8 ROBOT Construction Rules (R)

Example 1: A team orders 2

Example 2: A team obtains openly available blueprints of a drive module commonly available from Wheels-R-Us Inc. and has local machine shop “We-Make-It, Inc.” manufacture a copy of the part for them. The produced part is not a

Example 3: A team obtains openly available design drawings from a professional publication during the pre-season and uses them to fabricate a gearbox for their

Example 4: A

Example 5: A team has a

Example 6: A team has a

For example, a

The intent of this definition is to be as inclusive as possible to permit access to all legitimate sources, while preventing ad hoc organizations from providing special-purpose products to a limited subset of teams in an attempt to circumvent the cost accounting rules.

FIRST desires to permit teams to have the broadest choice of legitimate sources possible, and to obtain

Ideally, chosen

Note that it is possible for an item (typically raw materials) to be neither

To determine the

Example: A

Figure 8‑1

If a

The allowance for minor protrusions in this rule is intended to allow protrusions that are both minor in extension from the

If a

Be sure to consider the size of the

Note that rules contained in section 8.4

Teams should expect to have to demonstrate a

Examples of

Examples of compliance and non-compliance of this rule are shown in Figure 8‑3.

Yellow bars represent the limits of the

Green bars represent a measured extension from the

• ROBOT
  A violates this rule for extending in more than one direction
• ROBOT
  B violates this rule for extending in more than one direction
• ROBOT
  C does not violate this rule
• ROBOT
  D does not violate this rule as the additional extension is
  momentary
  and inconsequential
• ROBOT
  E does not violate this rule
• ROBOT
  F violates this rule for extending in more than one direction by extending over a round segment of
  ROBOT
  PERIMETER.

Figure 8‑3 Examples of compliance and non-compliance of this rule

This measurement is intended to be made as if the

Note that the use of acrylic or other materials which may break into jagged pieces is not explicitly prohibited, but any such breakage must be corrected immediately to comply with this rule.

Examples of items that will violate this rule include (but are not limited to):

A. shields, curtains, or any other devices or materials designed or used to obstruct or limit the vision of any DRIVE TEAM members and/or interfere with their ability to safely

B. speakers, sirens, air horns, or other audio devices that generate sound at a

C. any devices or decorations specifically intended to jam or interfere with the remote sensing capabilities of another

D. lasers other than those listed as IEC/EN 60825-1 ”Class 1” or IEC/EN 62471 “Exempt,”

E. flammable gasses,

F. any device intended to produce flames or pyrotechnics,

G. hydraulic fluids or hydraulic items,

H. switches or contacts containing liquid mercury,

I. circuitry used to create voltages in excess of 24 Volts,

J. any ballast not secured sufficiently, including loose ballast e.g. sand, ball bearings, etc., such that it may become loose during a

K. hazardous materials (e.g. lead, whether encapsulated or not) used on the

L. high intensity light sources used on the

M. Bright lights which flash more than approximately 5 times per second, per E108.

Teams are encouraged to consider G501 when developing their

SCORING ELEMENTS are expected to undergo a reasonable amount of wear and tear as they are handled by

Teams should be ready to show

The Analog Devices IMU

The FMV of a

The FMV of

The FMV of FABRICATED parts is the value of the material and/or labor, except for labor provided by team members (including sponsor employees who are members of the team), members of other teams, and/or event provided machine shops. Material costs are accounted for as the cost of any purchasable quantity that can be used to make the individual part (i.e. the purchasable raw material is larger than the FABRICATED part).

Example 1: A team orders a custom bracket made by a company to the team's specification. The company’s material cost and normally charged labor rate apply.

Example 2: A team receives a donated sensor. The company would normally sell this item for $450 USD, which is therefore its FMV.

Example 3: A team purchases titanium tube stock for $400 USD and has it machined by a local machine shop. The machine shop is not considered a team sponsor but donates 2 hours of expended labor anyway. The team must include the estimated normal cost of the labor as if it were paid to the machine shop and add it to the $400 USD.

Example 4: A team purchases titanium tube stock for $400 USD and has it machined by a local machine shop that is a recognized sponsor of the team. If the machinists are considered members of the team, their labor costs do not apply. The total applicable cost for the part would be $400 USD.

It is in the best interests of the teams and FIRST to form relationships with as many organizations as possible. Recognizing supporting companies as sponsors of, and members in, the team is encouraged, even if the involvement of the sponsor is solely through the donation of fabrication labor.

Example 5: A team purchases titanium tube stock for $400 USD and has it machined by another team. The total applicable cost for the part would be $400 USD.

Example 6: A team purchases a widget at a garage sale or online auction for $300, but it’s available for sale from a

If a

If the modules are designed to assemble into a single configuration, and the assembly is functional in only that configuration, then the total cost of the complete assembly including all modules must fit within the price constraints defined in this rule.

In summary, if a

Example 7:

Example 8:

Example 9:

Neither this rule nor the language in this blue box define specific thresholds for how much of a MAJOR

Attempts to exploit loopholes in the definition of MAJOR

A. Pre-assembling significant portions of a MAJOR

B. Removing a small

Example 1: A team realizes that the transmission designed and built in the fall perfectly fits their need for a transmission to drive the

Example 2: A team developed an omni-directional drive system for the 2019 competition. In July 2019 they refined and improved the

Example 3: The same team decides to use LabVIEW as their software environment for REBUILT. Following Kickoff, they use the previously developed C++ code as a reference for the algorithms and calculations required to implement their omni-directional

Example 4: A different team develops a similar solution during the fall and plans to use the developed software on their competition

Example 5: A team develops a transmission prior to Kickoff. After completing the project, they publish the CAD files on a generally accessible public forum and make them available to all teams. Because they have made the design publicly available before Kickoff, they can use the design to create an identical transmission, fabricated after Kickoff, for use on their REBUILT

An arc is considered to have infinite corners and therefore may not have a gap larger than 1.25in (3.17cm).

Teams should be prepared to provide information about the padding material used in their

The

Hard parts include any items which are likely to cause damage to the cloth or padding of other

This measurement is intended to be made in a

Separate

Examples of

A.

B.

C.

As a guideline,

The 0.5in (1.27cm) stroke width requirement applies to the majority of the stroke. Font elements less than 0.5in (1.27cm) such as serifs, rounded edges, small hairlines or gaps, etc. are permitted as long as the majority of the stroke meets the sizing requirement and the numbers are unambiguous.

As a guideline, spacing between digits or groups of digits which exceeds ~4.0in (10.16cm) may be ambiguous.

There is no prohibition against splitting team numbers onto different sections of

This marking is intended to display the team number only, not to intentionally change the surface characteristics of the

For servos, note that the roboRIO is limited to a max current output of 2.2A on the 6V rail (12.4W of electrical input power). Teams should make sure that their total servo power usage remains below this limit at all times.

Servo mechanical output power is approximated by the following formula (using 6V data reported by manufacturer): Mechanical Output Power (in W) = 0.25 x (Stall Torque in N-m) x (No Load Speed in rad/s). This calculator from the FIRST Tech Challenge documentation can be used to help calculate output power from inputs of various units.

Given the extensive amount of motors allowed on the

AndyMark PG Gearmotors are sold with labeling based on the entire assembly. Assemblies labeled am-3651 through am-3656 contain legal motors specified in Table 8‑1. These motors may be used with or without the provided gearbox.

Examples that are not considered propulsion motors include:

A. motors that primarily alter the alignment of a wheel in contact with the

B. motors that run

C. motors that change the speed of the drive wheels using a shifting

The intent of this rule is to allow teams to modify mounting tabs and the like, not to gain a weight reduction by potentially compromising the structural integrity of any motor.

Note: The Automation Direct Relays are single directional. Per R504 they may not be wired together in an attempt to provide bi-directional

"Nut and bolt style" refers to any style battery terminal where the connector is secured to the battery using a threaded fastener.

Examples of batteries which meet these criteria include:

A. Enersys (P/N NP18-12, NP18-12B, NP18-12BFR),

B. MK Battery (P/N ES17-12),

C. Battery Mart (P/N SLA-12V18),

D. Sigma (P/N SP12-18),

E. Universal Battery (P/N UB12180),

F. Power Patrol (P/N SLA1116),

G. Werker Battery (P/N WKA12-18NB),

H. Power Sonic (P/N PS-12180NB),

I. Yuasa (P/N NP18-12B),

J. Panasonic (P/N LC-RD-1217),

K. Interstate Batteries (P/N BSL1116), and

L. Duracell Ultra Battery (P/N DURA12-18NB).

Teams should be aware that they may be asked to provide documentation of the specifications of any battery not listed above.

Batteries should be charged in accordance with manufacturer’s specification. (Please see the FIRST Safety Manual for additional information.)

A

For example, teams may not use additional batteries as extra weight on their

“SB type” refers to SB type only (e.g. SB-50, SB-120, etc.), not SBS or any other part type beginning with SB. All batteries supplied by FIRST (such as Spare Parts and international batteries) will have a red or pink SB50 connector installed which may not be removed.

The pink connectors included in the

While pure copper wire is recommended, copper-clad aluminum wire is considered copper wire

Compliance with this rule is checked by observing a >120Ω resistance between either the (+) or (-) post within the APP connector that is attached to the PD and any point on the

All legal motor controllers with metal cases are electrically isolated. They may be mounted directly to

Note that some cameras, decorative lights, and sensors (e.g. some encoders, some IR sensors, etc.) have grounded enclosures or are manufactured with conductive plastics. These devices must be electrically isolated from the

Examples considered not “quickly and safely accessible” include breakers covered by an access panel or door, or mounted on, underneath or immediately adjacent to moving

It is strongly recommended that the 120A circuit breaker location be clearly and obviously labeled so it can be easily found by

While the main breaker must be accessible, consider positioning or shielding it such that it’s protected from accidental actuation (e.g. it’s unlikely to be hit by a SCORING ELEMENT during game play).

“Visible for inspection” does not require that the items be visible when the

Note that this prohibits using any other active PoE injector device to power the radio but does not prohibit using any PASSIVE CONDUCTORS to inject the

Please reference How to Wire an FRC

If multi-point distribution of circuit power is needed (e.g. to provide power to multiple

Note that these fuses must be pressed very firmly to seat properly. Improper seating can cause a device to reboot upon impact.

This rule does not prohibit the use of smaller value breakers in the PD or any fuses or breakers within CUSTOM CIRCUITS for additional protection.

Fans permitted per R501 may also be included within CUSTOM CIRCUITS.

In order to show compliance with these rules, teams should use wire with clearly labeled sizes if possible. If unlabeled wiring is used, teams should be prepared to demonstrate that the wire used meets the requirements of this rule (e.g. wire samples and evidence that they are the required size).

While pure copper wire is recommended, copper-clad aluminum wire is considered copper wire.

Slip rings containing mercury are prohibited per R203.

A noise filter may be wired across motor leads or PWM leads. Such filters will not be considered CUSTOM CIRCUITS and violate neither this rule nor R712.

Acceptable signal filters must be fully insulated and must be 1 of the following:

• 1 microfarad (1 µF) or less, non-polarized, capacitor may be applied across the power leads of any motor on your
  ROBOT
  (as close to the actual motor leads as reasonably possible) or
• a resistor may be used as a shunt load for the PWM
  control
  signal feeding a servo.

There are no rules that prohibit co-processors, provided commands originate from the roboRIO to enable and disable all power regulating devices. This includes motor controllers legally wired to the CAN bus.

Note: Placing a switch between the roboRIO and radio may impede the ability for

If not using the “RIO” port of the VH-109 1.0, it is strongly recommended to cover the port to prevent accidental damage to devices such as laptops which may occur if attached to this port.

Note that the 4.0Mbit limit will be strictly enforced by the wireless bridge.

The

While FIRST makes every effort to provide a wireless environment that allows teams access to a full 4.0Mbits/second data rate (with about 100.0Kbit used for

Devices that employ signals in the visual spectrum (e.g. cameras) and non-RF sensors that don’t receive human-originated commands (e.g. “beam break” sensors or IR sensors on the

Teams are encouraged to mount the wireless bridge away from noise generating devices such as motors,

Please see How to Wire an FRC

Please note that the

Please note that while repairs are permitted, the allowance is independent of any manufacturer’s warranty. Teams make repairs at their own risk and should assume that any warranty or return options are forfeited. Be aware that diagnosing and repairing

For more information about modification O, please see this OM5P-AC Radio Modification article.

A PASSIVE CONDUCTOR is any device or circuit whose capability is limited to the conduction and/or static regulation of the electrical energy applied to it (e.g. wire, splices, connectors, printed wiring board, etc.).

An ACTIVE DEVICE is any device capable of dynamically controlling and/or converting a source of electrical energy by the application of external electrical stimulus.

The “network of PASSIVE CONDUCTORS” only applies to the

As long as the CAN bus is wired legally so that the heartbeat from the roboRIO is maintained, all closed loop

“Wired directly” includes via any series of PASSIVE CONDUCTORS (i.e. star or

Only 1 wire should be inserted into each Weidmuller CAN connector terminal. For documentation on how to wire the CAN bus connections see How to Wire an FRC

Any additional CAN bus added in this manner satisfies the requirements of R714 (i.e. you may connect motor controllers to this additional bus).

Any pressure specification such as “working,” “operating,” “maximum,” etc. may be used to satisfy the requirements of this rule.

It is recommended that all pneumatic items be rated by their manufacturers for a working pressure of at least 60.0psi (413.7kPa, 4.137Bar).

Do not, for example, paint, file, machine, or abrasively remove any part of a pneumatic

Examples of acceptable valves include Parker PV609-2 or MV709-2.

Examples of acceptable valves include Norgren 16-004-011, 16-004-003 or McMaster-Carr 48435K714.

To be considered functionally equivalent the valve must be preset or adjustable to 125.0psi (861.8kPa, 8.618Bar) and capable of relieving at least 1.0scfm (471.9cm3/s).

The following devices are not considered pneumatic devices and are not subject to pneumatic rules (though they must satisfy all other rules):

A. a device that creates a vacuum,

B. closed-loop

C. air-filled (pneumatic) wheels, and

D. pneumatic devices not used as part of a pneumatic system (i.e. used in a way that does not allow them to contain pressurized air)

A

Note: Viair C-series compressors, which have a max working pressure of 120.0psi, are rated for intermittent pressures greater than 125.0psi and therefore meet the requirements of this rule.

Examples of acceptable valves include Norgren regulator P/N R07-100-RNEA and Monnier P/N 101-3002-1.

It is recommended that all

Instructions for adjusting the pressure relief valve can be found in the Pneumatic Manual.

The REV Robotics Analog Pressure Sensor may only be used with

Manifolds, shuttle valves, and other devices which do not combine output airflow, even though it may be plumbed into the same device, are not violations of this rule.

Teams are permitted to use a portable computing device of their choice (laptop computer, tablet, etc.) to host the

Teams are strongly encouraged to use pigtails on the Ethernet port used to connect to the

There is a 54.0in (1.372m) long by 2.0in (nominal, 5.08cm) wide strip of hook-and-loop tape (“loop” side) along the center of the

Please note that while there is no hard weight limit, OPERATOR CONSOLES that weigh more than 30lb (13.61kg) will invite extra scrutiny as they are likely to present unsafe circumstances.

Examples of prohibited wireless systems include, but are not limited to, active wireless network cards and Bluetooth devices. For the case of the FIRST Robotics Competition, a motion sensing input device (e.g. Microsoft Kinect) is not considered wireless communication and is allowed.