occasionally crash when the device goes to sleep, requiring a device restart .. important:: If you purchase a Driver Hub and experience issues, refer to the `REV Driver Hub troubleshooting page `_. The unexpected power off fix may be done preemptively to prevent a shutdown during a match. @@ -32,12 +32,12 @@ Disadvantages Android Phones -------------- -As of 2023-2024, Android phones are still legal for competition use. +As of 2024-2025, specific Android phones are still legal for competition use. Advantages ^^^^^^^^^^ -- Android phones can be very cheap when purchased secondhand +- Legal Android phones can be very cheap when purchased secondhand - Android phones generally are reliable out of the box Disadvantages @@ -46,12 +46,14 @@ Disadvantages - The lack of a full size USB A port means that flimsy On The Go cables must be used - The phones themselves should be protected with a case to prevent damage -A 5 GHz phone is preferred over the standard 2.4 GHz phone to reduce ping issues. Have you ever noticed that your team's robot seems to lag at competitions only? This is because most school WiFi bands run on 2.4 GHz, which means that 2.4 GHz channels will be more crowded on competition day. This can lead to noticeably higher ping/lag which adversely affects driver and robot performance. +A 5 GHz phone is preferred over the standard 2.4 GHz phone to reduce ping issues. Have you ever noticed that your team's robot seems to lag at competitions only? This is because most school Wi-Fi bands run on 2.4 GHz, which means that 2.4 GHz channels will be more crowded on competition day. This can lead to noticeably higher ping/lag which adversely affects driver and robot performance. USB and :term:`OTG ` connections can be a possible source of disconnects during a match. This is generally caused by poor quality cables/adapters between the driver station and the gamepads. **It generally is worth it to purchase higher quality cables and adapters as opposed to the cheapest options.** `Recommended USB to OTG Cable `_ +A phone holder and :term:`OTG ` strain relief connector can be useful as it may help to prevent connections from loosening. Especially if teams are running a dual controller configuration, ensuring that the USB hub is secure won't hurt. + .. admonition:: Term .. glossary:: @@ -68,17 +70,20 @@ USB and :term:`OTG ` connections can be a possi Controllers ----------- -**LEGAL CONTROLLERS:** As of the 2021-2022 season, the following controllers are `legal for competition: `_ +**LEGAL CONTROLLERS:** As of the 2024-2025 season, the following controllers are `legal for competition: `_ -- Xbox 360 Controller for Windows -- Logitech F310 Controller -- ETPark Wired Controller for PS4 -- Sony DualShock 4 Wireless Controller for PS4 (Must be connected wired over USB) +- `Logitech F310 Controller `_ (940-00010) +- Xbox 360 Controller for Windows (52A-00004) +- `Sony DualShock 4 Wireless Controller for PS4 `_\* +- `Sony DualSense Wireless Controller for PS5 `_\* +- Etpark Wired Controller for PS4 (REV-39-1865, now discontinued) +- `REV Robotics USB PS4 Compatible Gamepad `_ (REV-31-2983) +- `Quadstick game controller `_ in Xbox 360 Emulation Mode -In the past, the Xbox 360 controller was preferred by many top teams over the Logitech F310. This is mostly as the Xbox controller has less of a dead spot. A dead spot is basically the area where the joystick can move but not communicate that the stick has shifted slightly. This means that when the joystick is moved to a position where the controller can detect it, the robot will sometimes have a tendency to lurch forward. Dead spots make it difficult for the driver to execute fine-tuned and precise movements. **This is likely a non-issue for the large majority of teams. Also, keep in mind that there are very specific models of the Xbox controller that are legal, so they can be hard to find new.** +\*\ *Operating in wired mode only (i.e., connected through USB cable without being Bluetooth paired to any device). This DOES NOT include the Sony DualSense Edge Wireless Controller in any configuration.* -Starting with the 2020-2021 season, the ETPark and Sony PS4 Controllers are legal and provide numerous advantages over Xbox 360 Controllers. Some of these advantages include, better trigger and bumper control, a more usable dpad, and trackpad support as of the 2021-2022 season. Use of the PS4 controller is slightly different because the locations of the Left Stick and DPAD are swapped and `some button names are different. `_ **Pro Tip: Make sure your drivers have experience with the controller they plan to use for competition.** +In the past, the Xbox 360 controller was preferred by many top teams over the Logitech F310. This is mostly as the Xbox controller has less of a dead spot. A dead spot is basically the area where the joystick can move but not communicate that the stick has shifted slightly. This means that when the joystick is moved to a position where the controller can detect it, the robot will sometimes have a tendency to lurch forward. Dead spots make it difficult for the driver to execute fine-tuned and precise movements. **This is likely a non-issue for the large majority of teams. Also, keep in mind that there are very specific models of the Xbox controller that are legal, so they can be hard to find new.** -Generally it is the opinion that the PS4 controllers are better than the other options. Among the options for PS4 controllers, the choice is really up to you. The Sony controller has slightly better buttons, but the ETPark controller is half the cost and a more solid connecting wire. **Keep in mind that the drivers can use different controllers, so pick the one most comfortable to you.** +Now, the Etpark, REV, Sony PS4, and Sony PS5 controllers are legal and provide numerous advantages over Xbox 360 controllers. Some of these advantages include, better trigger and bumper control, a more usable dpad, and trackpad support. Use of the PS4/PS5-style controllers is slightly different because the locations of the Left Stick and DPAD are swapped compared to the Xbox 360 controller and `some button names are different. `_ **Pro Tip: Make sure your drivers have experience with the controller they plan to use for competition.** -A phone holder and :term:`OTG ` strain relief connector can be useful as it may help to prevent connections from loosening. Especially if teams are running dual controller configuration, ensuring that the USB hub is secure won't hurt. +Generally it is the opinion that the PS4/PS5 controllers are better than the other options. Among the options for PS4/PS5 controllers, the choice is really up to you. The Sony controllers have slightly better buttons, but the REV controller is half the cost and has a built-in solid connecting wire, meaning there is one less connection to potentially unplug or get damaged. **Keep in mind that different drivers can use different controllers, so have each driver pick the one most comfortable to them.** diff --git a/source/docs/power-and-electronics/images/wiring/dupont-connector.png b/source/docs/power-and-electronics/images/wiring/dupont-connector.png deleted file mode 100644 index a7bb4c46..00000000 Binary files a/source/docs/power-and-electronics/images/wiring/dupont-connector.png and /dev/null differ diff --git a/source/docs/power-and-electronics/index.rst b/source/docs/power-and-electronics/index.rst index 433fdedb..6d15b044 100644 --- a/source/docs/power-and-electronics/index.rst +++ b/source/docs/power-and-electronics/index.rst @@ -21,19 +21,19 @@ Glossary .. glossary:: Gauge - Wire gauge refers to the diameter of wire. AWG stands for American Wire Gauge, the general system used in the US. The larger the gauge number, the smaller the wire diameter. Generally, :term:`servo ` wires are 22 AWG and motor wires are 18 AWG. + Wire gauge refers to the diameter of wire. AWG stands for American Wire Gauge, the general system used in the US. The **larger** the gauge number, the **smaller** the wire diameter. Generally, :term:`servo ` wires are 22 AWG and motor wires are 18 AWG. Grounding Strap - The REV Grounding Strap is used to ground the metal frame of the robot to the :term:`XT30` port of the Expansion Hub. It is currently the only legal way to ground your robot. + A grounding strap is used to ground the metal frame of the robot to the :term:`XT30` port of the Expansion Hub. It is the only legal way to ground your robot. .. image:: images/glossary/grounding-strap.png :alt: A REV Robotics grounding strap :width: 200 USB Retention Mount - The USB Retention Mount, sold by REV, is a plastic part affixed to the Expansion Hub that relieves stress on the USB Mini port. This is especially important because if the USB cable is loose or disconnected, the robot phone cannot communicate with the Expansion Hub, causing a disconnect. + The USB Retention Mount, sold by REV, is a plastic part affixed to the Expansion Hub that relieves stress on the USB Mini-B port. This is especially important because if the USB cable is loose or disconnected, the robot controller cannot communicate with the Expansion Hub, causing a disconnect. - .. note:: For teams using an expansion hub, it is highly recommended for teams to purchase the USB retention mount. + .. note:: For teams using an expansion hub plugged in via USB, it is highly recommended for teams to purchase the USB retention mount. .. image:: images/glossary/usb-retention-mount.png :alt: A USB retention mount attached to a REV Expansion Hub diff --git a/source/docs/power-and-electronics/sensor-glossary.rst b/source/docs/power-and-electronics/sensor-glossary.rst index c622efad..8e955412 100644 --- a/source/docs/power-and-electronics/sensor-glossary.rst +++ b/source/docs/power-and-electronics/sensor-glossary.rst @@ -41,8 +41,6 @@ Optical - PixyCMU - Software - OpenCV (EasyOpenCV) - - Vuforia - - TFLite Distance -------- @@ -62,9 +60,7 @@ Other Logic Level Converter --------------------- -The old Modern Robotics system run on 5v sensor logic. The new REV Robotics system uses 3.3v. For most off the shelf sensors, this doesn't cause any problems, but for some existing FTC sensors it does. To solve this REV sells boards, called `logic level converters `_, that convert the sensor data to be readable by the REV hubs. The `REV Expansion Hub `_ guide has a chart detailing what adapters are needed for what sensors. - -.. attention:: According to REV testing, goBILDA, REV and TorqueNado motors don't need logic level converters, but only some NeveRest motors worked with no discernible reason why. +The REV Robotics system runs on 3.3v sensor logic. Most off the shelf sensors used in FTC natively use/support 3.3v logic, but some sensors may not. To solve this, REV sells boards, called `logic level converters `_, that convert the sensor data to be readable by the REV hubs. The `REV Expansion Hub guide `_ has a chart detailing what adapters are needed for what sensors. It is ideal to not use logic level converters to simplify your wiring. If you need to, there is a best practice. Electrical tape the connectors on either end, this helps with static, and it keeps it from being physically disconnected. This does produce a very noticeable effect with encoders on fields with lots of static. diff --git a/source/docs/power-and-electronics/wiring.rst b/source/docs/power-and-electronics/wiring.rst index 56e97da5..7aef2655 100644 --- a/source/docs/power-and-electronics/wiring.rst +++ b/source/docs/power-and-electronics/wiring.rst @@ -85,7 +85,7 @@ Motor Power Cabling for motor power should be between 16awg and 12awg. Again, stranded, not solid, wire. -Some motors (like the :term:`REV HD Hex ` and :term:`Core Hex `) will have removable power connectors on the back, while other motors (like the :term:`Andymark NeveRests `) will have a cable permanently soldered on the back. It is much more convenient to have a connector on the back, or failing that, have a very short plug on the back of the motor. Once your wires are run and secured, taking them out won't be fun. +Some motors (like the :term:`REV HD Hex ` and :term:`Core Hex `) will have removable power connectors on the back, while other motors (like the :term:`AndyMark NeveRests `) will have a cable permanently soldered on the back. It is much more convenient to have a connector on the back, or failing that, have a very short plug on the back of the motor. Once your wires are run and secured, taking them out won't be fun. Servo Wires ^^^^^^^^^^^ @@ -94,7 +94,11 @@ Using heavy-duty extension wires are recommended. Tape the connections between extension wires and servo wires with electrical tape. This is as the connections can become loose over time and are easy to pull out. -The VEX Motor Controller 29 has the wrong gender connector on the 3-pin end. You are required to either use an adapter cable, or add the right connector to the wires (recommended). **Be sure to protect the MC29, as it is fragile and prone to failure if it takes impact from another object**. +.. tip:: + Some vendors sell extension wires with versions of the 3-pin female connector that are locking, which significantly improves the reliability of the extension wires. BackBayRC on Amazon sells `servo extension wires with locking connectors `_; and Ferra Components sells both `pre-made servo extension wires with locking connectors `_, and `packs of locking connectors you can crimp yourself `_. + .. image:: images/wiring/dupont-connector-locking.png + :alt: Locking female 3-pin Dupont connectors + :width: 300px USB ^^^ @@ -116,7 +120,7 @@ Miscellaneous REV Grounding Strap The :term:`REV Grounding Strap ` is currently the only legal way to ground your robot. Attach the end to the metal part of your robot frame, and plug the :term:`XT30` connector end into a free :term:`XT30` port on your robot. Power distribution blocks/panels - The REV Power Distribution Block allows teams to have more than four :term:`XT30` connectors (2 on each Expansion Hub). The block can be connected to the Servo Power Module to boost voltage for servos. + The REV Power Distribution Block allows teams to have more than four :term:`XT30` connectors (2 on each Expansion Hub). Dryer sheets Dryer sheets can be used to wipe down the robot after every match in order to reduce static buildup. This is not directly recommended by *FIRST* or any vendor, but our empirical evidence throughout the years suggests that it helps, or at the very least, can't hurt to do so. However, dryer sheets may or may not be on the boundary of legality, as grounding the robot to the ground is illegal. Staticide/static spray diff --git a/source/docs/software/concepts/control-loops.rst b/source/docs/software/concepts/control-loops.rst index 5ef2cca6..de9cc307 100644 --- a/source/docs/software/concepts/control-loops.rst +++ b/source/docs/software/concepts/control-loops.rst @@ -155,11 +155,11 @@ achieving *much* more stable control with an external PID. Feedforward Control ------------------- -Feedforward control is a method of what is known as "open-loop" control. This is the opposite of closed-loop control and the primary difference is that feedforward does not actively use sensors to control the system. Instead it "predicts" the desired input based on a model. +Feedforward control is a method of what is known as "open-loop" control, which is the opposite of closed-loop control. The primary difference is that feedforward does not actively use sensors to control the system;, but instead, it "predicts" the desired input based on a model. Typically feedforward is used to control either rates of change or combat known disturbances from your system. -Feedforward is very powerful because it is immune to noise or other sensor errors. This is because it is not actively measuring the system, but instead predicting the desired input. However, this also means that it is not very good at correcting for errors. This is why it is often used in conjunction with a closed-loop controller such as PID. +Feedforward is very powerful because it is immune to noise or other sensor errors. This is because it is not actively measuring the system, but instead predicting the desired input. However, this also means that it is not very good at correcting for errors. This is why it is often used in conjunction with a closed-loop controller such as PID. Kv Ka Feedforward Model diff --git a/source/docs/software/getting-started/options-for-programming.rst b/source/docs/software/getting-started/options-for-programming.rst index 4a5977fc..9e46582e 100644 --- a/source/docs/software/getting-started/options-for-programming.rst +++ b/source/docs/software/getting-started/options-for-programming.rst @@ -8,16 +8,16 @@ There are three recommended options for teams to use when programming a robot to Blocks ------ -The Blocks Programming Tool is a simple way to code simple actions for the robot. It has a colorful and lego-like design and includes sounds of block pieces of snapping together. +The Blocks Programming Tool is a visual programming language (similar to tools like Scratch) which provides a simple way to code simple actions for the robot. It has a colorful and LEGO\ |reg| like design (including sounds of block pieces of snapping together), making the system very accessible to those new to the world of programming. -Using a device and a robot controller phone, connect your device to the phone's Wi-Fi by clicking the three dots in the top right of the :term:`RC ` and select "Program & Manage". This will display the WiFi SSID and password for you to connect to. Go onto your browser (preferably Chrome, though other modern browser will likely work) and enter the address shown on the :term:`RC `. +Using a device and a robot controller phone, connect your device to the phone's Wi-Fi by clicking the three dots in the top right of the :term:`RC ` and select "Program & Manage". This will display the Wi-Fi SSID and password for you to connect to. Go to your browser and enter the address shown on the :term:`RC `. Advantages ^^^^^^^^^^ -- Good for beginners: one of the easiest and simplest options to use. +- Good for beginners: one of the easiest and simplest options to use - Easy to set up: requires a device (laptop, chromebook, tablet) and a phone in the Program & Manage screen -- Programs can be saved directly to the phone +- Programs can be saved directly to the :term:`RC ` - Changes can be made quickly - Doesn't require an external Wi-Fi connection @@ -28,9 +28,10 @@ Disadvantages - Not recommended if you're already familiar with some type of programming - Primarily a teaching tool for people with no programming experience -- This will change your primary Wi-Fi network to the :term:`Robot Controller's ` Direct Wi-Fi network, and as such, you will be unable to access the internet while connected to this particular network. +- Using external libraries is impossible +- This will change your computer's Wi-Fi connection to the :term:`Robot Controller's ` Wi-Fi network, and as such, you will be unable to access the internet while connected to this particular network. - - Teams can get around this by purchasing an external Wi-Fi module that allows computers to run 2 Wi-Fi networks at once. + - Teams can get around this by purchasing an external Wi-Fi module that allows their computer to connect to 2 Wi-Fi networks at once. - Sacrifices flexibility and application for simplicity - Don't ever use it on a phone, unless you're out of options. (Not phone-friendly) @@ -54,47 +55,57 @@ Advantages Disadvantages ^^^^^^^^^^^^^ -- Connecting to the robot controller's Wi-Fi network will prevent you from using anything on the internet including video tutorials and online communication -- Using external libraries is difficult and borderline impossible - Steeper learning curve than Blocks +- The OnBotJava editor lacks a lot of features (e.g. autocomplete) that make working with a text-based programming language convenient +- Using external libraries is functionally impossible +- This will change your computer's Wi-Fi connection to the :term:`Robot Controller's ` Wi-Fi network, and as such, you will be unable to access the internet while connected to this particular network. + + - Teams can get around this by purchasing an external Wi-Fi module that allows their computer to connect to 2 Wi-Fi networks at once. Android Studio -------------- -Android Studio is a comprehensive Integrated Development Environment (IDE) that uses Java to program the phones. Instead of using a browser to upload code, Android Studio will compile your Robot Controller code into a .apk file (an app installer), and install that on the phone. +Android Studio is a comprehensive Integrated Development Environment (IDE) that uses Java and/or Kotlin to program the phones. Instead of using a browser to upload code, Android Studio will compile your Robot Controller code into a .apk file (an app installer), and install that on the phone. Advantages ^^^^^^^^^^ - Recommended if you're learning or have learned some programming, even better if you know a little Java. - Much greater flexibility than Blocks. -- Much easier to integrate libraries like `FTC Dashboard`_, `FTCLib`_, and `Road Runner`_. +- Full suite of modern IDE features (autocomplete, error highlighting, etc) that make working with a text-based programming language convenient +- Can use libraries like `Road Runner`_, `FTCLib`_, and `FTC Dashboard`_. - Can use either a USB connection to the :term:`RC ` phone, or a wireless connection to upload code. + + .. tip:: Deploy times can be sped up significantly by using `Sloth`_. + - Can debug in real-time -- Many resources for Java, Android Studio, and IDEA -- Can use other programming languages +- Many resources for Java, Android Studio, and IntelliJ IDEA +- Can use programming languages besides Java (see `Other Programming Languages`_) .. _FTC Dashboard: https://github.com/acmerobotics/ftc-dashboard .. _FTCLib: https://github.com/ftclib/ftclib .. _Road Runner: https://github.com/acmerobotics/road-runner +.. _Sloth: https://github.com/dairy-foundation/sloth Disadvantages ^^^^^^^^^^^^^ -- Connecting to the robot controller's Wi-Fi network will prevent you from using anything on the internet including video tutorials and online communication, unless you have a second Wifi adapter (cheap and easy) -- Relatively easy setup process, but time consuming and is a hefty install (3GB of files between Android Studio, FtcRobotController, and other libraries) -- Issues can be difficult to diagnose and solve +- Connecting to the robot controller's Wi-Fi network will prevent you from using anything on the internet including video tutorials and online communication, unless you have a second Wi-Fi adapter (cheap and easy) +- Relatively easy setup process, but time consuming and is a relatively hefty install (3GB of files between Android Studio, FtcRobotController, and other libraries) +- There are a number of oddities that can easily cause issues/confusion when first setting everything up. Reaching out to the community for assistance is recommended if you are having issues. Other Programming Languages ---------------------------- +^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +When using Android Studio, it is possible to use languages besides Java. Kotlin -^^^^^^ +~~~~~~ -Kotlin is a relatively new and rapidly growing programming language from Jetbrains, the creator of the IntelliJ IDE, which Android Studio is based off. Kotlin was made to be completely compatible with Java but be easier to work with. Google recently announced it as an official Android language, then announced they are going "Kotlin first" but still keeping Java support. +Kotlin is a relatively new and rapidly growing programming language from JetBrains, the creator of the IntelliJ IDE, which Android Studio is based on. Kotlin was made to be completely compatible with Java, while being easier to work with and supporting more modern language features. Google now considers it the primary language for Android application development, but Java is still supported. Advantages -~~~~~~~~~~ +"""""""""" - Concise, readable, easy to edit code @@ -107,25 +118,25 @@ Advantages - Very easy to transition from Java Disadvantages -~~~~~~~~~~~~~ +""""""""""""" - Not widely used in FTC\ |reg| yet - New and has fewer community resources for training -- Not recommended for programmers who need large amounts of help from other teams +- Not recommended for programmers who need large amounts of help from other teams, unless those teams are experienced in Kotlin C and C++ -^^^^^^^^^ +~~~~~~~~~ C and C++ are native programming languages compatible with Android. Very few teams have used C++. This is typically used for only part of the code, with the majority being Java or Kotlin. Advantages -~~~~~~~~~~ +"""""""""" - Fast execution for extremely resource-intensive applications. - Supports more libraries Disadvantages -~~~~~~~~~~~~~ +""""""""""""" - Rarely needed - Very difficult to set up diff --git a/source/docs/software/software-glossary.rst b/source/docs/software/software-glossary.rst index 494ba1ce..0000f045 100644 --- a/source/docs/software/software-glossary.rst +++ b/source/docs/software/software-glossary.rst @@ -6,10 +6,10 @@ Software Glossary Disconnect A disconnect (DC) is when, for any reason, the robot is not able to be controlled from the gamepad. This can happen for many reasons - static buildup on the robot, a loose cable, or an error in code. - Generally, most DCs are caused by improper wiring, so wire stress relief is encouraged for all teams (:term:`USB Retention Mount`). They can also be caused by WiFi disconnects, or an ESD (electrostatic discharge) shock to the electronics. + Generally, most DCs are caused by improper wiring, so wire stress relief is encouraged for all teams (:term:`USB Retention Mount`). They can also be caused by Wi-Fi disconnects, or an ESD (electrostatic discharge) shock to the electronics. Driver Station - The Driver Station (DS) refers to both the software and device that is used by the drive team and connects to the gamepad(s). The device can either be one of the Android phones specified in |gm1| or a REV Robotics Driver Hub. + The Driver Station (DS) refers to both the software and device that is used by the drive team and connects to the gamepad(s). The device can either be one of the Android phones specified in the |cm| or a REV Robotics Driver Hub. Robot Controller - The Robot Controller (RC) refers to both the software and device that is on the robot that controls it. This can either be a REV Robotics Control Hub or one of the Android phones specified in |gm1| connected to an Expansion Hub via a Micro USB cable. + The Robot Controller (RC) refers to both the software and device that is on the robot that controls it. This can either be a REV Robotics Control Hub or one of the Android phones specified in the |cm| connected to an Expansion Hub via a Micro USB cable. diff --git a/source/docs/software/tutorials/vision.rst b/source/docs/software/tutorials/vision.rst index d2703997..f41c97c3 100644 --- a/source/docs/software/tutorials/vision.rst +++ b/source/docs/software/tutorials/vision.rst @@ -5,24 +5,18 @@ Computer Vision Computer vision is the process of using computers to understand digital images, such as photographs and videos. Computer vision offers object detection which is commonly needed in FTC\ |reg|. -Currently, there are 3 commonly used forms of computer vision: TensorFlow Lite, AprilTags, and OpenCV (via VisionPortal/EasyOpenCV). +Currently, there are 2 commonly used forms of computer vision: AprilTags, and OpenCV (via VisionPortal/EasyOpenCV). Officially Supported Solutions ------------------------------ -TensorFlow -^^^^^^^^^^ - -TensorFlow is Google's machine learning technology, which can be trained to detect objects. The FTC SDK uses TensorFlow Lite, which is a lightweight version of Google's TensorFlow designed to run on mobile devices. Along with Android Studio and OnBot support, TensorFlow has block support which makes it a good choice for most teams. - -Sample OpModes for TensorFlow being used for pixel detection (CENTERSTAGE) can be found `here `__ (Blocks), and a Java example can be found `here `__. - -*FIRST*\ |reg| has released a tool called FTC-ML to train your own TensorFlow Lite model for detecting custom objects. Details about FTC-ML can be found `on FTC Docs `_. +.. warning:: + The FTC SDK previously included TensorFlow Lite, a lightweight version of Google's TensorFlow machine learning technology designed to run on mobile devices. However, TensorFlow Lite was removed from the SDK in version 10.0. Some documentation may still refer to TensorFlow, so it is important to keep in mind that it has been removed. AprilTags ^^^^^^^^^ -AprilTags detect specific low-resolution, black-and-white images that are placed on various parts of the field. AprilTags are a great way to detect specific parts of the fields at wide angles, distances, and in a variety of lighting conditions. AprilTags are supported in OnBot Java, Android Studio, and Blocks. +AprilTags detect specific low-resolution, black-and-white images that are placed on various parts of the field. AprilTags are a great way to detect specific parts of the fields at wide angles, distances, and in a variety of lighting conditions, which can then be used to calculate the current position of your robot. AprilTags are supported in OnBot Java, Android Studio, and Blocks. You can learn more about implementing AprilTags `on FTC Docs `__. Supported AprilTag images are available on this `PDF `__. @@ -46,7 +40,7 @@ FTC\ |reg| Dashboard FTC Dashboard runs a dashboard webpage on the Control Hub that, among other things, streams a live preview of a connected camera. This is a very useful tool for testing and debugging vision applications. -.. warning:: FTC Dashboard is not legal to run during matches, make sure it is disabled during a competition. More information can be found `here `__. +.. warning:: FTC Dashboard is not legal to run during matches, so it is best to make sure it is disabled during competition. More information can be found `here `__. You can find FTC Dashboard `here `__. diff --git a/source/docs/useful-resources.rst b/source/docs/useful-resources.rst index 03669675..4818cc47 100644 --- a/source/docs/useful-resources.rst +++ b/source/docs/useful-resources.rst @@ -18,23 +18,21 @@ General Resources `FTC Discord `_:highlight:`*` --- The **unofficial** FTC\ |reg| Discord server is a discussion-based community server. It is the most active FTC community, which means it generally has the most up-to-date information, and is the easiest way to get quick answers to questions. It also has a channel with direct access to vendors. -.. attention:: The FTC Discord's primary demographic is FTC age participants, which strongly affects the average quality of its discourse, which is often off-topic and occasionally problematic. We recommend mostly sticking to the help channels. +.. attention:: The FTC Discord's primary demographic is FTC age participants, which strongly affects the average quality of its discourse, which is often off-topic and occasionally problematic. We recommend mostly sticking to the topic-specific channels and help forums. -`FTC Docs `_:highlight:`*` --- Official *FIRST*\ |reg| FTC documentation, including programming resources, team management resources and more. +`FIRST Tech Challenge documentation `_:highlight:`*` --- The official *FIRST*\ |reg| Tech Challenge documentation, including programming resources, team management resources, and more. -`FTC Q&A `_:highlight:`*` --- The FTC game Q&A, where clarifying questions about game rules from teams are asked and answered. +`FIRST Tech Challenge Question and Answer System `_:highlight:`*` --- The official *FIRST* Tech Challenge Question and Answer System, where questions about ambiguities in the game rules are asked by teams and answered by FIRST. -`Game and Season Materials `_:highlight:`*` --- Where to find the information for the current season, including the Game Manuals. +`Game and Season Materials `_:highlight:`*` --- Where to find the information for the current season, including the Competition Manual and Team Updates. -`FTC Blog `_ --- The official FTC blog; important updates are typically posted here. - -`FTC Tutorials `_ --- (Unofficial) FTC Tutorials, covering the robot, competitions, and team management. +`FIRST Tech Challenge Blog `_ --- The official FTC blog; important updates are typically posted here. `FIRST Resource Library `_ --- The *FIRST* resource library (filtered for FTC resources). These includes robot/field inspection checklists, robot building and programming resources, team management resources, the FTC mentor manual, and more. `Engineering Portfolio Library `_ --- A library of past award-winning Engineering Portfolios. Created by Polar from FTC 23396 and managed by the community. -`REV Robotics FTC Documentation `_ --- Covers REV's hardware and software. The control system documentation includes an introductory FTC programming tutorial. +`REV Robotics FTC Documentation `_ --- Covers REV's hardware and software. `The control system documentation `_ includes an introductory FTC programming tutorial. `Spectrum's Recommended Reading `_ --- A list of resources collated by FRC\ |reg| 3847, Spectrum. While these resources are aimed at FRC, many are directly relevant to FTC. @@ -43,7 +41,7 @@ Team Management `Running a FIRST Team `_:highlight:`*` --- A guide by Karthik Kanagasbathy, former lead mentor (and current advisor) of Hall of Fame team FRC 1114, Simbotics, on running a *FIRST* team. While some details are FRC specific (namely the 6 week timeline), much of it is applicable to running a FTC team. -`Team Management Resources `_ --- *FIRST* FTC team management resources, covering budget, engineering notebook, etc. +`Team Management Resources `_ --- Official *FIRST* Tech Challenge team management resources, covering budget, engineering notebook, etc. Strategy -------- @@ -55,22 +53,20 @@ Strategy CAD --- -`Autodesk Education Account `_ --- Autodesk's education account sign up. An education account gives access to both Fusion 360 and Inventor. - -`Creo Education License `_ --- Creo's education license application form. - `Onshape Education Account `_ --- Onshape's education account creation page. +`Autodesk Education Account `_ --- Autodesk's education account sign up. An education account gives access to both Fusion 360 and Inventor. Note that education accounts are only available to students of "qualified educational institutions", and you will need to upload a form of documentation (School transcript, School-issued confirmation letter, or School ID) to verify your account. + `SolidWorks Sponsorship `_ --- A link to the application form for free Solidworks licenses for robotics teams. +`Creo Education License `_ --- Creo's education license application form. + Part Libraries ^^^^^^^^^^^^^^ -`10650 Hazmat Robotics Public CAD Library + MiSUMI Parts `_ --- A multi-vendor part library that works across CAD software due to its use of STEP files. +`Onshape Parts Library `_ --- A multi-vendor parts library specifically for Onshape, originally started by team 2901 Purple Gears, and maintained by the community. -`2901 Purple Gears Onshape Parts Library `_ --- A multi-vendor parts library specifically for Onshape. - -`ServoCity Official CAD Library `_ --- ServoCity's entire STEP file catalog. This includes Actobotics parts. +.. note:: This section used to have many more libraries, but all of the other libraries that were previously listed here no longer exist. Generators ^^^^^^^^^^ @@ -103,7 +99,7 @@ Mechanical Design and Build `Fastener Guide `_ --- A guide explaining the different types of fasteners and where they are useful. It also includes printouts with drawings of various to scale fasteners to help identify them. -`FIRST Robot Building Resources `_ --- A collection of official *FIRST* design and build resources, including TETRIX/REV build guides. +`FIRST Robot Building Resources `_ --- A collection of official *FIRST* design and build resources, including starter bot build guides for goBILDA, REV, and more. `goBILDA with TETRIX `_ --- Documentation covering how to use goBILDA together with TETRIX. @@ -135,7 +131,7 @@ Calculators `Pulley Center-to-Center Calculator `_ --- A fully featured belt pulley center-to-center distance calculator. -`ReCalc `_ --- A collaboration focused mechanical design calculator, currently in alpha, which provides sharable links. +`ReCalc `_ --- A collaboration focused mechanical design calculator, currently in alpha, which provides sharable links. `Thad's EveryCalc `_ --- A mechanical design calculator which covers a wide variety of mechanisms, while also providing some utilities like belt sizing, a trajectory calculator, and more. @@ -161,15 +157,13 @@ Programming Libraries ^^^^^^^^^ -`Easy Open CV `_ --- A straightforward way to use openCV on an FTC robot. With this library, you can go from a stock SDK to running a sample openCV OpMode, with either an internal or external camera, in just a few minutes! - `FTC Dashboard `_ --- FTC Dashboard is a websocket-based React dashboard designed for FTC. It is very useful for debugging, including features such as displaying and graphing telemetry live as well as tuning configuration variables in real-time while opmodes are running. `FTCLib `_ --- A fairly comprehensive FTC library, notably providing a command-based programming paradigm and vision pipelines. `Panels `_ --- FTControl Panels is an all-in-one dashboard for FTC robots that lets you control OpModes, tune Limelight pipelines wirelessly, record and replay match data, configure variables in real time, and visualize telemetry with interactive field and graph tools. -`Road Runner `_ --- Road Runner is a motion planning library. Designed primarily for autonomous robotic movement, it allows for complex path following and generation while maintaining control of velocity and acceleration. This enables bots to have more accurate and advanced path following capabilities. Also see `Learn Road Runner `_, a guide to setting up Road Runner. +`Road Runner `_ --- Road Runner is a motion planning library. Designed primarily for autonomous robotic movement, it allows for complex path following and generation while maintaining control of velocity and acceleration. This enables bots to have more accurate and advanced path following capabilities. Electronics ----------- diff --git a/source/requirements.txt b/source/requirements.txt index 2689c91b..0f7ece69 100644 --- a/source/requirements.txt +++ b/source/requirements.txt @@ -46,6 +46,7 @@ sphinxcontrib-qthelp==2.0.0 ; python_version >= "3.10" and python_version < "4.0 sphinxcontrib-serializinghtml==2.0.0 ; python_version >= "3.10" and python_version < "4.0" sphinxext-opengraph==0.9.1 ; python_version >= "3.10" and python_version < "4.0" sphinxext-rediraffe==0.2.7 ; python_version >= "3.10" and python_version < "4.0" +sphinx_new_tab_link==0.8.0 ; python_version >= "3.10" and python_version < "4.0" starlette==0.38.2 ; python_version >= "3.10" and python_version < "4.0" stevedore==5.2.0 ; python_version >= "3.10" and python_version < "4.0" tempdir==0.7.1 ; python_version >= "3.10" and python_version < "4.0"