Best Practices for FTC

Presented by: Team Unlimited, FTC0001 ftc0001.org

We acknowledge the efforts and copyrights of FIRST, LEGO Education and LEGO with regards to the contents of this workshop. Without their generosity, the FIRST Tech Challenge would not exist!

Best Practices . . .

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Come from Good Judgment!

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Good Judgment . . .

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Comes from Experience!

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And all too often, Experience . . .

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Comes from Bad Judgment!

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Therefore, whenever possible, learn from someone else’s mistakes!

FTC Best Practices – 2013/14

Outline

           Introduction Team Organization The Challenge Documentation Brainstorming Design Construction Testing Competition Outreach Resources and Summary

FTC Best Practices – 2013/14

Introduction – Team Unlimited

     Started in 2002-3 as an FLL team MA Champions award 2003-4, Worlds Recruited to FVC demo season spring 2005 as FVC 13 Became FVC 2013 in 2006-7 Became FTC 0001 in 2007-8  Founding Coach John Pilvines presenting To contact Team Unlimited: website ftc0001.org email [email protected]

FTC Best Practices – 2013/14

Team Organization

   First rule – team members should want to be team members    Resume enhancement or parental wishes are poor motivators Self-starters – already, or willing to work to become one Not just technical skills Choose primary role(s)     Tech – Design (CAD), H/W, S/W Documentation leads (notebook, video, photo) Marketing - fund raising and promotion Mentoring and Volunteer outreach All team members should understudy!

FTC Best Practices – 2013/14

Team Organization

     School-based or independent teams Coaches and Mentors  Critical roles – administer, organize, educate and advise Team member leads for each subgroup, with coach or mentor advisors  Skilled support where possible Goals must be set, schedules, deliverables and deadlines  Motivation!

Weekly all-team meetings  Sub-group work sessions as frequent as required

FTC Best Practices – 2013/14

“Gracious Professionalism” – core values

    Gracious Professionalism is a Guiding Mantra in FIRST Call it Good Sportsmanship, Coopetition, the Golden Rule . . .

Always been loosely defined by FIRST But . . . we know it when we see it!

FTC Best Practices – 2013/14

Outreach – FIRST Core Values

 Give back to the community! Pay it forward!

    Mentor other teams (FLL, FTC)!

Volunteer at FIRST competitions (FLL, FTC)!

Present workshops, share resources!

Promote FIRST programs!

 Align your team activities with the values that the judges are looking for, and you can’t go far wrong

FTC Best Practices – 2013/14

Challenges past . . .

Tasks undertaken in competition (so far) . . .

        Climb a step or ramp Hang from a bar Pickup and place objects, from/to various positions    From floor level to far above robot starting height Small to large, light to heavy Objects – balls (small to large), rings, batons, pucks . . .

Move structures to various locations on field End with robot at a designated location Have team member perform tasks Have the robot “shoot” balls Balance the robot

FTC Best Practices – 2013/14

Challenge current . . .

2013-14 FTC Competition

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Study it carefully!

Pay attention to the rules!

   The Game Manual (& other documents) is your FTC bible!

Important new rulings and clarifications are posted at the official FTC forum (supersedes the Game Manual) The Head Inspector and Head Referee are the final authority at competitions – no appeal These sources determine the rules of the game, and the allowable content of your robot – all else is speculation  Post forum questions only after you have determined that the info is not already available

FTC Best Practices – 2013/14

Documentation The Engineering Notebook

       Bound single notebook All entries in pen, from each team member Each session dated and initialed A working document, used continuously and consistently Never erase, everything has important, especially the things that didn’t work  Edison, 1000 ways not to, 1% inspiration Key part of judging at Championships  Label key pages w/sticky notes to highlight for judges We like the BookFactory.org oversize lab notebooks   Big enough for full page inserts, expandable bindings One for engineering activities, one for other activities

FTC Best Practices – 2013/14

Documentation The Engineering Notebook

     Having a designated notebook coordinator helps Leave space to insert photos and diagrams   Illustrations can clarify more quickly than words Photos of white board during brainstorming Drawings – hand diagrams are valuable in design stages Use of CAD software for design & documentation   PTC Creo/Pro for 3D CAD Paste pages into place in notebook Photography - digital more convenient   Natural for capturing stages of development Also document other team activities

FTC Best Practices – 2013/14

Documentation The Electronic Engineering Notebook

 On-line collaboration     Use tools like PTC Windchill and Dropbox to coordinate E-documents, printed and assembled into final notebook Print or past photos Transparent page sleeves can keep it neat  How do judges react to it?

FTC Best Practices – 2013/14

Documentation So what goes in the Engineering Notebook?

        Descriptions of Meetings and Events Profiles of Team Members Plans and Tasks Notes and Observations Photos and Diagrams CAD renderings Bill of Materials (BOM) Printouts of RobotC or LabVIEW Code

FTC Best Practices – 2013/14

Documentation Suggestions for creating your Notebook

   Use white board and flipcharts Insert lots of photos and diagrams Document team activities separately from meetings and building sessions    Meetings are interactive with coaches Building sessions are where the real work gets done Activities are events, volunteer work, fund raising, promotion, et al  Outside of the behind-the-scenes team environment

FTC Best Practices – 2013/14

Documentation Team Profiles FTC Best Practices – 2013/14

Documentation Meeting & Working Session FTC Best Practices – 2013/14

Documentation Document Final Robot Design FTC Best Practices – 2013/14

Documentation Team Activities FTC Best Practices – 2013/14

Brainstorming

   After the Challenge has been studied . . .

Entire team activity Open session(s)   All ideas are welcome Outside the box – box, what box?

FTC Best Practices – 2013/14

Robot Design Common Characteristics of Champion Robots

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Reliability of robot Consistency of performance Rugged construction KISS (as much as possible) Good autonomous mode Large size Minimal LEGO components

FTC Best Practices – 2013/14

Robot Design Process

   Planning – what do you want to achieve and how will you achieve it?

Design iteration      Brainstorm (what to build) Design (how to build it) Build it!

Test it!

Repeat until it’s perfect (or good enough) Trade-offs: Good, Quick, Cheap – pick two (at most)!

 Quality – Schedule – Budget

FTC Best Practices – 2013/14

Robot Design - Computer Aided Design Creo from PTC

 PTC is now the official CAD and Collaboration sponsor for the FIRST Tech Challenge! They are providing free licenses of Creo, MathCAD, & Windchill software to all FTC and FRC teams.

FTC Best Practices – 2013/14

Robot Design Systems block diagram

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Chassis Computer (microcontroller) Motors Power Sensors Communications/ control FTC Best Practices – 2013/14

Robot Design Chassis

 Physical layout  Chassis usually rectangular    Short wheelbase & wide body better for turns & side stability Long wheelbase & narrow body better for front-back stability Square chassis a compromise for both

FTC Best Practices – 2013/14

Robot Design Chassis

 Holonomic chassis    Omniwheels on each corner (usually 3 or 4) driven by independent motors By mixing direction of rotation and power by software, can go in any direction without turning Tends to lack power and traction, fairly easily pushed

FTC Best Practices – 2013/14

Robot Design Chassis

   Axles are best supported on both sides     Brass axle bearings If supported on only one end, keep axle short Shaft collars lack stability when used alone Nylon spacers enhance stability 4 or 6 wheel configurations  6 wheel - shift mid wheels down slightly for better pivoting Taller wheels climb steps better  Extend wheels beyond chassis edge to improve climbing ability

FTC Best Practices – 2013/14

Robot Design Structure

    Trade-offs: Good, Quick, Cheap – pick two (at most)!

 Quality – Schedule - Budget Robot speed – quick on field v. precision motion Robot complexity – simplicity v. capability Think Defensively!

   Protect vulnerable areas – contact sport Guard wheel (and support both sides) – bumpers?

Protect all critical components while maintaining access  NXT, Samantha module, motor controllers, wires (through channels?), chains, switches . . .

FTC Best Practices – 2013/14

Robot Design Structure

   Create modular structures  left and right drive-trains mirror images Don’t maximize to 18” cube design early   Leave room for inevitable add-on pieces Must fit in the inspection test box!

Clearance  Game elements under your chassis can be disabling  Side guards and/or high clearance

FTC Best Practices – 2013/14

Robot Design Structure

   So far, challenges have manipulated balls, rings, pucks, batons . . .

  Of various sizes (usually, larger is worth more) To various heights (usually, higher is worth more) Also, lifting robot to bar (“hanging”) Critical issues – all interrelated     Center of Gravity (COG) Moment arm Length and height of reach Load capacity

FTC Best Practices – 2013/14

Robot Design Motors

  Gearing and power decisions  Balance speed v. torque  Increase speed by gearing up or adding motors  Limit gear ratio to 3:2, avoid motor damage   Increase torque by gearing down or adding motors Middle ground, direct drive with a gear motor on each wheel Motor comparisons    Gearmotors are powerful, propulsion and heavy lifting  Use separate motor encoder as rotation sensor Servomotors are less powerful but offer precise control  180 degree throw (control angle) or continuous rotation (control speed) LEGO motors are less powerful  NXT motor has integrated rotation sensor

FTC Best Practices – 2013/14

Robot Design Ideas for robot design

   Mine our archival pages for photos of previous competitions – thousands of photos of teams and robots from competitions back to the first FVC demonstration (spring 2005).

http://www.ftc0001.org/SeasonsPast.htm

In various seasons, competitions from MA, RI, CT, NJ, and close-up photos from 3 FTC World Championships 

Field competition from ring-side!

FTC Best Practices – 2013/14

Robot Construction TETRIX System FTC Best Practices – 2013/14

Robot Construction Matrix System

  New for the 2012-13 season  Mostly overseas availability Uses LEGO Mindstorms controller & Samantha   Alternate motors and controllers Alternate aluminum building components  Holes spaced for LEGO bricks  http://matrixrobotics.com/

FTC Best Practices – 2013/14

Robot Construction Motor Systems FTC Best Practices – 2013/14

Robot Construction Structural design

      Prototyping    Avoid cutting structural materials early on Measure once, cut twice – it’s still too short!

Use simple sheet materials (cardboard, foam-board) to test concepts, can be used as a template later Keep important structures accessible for repair Do not use thread locker until design is stable  Locktite Blue, can be removed w/o heat application Replacement stainless steel screws are best!

Nylox nuts are more secure Tape and glue are now legalTeam  Duct Tape should be pleased!

FTC Best Practices – 2013/14

Robot Construction Structural materials

       Most materials from Tetrix website All Matrix components Most LEGO components A wide range of raw materials A significant list of finished materials and COTS (Commercial Off The Shelf) assemblies Take advantage of this season’s Robot Rules!

 Don’t assume that if it wasn’t allowed previously, it still isn’t allowed Order parts for final assembly with plenty of lead time  Rush shipped from LEGO Education is expensive!

FTC Best Practices – 2013/14

Robot Construction Safety

       Safety glasses are NOT forehead protectors Power tools REQUIRE training and supervision Parts need to be finished – no ragged/sharp edges Safe environment – neat, no obstacles Proper attire – footwear, anything long and loose First Aid kit at hand Remove power BEFORE working on a robot  Kill switch, battery disconnection, release mechanical tensioning

FTC Best Practices – 2013/14

Robot Programming

 Implement the designed capabilities of your robot 

RobotC

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LabVIEW

 Limited by memory, port and computational capacities of LEGO NXT brick   Next generation LEGO EV3 brick has significantly high memory and processing capabilities Not allowed this season

FTC Best Practices – 2013/14

Robot Programming

  Autonomous    Points usually (but not always) pivotal in winning a match Movement by dead reckoning, line following, IR or ultrasound navigation, or combinations Color sensing and touch sensors can be valuable as well Operator Control   Setup movement controls Augment with sensors for movement “subroutines”  This is a focus of the coding workshop

FTC Best Practices – 2013/14

Robot Programming

  Sensor use v. dead reckoning in autonomous mode      Timed movement inherently inaccurate Motor encoders more precise, for measured motion & turns Gyro sensor can yield accurate turns Line following can help navigation Touch and ultrasonic sensors can indicate position Remember – 3 other robots are on the field, and movement of field elements is not always predictable!

FTC Best Practices – 2013/14

Robot Programming Sensors from LEGO

   Sensors are used to provide information about the environment to the microcontroller Provided by LEGO  light, color, touch, ultrasonic Provided by HiTechnic  Magnetic, gyro, accelerometer/tilt, IR seeker, angle Ultrasonic Color

FTC Best Practices – 2013/14

Light Touch

Robot Programming Sensors from HiTechnic IR Seeker Angle Acceleration Tilt FTC Best Practices – 2013/14 Magnetic Gyro

Robot Programming Touch Sensor Multiplexor

 Allows the connection of up to 4 touch sensors to the multiplexor, and then to a single NXT sensor port  Only works with touch sensors!

FTC Best Practices – 2013/14

Robot Programming Sensor Multiplexor

  Allows the connection of up to 4 of any sensors to the multiplexor, and then to a single NXT sensor port Powered by separate battery pack

FTC Best Practices – 2013/14

Robot Testing

   Once you have a working assembly, it should be tested Once you have a working robot, every modification should be tested  Try to avoid multiple changes before testing, unless they won’t work independently Testing can lead to repeating the previous steps     Need new concepts – brainstorming Need a better implementation – design Need a better some modification – building And back to testing, while always documenting!

FTC Best Practices – 2013/14

Robot Testing

  Internal scrimmaging   Build a “Sparring Partner” robot Driver teams need practice in realistic conditions!

Test more advanced implementations under field conditions   Opposing alliances will be passive obstructions or actively defending, anticipate Alternate autonomous routines will be suggested by these activities   What works with only one robot running autonomous can fail with multiples, especially if they are purposely obstructing Routines to obstruct other robots in similar circumstances can be useful as well – defense is part of a match!

FTC Best Practices – 2013/14

Robot Testing Samantha Wi-Fi control

    802.11b wireless-to-USB adapter for use with the LEGO Mindstorms NXT Brick and Tetrix in the FTC program.

Connects through computer Wi-Fi adapter or Wi-Fi router/access point LED lights used for status monitoring and troubleshooting.

Study documentation carefully   Critical – power, mounting, and Samostat diagnostic program Your robot won’t do well if out of communication $65, order (only one) at team registration

FTC Best Practices – 2013/14

Robot Testing FCS – Field Control System

   Setup and use a WIFI router and the FTC Field Controller System!

Many teams test their systems only with Bluetooth control, and find great difficulties passing software inspection Test and practice under realistic conditions  Always inspect your robot before the competition  Be strict, avoid last minute surprises!

FTC Best Practices – 2013/14

Robot Testing

  Murphy’s Law (and its many corollaries)  Whatever can go wrong will go wrong, and at the worst possible time, in the worst possible way  Murphy was an optimist!

Testing  Build at least a half-field if you don’t have regular access to a regulation field      Backup strategies – alternatives if mechanical failure or opposing alliance counters Anticipate points of failure Spares kit and tools close by in competition Design for easy access – ease of repair Build sparring robot and participate in scrimmages

FTC Best Practices – 2013/14

Robot Competition

          Scrimmages - Qualifiers – Championships – Super Regionals - World Championship Similar, different scales and advancement criteria Registration Inspections Judging Scouting Qualifying Rounds Alliance selection Elimination Rounds Awards

FTC Best Practices – 2013/14

Robot Competition Team arrives at tournament

 Registration   Coach supplies release forms for team Receives info packet

FTC Best Practices – 2013/14

Robot Competition Team arrives at tournament

 Team setup – pit area    Setup on assigned table  Displays, tools, give-aways All need safety glasses Always exhibit “Gracious Professionalism”

FTC Best Practices – 2013/14

Robot Competition Battery packs

      Must use NiMH battery packs during competitions Should use freshly-charged batteries to compete Extra charged battery packs are key  Label date put in service, tag charged/not charged Voltage draw-down can cause microcontroller to reset  Can restart in autonomous mode, no remote control More weight/more motors drain batteries more quickly Make sure that you obtain spare fuses (auto supply)

FTC Best Practices – 2013/14

Robot Competition Volunteers run the tournaments!

         Organizers put it together Queuers and registrars keep the flow going Inspectors confirm the robots are ready and qualified Field Controller operators & Scorers run the field tech Referees run the game Field Tech Advisors deal with the inevitable problems MCs and DJs keep the energy high Judges interview & observe teams & decide on awards And many others labor tirelessly behind the scenes to help make the day a success!

FTC Best Practices – 2013/14

Robot Competition Inspection

     Sizing box – fit within 18” cube, unrestrained Note part & materials restrictions Bill Of Materials (BOM)  Not LEGO, Matrix, Tetrix Re-inspection needed for significant changes Level playing field  each team conforms to the same rules!

FTC Best Practices – 2013/14

Robot Competition Hardware Inspection 2012/13 Building for FTC with TETRIX - Hints and Tips Workshop

Robot Competition Software Inspection 2012/13 Building for FTC with TETRIX - Hints and Tips Workshop

Robot Competition Judging

 Judging interviews, 10-15 minute session   Present your most significant points & answer questions Engineering notebook represents you to ALL judging panels

FTC Best Practices – 2013/14

Robot Competition Judging FTC Best Practices – 2013/14

Robot Competition Judging

    Pre-evaluate your team by using judging parameters Orient your presentation to emphasize your strong points  Lead judges to your strengths, but be prepared to address all points Orient your plans throughout the season toward these goals Each judge has their own priorities and biases, can’t be predicted   Some are very experienced, other may be totally new Judge Advisor organizes, but does not vote

FTC Best Practices – 2013/14

Robot Competition Judging

    Remember – your Engineering Notebook can represent you to all the judging panels Balance your presentation – make sure that the entire team is involved The judges will be observing throughout the competition – on field and off Show your Gracious Professionalism at all times!

FTC Best Practices – 2013/14

Robot Competition Drivers meeting

  Field Officials address the teams Mandatory for at least one team representative

FTC Best Practices – 2013/14

Robot Competition Opening Ceremonies

  Formal start – speeches and dignitaries Mandatory attendance

FTC Best Practices – 2013/14

Robot Competition

Qualifying matches

    Scheduled matches – red vs. blue alliance Random assignment of alliances QP (qualifying points) and RP (ranking points) Referees run the field!

FTC Best Practices – 2013/14

Robot Competition Scouting

    Interview teams (especially potential alliances) Observe field matches, keep notes Have a system – note capabilities, reliability, flexibility, offense/defense tactics Critical info for alliance selection!

FTC Best Practices – 2013/14

Robot Competition Qualifying continues

  Scores rank the teams for alliance selection Scouting continues – deciding which teams would be a good match

FTC Best Practices – 2013/14

Robot Competition Alliance selection

    Top 4 seeded teams are called to choose  In order of their ranks, #1 goes first If one top seed chooses another, 2 nd team can accept or choose their own alliance partners  Lower ranks fill in vacancies – #5 becomes #4 If chosen team not in top four refuses, they cannot be chosen by another team Each alliance consists of 3 teams   Only 2 teams in small tournaments In second round of teams chosen, #1 team first again “Our team graciously accepts”

FTC Best Practices – 2013/14

Robot Competition Elimination rounds

   Seeding pyramid (1v4, 2v3), best 2 of 3 matches All 3 teams in alliance must play in the round’s first 2 matches Finals determine the over-all winners

FTC Best Practices – 2013/14

Robot Competition Wrapping it up

 Awards & Closing Ceremonies          

PTC Design Award

– esthetic design elements

Rockwell Collins Innovate Award

– most innovative design

Connect Award

– community outreach, fundraising

Control Award

– use of sensors Promote Award – video to promote STEM Compass Award – coach or mentor recognition Motivate Award – spirit & enthusiasm

Think Award

– engineering process Finalist & Winning Alliances Awards

Inspire Award

– Top award, aspects of all

Require the submission of an Engineering Notebook FTC Best Practices – 2013/14

FTC Resources

      http://www.usfirst.org/roboticsprograms/ftc/tetrixre sources/

FTC Robotics: Tips, Tricks, Strategies, and Secrets: New 2011/12 Season Edition

 By the Pope John XXIII High School Regional Robotics Team http://www.tetrixrobotics.com/ftc/ http://www.ftc0001.org/Resources.htm

http://ftcforum.usfirst.org/ http://www.robotc.net/ftc/

FTC Best Practices – 2013/14

Best Practices for FTC Questions?

ftc0001.org