2019-2020 FIRST® Tech Challenge

Basic ‘Bot Guide for TETRIX-

Part 2

2 | FIRST® Tech Challenge Basic ‘Bot Guide for TETRIX- Part 2

Revision 1: 09-02-2019

Sponsor Thank You

Thank you to our generous sponsors for your continued support of the FIRST® Tech Challenge!

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Contents

Introduction ........................................................................................................................................................ 5

What is FIRST® Tech Challenge? .................................................................................................................. 5

FIRST Core Values ........................................................................................................................................ 5

Gracious Professionalism® ................................................................................................................................ 5

Introduction to the Guide ................................................................................................................................... 6

Introduction .................................................................................................................................................... 6

Parts .............................................................................................................................................................. 6

Tips and Tricks ............................................................................................................................................... 6

Construction ...................................................................................................................................................... 7

Modify Chassis............................................................................................................................................... 7

Step 1: Remove Switch .............................................................................................................................. 7

Step 2: Secure Battery Plate ...................................................................................................................... 8

Step 3: Remove Phone Plate ..................................................................................................................... 9

Step 4: Remove Electronics ..................................................................................................................... 10

Step 5: Add Support to Left and Right Rails.............................................................................................. 11

Step 6: Add Electronics ............................................................................................................................ 12

Step 7: Add Power Switch ........................................................................................................................ 13

Build the Mast .............................................................................................................................................. 14

Step 1: Add Mast Base ............................................................................................................................. 14

Step 2: Add Mast Vertical Channel ........................................................................................................... 15

Step 3: Add Mast Support ......................................................................................................................... 16

Step 4: Add the Lower Gear Train ............................................................................................................ 17

Step 5: Add the Mast Motor ...................................................................................................................... 18

Step 6: Add the Upper Gear Train ............................................................................................................ 19

Build the Jib ................................................................................................................................................. 20

Step 1: Add the Jib to the Mast ................................................................................................................. 20

Build the Trolley ........................................................................................................................................... 21

Step 1: Build the Balance Beam ............................................................................................................... 21

Step 2: Add the Servo Support Beam Connector ...................................................................................... 22

Step 3: Add the Servo Support Beam ....................................................................................................... 23

Step 4: Add Servo Support Posts ............................................................................................................. 24

Step 5: Add Servo Brackets ...................................................................................................................... 25

Step 6: Add Servos ................................................................................................................................... 26

Step 7: Add Trolley Back Plate Support .................................................................................................... 27

Revision History

Revision Date Description

1 09/02//2019 Yearly revision and updates from the 2019-2020 game

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Step 8: Add Trolley Back Plate ................................................................................................................. 28

Step 9: Add the Hooks .............................................................................................................................. 29

Step 10: Connect Trolley to Jib ................................................................................................................. 30

Add the Front Support Beam ........................................................................................................................ 31

Step 1: Add Support Beam ....................................................................................................................... 31

Wire the Robot ............................................................................................................................................. 32

Final Steps ...................................................................................................................................................... 33

Special Thanks and Best Wishes .................................................................................................................... 33

Appendix A – Bill of Materials .......................................................................................................................... 34

Appendix B – Resources ................................................................................................................................. 35

Game Forum Q&A ....................................................................................................................................... 35

FIRST Tech Challenge Game Manuals ........................................................................................................ 35

FIRST Headquarters Pre-Event Support ...................................................................................................... 35

FIRST Websites ........................................................................................................................................... 35

FIRST Tech Challenge Social Media ........................................................................................................... 35

Feedback ..................................................................................................................................................... 35

FIRST® Tech Challenge Basic ‘Bot Guide for TETRIX- Part 2 | 5

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Introduction

What is FIRST® Tech Challenge?

FIRST® Tech Challenge is a student-centered program that focuses on giving students a unique and stimulating experience. Each year, teams engage in a new game where they design, build, test, and program autonomous and driver operated robots that must perform a series of tasks. To learn more about FIRST® Tech Challenge and other FIRST® Programs, visit www.firstinspires.org.

FIRST Core Values We express the FIRST® philosophies of Gracious Professionalism® and Coopertition® through our Core Values:

• Discovery: We explore new skills and ideas. • Innovation: We use creativity and persistence to solve problems. • Impact: We apply what we learn to improve our world. • Inclusion: We respect each other and embrace our differences. • Teamwork: We are stronger when we work together. • Fun: We enjoy and celebrate what we do!

Gracious Professionalism®

FIRST® uses this term to describe our programs’ intent.

Gracious Professionalism® is a way of doing things that encourages high-quality work, emphasizes the value of others, and respects individuals and the community.

Watch Dr. Woodie Flowers explain Gracious Professionalism in this short video.

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Introduction to the Guide

Introduction The Basic ‘Bot Guide is designed to be a resource for teams looking for step-by-step instructional for building the basic chassis and structure needed in a FIRST Tech Challenge competition. There are multiple versions of this guide, previously called the “Push Bot Guide”, this version, the Basic ‘Bot Guide for REV- Part 2, has been created to use the new and differing parts in the 2019-2020 season’s REV kit of parts.

Parts • Rev FTC Competition Set

• Electronics Modules and Sensors Set

• Control & Communication Set 1 or 2

• (Optional) Only the tools included in the FTC Competition Set will be needed to build the chassis. The screws and nuts are a standard size and having more tools may allow more students to participate at the same time.

• (Optional) A ruler is not needed to build this robot, but it is necessary to make sure that the robot is competition ready.

Tips and Tricks • Secure the screws/nuts just enough, so parts do not slide/move relative to each other. Overtightening

the screws will damage the aluminum extrusions.

• Make sure that set screws are installed in every axle hub, motor hub, and axle collar.

• Refer to the legend provided in the Kit of Parts, if any parts are unfamiliar.

• Make sure that all assemblies are square. It is hard to drive a crooked robot straight!

• The drive wheels are powered by two DC motors, which are relatively heavy. The drive wheels are on the back of the robot, because that is where the most weight is. This weight is needed to help the wheels grip the surface better.

• Omni wheels are on the front of the robot, which allows the robot to turn more easily. The omni wheels can slide sideways with very little friction due to the rollers.

Figure 1- TETRIX Basic 'Bot armature design

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Construction

Modify Chassis

Step 1: Remove Switch

Figure 2- Basic ‘Bot assembled switch view

Figure 3- Unassembled switch view

Parts Removed: 39097 – 1/2” Socket Head Cap Screw (2) REV-31-1387 – Switch (1)

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Step 2: Secure Battery Plate

Figure 4- Unassembled view

Figure 5- Assembled view

Parts Needed: 39098 – 5/16" Socket Head Cap Screw (2)

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Step 3: Remove Phone Plate

Figure 6 Assembled view

Figure 7- Unassembled view

Parts Removed: 39097 – 1/2” Socket Head Cap Screw (4) 39094 - Keps Nut (4) 39073 - Flat Building Plate (1)

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Step 4: Remove Electronics

Figure 8- Electronics removed

Parts Removed: The electronics no longer attached to the chassis. -Set these components aside until step 6

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Step 5: Add Support to Left and Right Rails

Figure 9- Unassembled view

Figure 10- Assembled view

Parts Needed: 39070 - 288 mm Flat Bar (1) 39097 – 1/2” Socket Head Cap Screw (4) 39107 - 6-32 x 32 mm Stand-Off Post (4)

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Step 6: Add Electronics

Figure 11- Unassembled view

Figure 12- Assembled view

Parts Needed: Electronics (from step 4)

39097 – 1/2” Socket Head Cap Screw (4)

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Step 7: Add Power Switch

Figure 13- Unassembled view

Figure 14- Assembled view

Parts Needed: 39097 – 1/2” Socket Head Cap Screw (2) Switch Assembly (1 - from step 1)

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Build the Mast

Step 1: Add Mast Base

Figure 15- Unassembled view

Figure 16- Assembled view

Parts Needed: 39270 - 32mm Channel (1) 39098 - 5/16" Socket Head Cap Screw (4) 39094 - Keps Nut (4)

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Step 2: Add Mast Vertical Channel

Figure 17- Unassembled view

Figure 18- Assembled view

Parts Needed: 39067 - 160 mm Channel (1) 39098 - 5/16" Socket Head Cap Screw (4) 39111 - Button Head Cap Screw (4) 39094 - Keps Nut (8)

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Step 3: Add Mast Support

Figure 19- Unassembled view

Figure 20- Assembled view

Parts Needed: 39281 - Inside Corner Bracket (1) 39098 - 5/16" Socket Head Cap Screw (4) 39094 - Keps Nut (4)

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Step 4: Add the Lower Gear Train

Figure 21- Unassembled view

Figure 22- Assembled view

Parts Needed: 44708 - 100 mm x 6 mm Axle (1) 39079 - Motor Hub (2) 39097 – 1/2” Socket Head Cap Screw (8) 39028 - 40-Tooth Gear (1) 41665 - 6 mm Plastic Bushing Spacer (4) 39086 - 80 Tooth Gear

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Step 5: Add the Mast Motor

Figure 23- Unassembled view

Figure 24- Assembled view

Parts Needed: 44260 - TorqueNADO Motor (2) with Included Bolts (1) 39089 - Motor Mount with Included Screws and Nuts (1) 39097 - 1/2" Socket Head Cap Screw (4) 39094 - Keps Nut (2) 39079 - Motor Hub (1) 39028 - 40-Tooth Gear (1)

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Step 6: Add the Upper Gear Train ‘

Figure 25- Unassembled view

Figure 26- Assembled view

Parts Needed: 44708 - 100 mm x 6 mm Axle (1) 39079 - Motor Hub (2) 41665 - 6 mm Plastic Bushing Spacer (4) 40227 - 8 mm x 6 mm Bronze Bushing (2)

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Build the Jib

Step 1: Add the Jib to the Mast

Figure 27- Unassembled view

Figure 28- Assembled view

Parts Needed: 39097 - 1/2" Socket Head Cap Screw (4) 39085 - 120-Tooth Gear (1) 39069 - 416 mm Channel

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Build the Trolley

Step 1: Build the Balance Beam

Figure 29- Unassembled view

Figure 30- Assembled view

Parts Needed: 39065 - 32 mm Channel (1) 39067 - 160 mm Channel (1) 39097 - 1/2" Socket Head Cap Screw (4) 39094 - Keps Nut (4)

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Step 2: Add the Servo Support Beam Connector

Figure 31- Unassembled view

Figure 32- Assembled view

Parts Needed: 39270 - Inside C Connector (1) 39098 - 5/16" Socket Head Cap Screw (4) 39094 - Keps Nut (4)

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Step 3: Add the Servo Support Beam

Figure 33- Unassembled view

Figure 34- Assembled view

Parts Needed: 39066 - 96 mm Channel (1) 39098 - 5/16" Socket Head Cap Screw (8) 39094 - Keps Nut (8)

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Step 4: Add Servo Support Posts

Figure 35- Unassembled view

Figure 36- Assembled view

Parts Needed: 41253 - 6-32 x 16 mm Stand-Off Post (8) 39098 – 5/16" Socket Head Cap Screw (8)

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Step 5: Add Servo Brackets

Figure 37- Unassembled view

Figure 38- Assembled view

Parts Needed: 39111 – Button Head Cap Screw (8) 41789 – Brackets from Mounting Kit (2)

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Step 6: Add Servos

Figure 39- Unassembled view

Figure 40- Assembled view

Parts Needed: 39197 - HS-485HB Servo Motor (2) 39097 - 1/2" Socket Head Cap Screw (8) 39094 - Keps Nut (8)

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Step 7: Add Trolley Back Plate Support

Figure 41- Unassembled view

Figure 42- Assembled view

Parts Needed: 39274 - Flat 64 mm x 27 mm (2) 39111 - Button Head Cap Screw (4) 39094 - Keps Nut (4)

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Step 8: Add Trolley Back Plate

Figure 43- Unassembled view

Figure 44- Assembled view

Parts Needed: 39073 - Flat Building Plate (1) 39111 - Button Head Cap Screw (4) 39094 - Keps Nut (4)

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Step 9: Add the Hooks

Figure 45- Unassembled view

Figure 46- Assembled view

Parts Needed: 39197 - Metal Servo Horn from Servo Kit (2) 39061 - Flat Bracket (2) 39111 - Button Head Cap Screw (4) 39098 - 5/16" Socket Head Cap Screw (4) 39094 - Keps Nut (8)

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Step 10: Connect Trolley to Jib

Figure 47- Unassembled view

Figure 48- Assembled view

Parts Needed: 39088 - 100 mm Axle (1) 39172 - Axle Hub (1) 39091 - Bronze Bushing (4) 39092 - Axle Set Collar (1) 39100 - Axle Spacer 1/8 inch (3)

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Add the Front Support Beam

Step 1: Add Support Beam

Figure 49- Unassembled view

Figure 50- Assembled view

Parts Needed: 39071 - 288 mm Angle (1) 39097 - 1/2" Socket Head Cap Screw (4) 39094 - Keps Nut (4)

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Figure 51- Fully assembled robot

Wire the Robot Refer, if necessary, to the instructions in the Chassis Guide for more details on how to wire a DC motor.

1. Plug the left drive motor into port 0 of the motor controller. 2. Plug the right drive motor into port 1 of the motor controller. 3. Plug the arm motor into port 2 of the motor controller. 4. Plug the front servo motor into a servo extension wire. 5. Plug the front servo extension wire into SERVO port 0 of the motor controller. 6. Plug the back servo motor into a servo extension wire. 7. Plug the back servo extension wire into SERVO port 1 of the motor controller. 8. Connect the motor controller to the robot controller. 9. Connect the motor controller to the switch. 10. Connect the switch to the battery. 11. Test with the current FTC SDK and adjust ports as necessary. 12. Adjust the servos so that the hook close points provide a firm grip of the block.

• As always, be careful when wiring, do not allow any wire to catch between two gears or two moving parts of the robot (ex. arm and mast).

• SECURE all wiring! Use zip ties, plastic covered wire (ex. sandwich bread ties, garbage bag ties, etc.) to secure wire to a channel or other support surfaces.

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Final Steps

The armature has been added to the chassis. Programming will be needed to make the robot functional. Testing should be done to determine whether anything needs to be changed or optimized for the season’s game rules. It will also show whether more cables need to be secured or re-routed. Numbers and other stickers will be needed to make the robot competition ready.

Check the game rules for all the applicable stickers- The Game Manual Part 1 includes a robot inspection checklist. Though it is no longer a rule, it is suggested that you use the self-inspection checklist before a competition to be sure that you are prepared on the day of competition and don’t have any disallowed parts on the robot.

Visit the FIRST website for programming instructions.

Special Thanks and Best Wishes

FIRST® Tech Challenge would like to sincerely thank the creators of this document David and Lydean Spangler. The Spangler’s have worked tirelessly over many years and seasons to create, update and improve this document to give teams a “how to” guide for building the robot chassis and a sample armature to build upon and improve. We are forever grateful for their help and support in this endeavor.

For those who are curious about the naming of armature parts, they are commonly used names for the parts of a crane. Lydean would like to thank her late father for inspiring her interest in mechanics. He was a certified crane mechanic. He would have enjoyed playing with these robots too!

Please direct any questions or comments about this guide to: firsttechchallenge@firstinspires.org and put

“Questions about the Robot Armature Build Guide for TETRIX” in the subject line and we will redirect the emails to the appropriate responders.

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Appendix A – Bill of Materials

*This list does not include the cell phones nor some of the cables that connect the electronics.

Quantity CREO Part and Description Quantity CREO Part and Description 2 39068_TXM-288MMCHANNEL 4 40227_TXP_6MM_IDX8MM_OD_BRONZE 4 39067_TXM-160MMCHANNEL 8 41665_TXP_6MM_PLASTIC_BUSHING

70 39098_TXM_SHCS_6-32_0_3125 1 39086_TXM-GEAR80-TOOTH 102 39094_KEP_NUT 2 39028_TXM-GEAR40-TOOTH

8 39107_TXM-STAND-OFF-6-32X32MM 2 44708_TXM-6MM_X_100MM_AXLE 2 39070_TXM-288MM_FLAT_BAR 1 39085_TXM-GEAR120-TOOTH

54 39097_SHCS_6-32_X_0_5 1 39069_TXM_416MMCHANNEL 3 39281_TXM-INSIDECORNERBRACKETS 1 39172_TXM-AXLE_HUB 4 39073_TXM-FLATBUILDINGPLATES 1 39065_TXM-32MMCHANNEL 2 38009_TXM-BATTERY-CLIP 1 39066_TXM-96MMCHANNEL 3 39089_TXM-MOTORMOUNT 8 41253_TXM-16MM_LENGTH_POST 6 39195_TXM-SHCS_6-32_X_1_5 2 41789_TXM-SERVO_PLATE 3 44260 TorqueNADO DC Motor 2 39197_TETRIX_485HB_STANDARD_SER 4 39081 Servo Extension 2 SERVO_METAL_HORN-1-SOLID1 7 39079_TXM-MOTOR-SHAFT-HUB 2 39274_TXM-FLAT64MMX26MM 2 39055_TXM-4_INCH_WHEEL 4 39061_TXM-FLATBRACKETS 8 39091_TXM-BRONZE_BUSHING 1 39071_TXM-288MMANGLE 9 39100_TXM-AXLE SPACERS_0_125 2 M3_LOCKNUT Expansion Hub Lock Nut 5 39092_TXM-AXLE SET COLLARS 1 39057_TXM-12V_3000MAH_BATTERY 3 39088_TXM-STEEL_AXLE_100MM 1 ACRYLIC_SWITCH_BRACKET 2 36466_TXM-4_INCH_DUAL_OMNI_WHEEL 1 SWITCH 1 REV-31-1153 Expansion Hub 2 39270_TXM-INSIDECCONNECTORS 2 REV-M3X16MM Expansion Hub Bolt 28 39111_BHCS_6-32_X_0_375

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Appendix B – Resources

Game Forum Q&A http://ftcforum.usfirst.org/forum.php Anyone may view questions and answers within the FIRST® Tech Challenge Game Q&A forum without a password. To submit a new question, you must have a unique Q&A System User Name and Password for your team.

FIRST Tech Challenge Game Manuals Part 1 and 2 - https://www.firstinspires.org/resource-library/ftc/game-and-season-info

FIRST Headquarters Pre-Event Support Phone: 603-666-3906 Mon – Fri 8:30am – 5:00pm Email: Firsttechchallenge@firstinspires.org

FIRST Websites FIRST homepage – www.firstinspires.org

FIRST Tech Challenge Page – For everything FIRST Tech Challenge.

FIRST Tech Challenge Event Schedule – Find FIRST Tech Challenge events in your area.

FIRST Tech Challenge Social Media FIRST Tech Challenge Twitter Feed - If you are on Twitter, follow the FIRST Tech Challenge Twitter feed for news updates.

FIRST Tech Challenge Facebook page - If you are on Facebook, follow the FIRST Tech Challenge page for news updates.

FIRST Tech Challenge YouTube Channel – Contains training videos, Game animations, news clips, and more.

FIRST Tech Challenge Blog – Weekly articles for the FIRST Tech Challenge community, including Outstanding Volunteer Recognition!

FIRST Tech Challenge Team Email Blasts – contain the most recent FIRST Tech Challenge news for Teams.

Feedback We strive to create support materials that are the best they can be. If you have feedback about this manual, please email firsttechchallenge@firstinspires.org. Thank you!