Getting Started in FIRST Tech Challenge TETRIX & FTC Field Control Overview

About Me Mark Edelman – Computer & Electrical Engineer – Co-Founder, Playing At Learning 10 year FIRST Volunteer – FIRST LEGO League Affiliate Partner – FIRST Tech Challenge Affiliate Partner – FIRST Tech Challenge Game Design Committee – Head Referee FIRST Robotics Competition Regionals Silicon Valley Sacramento – Mentor FRC Team #2489 – The Insomniacs

So You Want to Compete in FTC? Robot Architecture The Programming Tools FIRST Tech Challenge Tournaments Resources

FIRST Tech Challenge Robot Architecture Important to Understand! What are the parts? How does it all fit together? Why?

Definition of a Robot Sense, Plan, Act – Sensors (sense) – Controller (plan) – Actuators (act) Motors Servos

The Mechanical System TETRIX Grid-based construction system Nut/Bolt assembly Designed for flexibility & robustness Learning the equipment – TETRIX Getting Started Guide – Particularly the 1 st three lessons!!!

The Controller LEGO Mindstorms NXT Controller Custom Firmware to support non-LEGO programming environments – RobotC – LabVIEW

Motor & Servo Control Motor & Servo Control Modules from HiTechnic – Connect via NXT sensor ports – Utilize I2C high-speed serial connection capabilities built into sensor ports

Sensors Allows robot to sense its environment Many kinds – LEGO: Touch, Light, Color, Ultrasonic Rangefinder – HiTechnic: Compass Sensor Accelerometer Gyroscope IR Seeker Magnetic Proximity Detector Sensor Prototyping Board

Some Key Sensors IR Seeker Magnetic Sensor

The Communication System Field Control System – 1 computer controlling all robots – 8 gamepads 2 per robot Gamepads are effectively sensors! WiFi Communication – Field router – Samantha communication module

Samantha What? – WiFi bridge between a robot and the field control system Why? – Allows remote start/stop of programs – Allows remote control of robot (via gamepads) How? – Connects to USB port on NXT Controller – Configuration managed via uploads from USB drive

Programming Your Robot Options – RobotC – LabVIEW Templates – Simplified handling of interaction with FCS – Handles decoding of Joystick data! Multiple programs! – Autonomous Mode – Teleoperated Mode

Robot C C Programming Environment – Product of Carnegie Mellon Robotics Academy – Abstractions to make programming easier Sensor Configuration Motor/Servo Configuration Joystick Control

LabVIEW National Instruments Graphical programming environment Workshop in coming weeks!!!

FIRST Tech Challenge Tournament Key spaces – Pits – Competition Floor – Judging Rooms Inspection

FTC Pits Practice area for teams What to Expect – Practice field – Table per team May have chairs – Power for laptops Should bring an extension cord in case power not close! Inspection often happens in pits!

Competition Floor 1 or more official fields Seating for spectators A/V – Music – Announcers – Video cameras – Projection screens Queuing area

Inspection Formal inspection of robot Required for robot to be able to compete Checklist of inspection steps All based on rules from Game Manual Multiple phases – Hardware inspection – Software inspection – Field inspection

Hardware Inspection Sizing box Allowed materials Sharp/hazardous construction Bill of Materials (BOM)

Software Inspection Version of Firmware in NXT 4 digit team number, i.e. – 0003 – 1234 – 0890 Sleep timer Off Required files – Samostat

Field Inspection Done on competition fields Samantha module flashed with tournament configuration – FTC_FIELD – FTC_PIT Robot run through FCS to demonstrate control sequence

Judging Typically done in morning Interview with panel of judges – Usually at least 15 minutes May be additional interviews/contacts with judges throughout remainder of event

Qualification Matches Usually several (typically at least 5) Schedule of matches created morning of event Randomly paired with other teams to form alliances New alliance partners each match

Alliance Selection Rankings at end of day determine alliance captains – Top 4 teams become Alliance Captains Draft teams to fill alliance – Alliances of 2 teams for small events – Alliances of 3 teams for larger events Alliances are fixed for remainder of tournament

Elimination Matches Semi-finals Finals Play until one alliance has won twice – i.e. best of three

Strategies for Teams Multiple strategies – Offense – Defense Alliance play – Not working alone – How can your team’s robot work with other robots?

Strategies for Teams Scouting – Know the teams Alliance partners Opponents – Gracious Professionalism Talk to your partners ahead of matches – Plan strategies & tactics

Gotchas Power Wiring – One of largest causes of robot failure Samantha – Mounting – USB Cabling – Power Cabling Programming – Not using or misusing the code templates Sleep Timer