2019-2020 FIRST® Tech Challenge

Basic ‘Bot Guide for REV-

Part 2

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

Contents ............................................................................................................................................................ 3

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 Phone and Battery ........................................................................................................... 7

Step 2: Temporarily Remove Front Wheels ................................................................................................ 8

Front Support Beam ....................................................................................................................................... 9

Step 1: Prepare Front Support Beam Brackets ........................................................................................... 9

Step 2: Add Brackets to Front Support Beam ........................................................................................... 10

Step 3: Add Floating Screws to Front Support Beam ................................................................................ 11

Step 4: Add Front Support Beam to Chassis ............................................................................................ 12

Build the Mast .............................................................................................................................................. 13

Step 1: Prepare Left Mast Support Brackets ............................................................................................. 13

Step 2: Build Mast Inside Corner Brackets ............................................................................................... 14

Step 3: Assemble Mast ............................................................................................................................. 14

Step 4: Add Mast to Chassis .................................................................................................................... 16

Step 5: Prepare Right Mast Front/Back Support Brackets ........................................................................ 17

Step 6: Add Support Brackets to Chassis ................................................................................................. 18

Step 7: Prepare Right Mast Secondary Support Brackets ......................................................................... 19

Step 8: Add Right Mast Diagonal Support ................................................................................................ 20

Step 9: Add the Mast Vertical Beam ......................................................................................................... 21

Build the Mast/Jib Gear Train ....................................................................................................................... 22

Step 1: Build Caster Brackets ................................................................................................................... 22

Step 2: Prepare Pillow Blocks ................................................................................................................... 23

Step 3: Assemble Top Gear Train ............................................................................................................ 24

Step 4: Assemble Bottom Gear Train ....................................................................................................... 25

Step 5: Build the Mast Motor .................................................................................................................... 26

Revision History

Revision Date Description

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

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

Revision 1: 09-02-2019

Step 6: Add the Mast Motor ...................................................................................................................... 27

Step 7: Add the Bottom Gear Train ........................................................................................................... 28

Step 8: Add the Upper Gear Train/Jib ....................................................................................................... 29

Step 9: Position Upper Gear Trains/Jib ..................................................................................................... 30

Step 10: Position Mast Motor .................................................................................................................... 31

Restore the Front Wheels ............................................................................................................................ 32

Step 1: Install Front Wheels ...................................................................................................................... 32

Build the Trolley ........................................................................................................................................... 33

Step 2: Assemble Trolley Balance Beam Brackets ................................................................................... 33

Step 3: Add Brackets to Balance Beam .................................................................................................... 34

Step 4: Assemble Trolley Back Stops ....................................................................................................... 35

Step 5: Add Back Stops to Balance Beam ................................................................................................ 36

Step 6: Assemble Servo Support Beam Brackets ..................................................................................... 37

Step 7: Add Servo Support Beams to Trolley ............................................................................................ 38

Step 8: Assemble Servo Brackets ............................................................................................................ 39

Step 9: Add Servos to Bracket .................................................................................................................. 40

Step 10: Add Horns to Servos .................................................................................................................. 41

Step 11: Add Hooks to Servos (Part 1) ..................................................................................................... 42

Step 12: Add Hooks to Servos (Part 2) ..................................................................................................... 43

Step 13: Add the Hooks ............................................................................................................................ 44

Step 14: Assemble Balance Beam Axle .................................................................................................... 45

Step 15: Add Trolley to Jib ........................................................................................................................ 46

Wire the Robot ............................................................................................................................................. 47

Final Steps ...................................................................................................................................................... 48

Special Thanks and Best Wishes .................................................................................................................... 48

Appendix A – Resources ................................................................................................................................. 49

Game Forum Q&A ....................................................................................................................................... 49

FIRST Tech Challenge Game Manuals ........................................................................................................ 49

FIRST Headquarters Pre-Event Support ...................................................................................................... 49

FIRST Websites ........................................................................................................................................... 49

FIRST Tech Challenge Social Media ........................................................................................................... 49

Feedback ..................................................................................................................................................... 49

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

Gracious Professionalism® - “Doing your best work while treating others with respect and kindness - It’s what makes FIRST, first.”

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- REV Basic 'Bot armature design

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Construction

Modify Chassis

Step 1: Remove Phone and Battery

Figure 2- Basic ‘Bot assembled view

Figure 3- Basic ‘Bot disassembled view

Parts Removed: Cell Phone REV-11-1302 – Slim Battery

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Step 2: Temporarily Remove Front Wheels

Figure 4- Front wheels removed

Parts Removed: Left Front Wheel Assembly Right Front Wheel Assembly

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Front Support Beam

Step 1: Prepare Front Support Beam Brackets

Figure 5- Unassembled view

Figure 6- Assembled view

Parts Needed: REV-41-1320 – Plastic Bracket Inside Corner (2) REV-41-1359 – Screw, Hex Cap, M3, 8mm (8) REV-41-1361 – Nut, Locking, M3 (8)

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Step 2: Add Brackets to Front Support Beam

Figure 7- Unassembled view

Figure 8- Assembled view

Parts Needed: REV-41-1431 - Extrusion, 225mm, 90-90 degree (1) REV-41-1359 - Screw, Hex Cap, M3, 8mm (4)

Brackets from prior step

• Brackets are flush with the outside of the beam.

• The screws will be used in later steps to attach parts.

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Step 3: Add Floating Screws to Front Support Beam

Figure 9- Unassembled view

Figure 10- Assembled view

Parts Needed: REV-41-1359 – Screw, Hex Cap, M3, 8mm (8)

• The screws will be used in later steps to

attach parts.

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Step 4: Add Front Support Beam to Chassis

Figure 11- Unassembled view

Figure 12- Assembled view

Parts Needed: Assembly from previous step & chassis

• The front of the beam is 6cm from the front of the chassis rails.

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Build the Mast

Step 1: Prepare Left Mast Support Brackets

Figure 13- Unassembled view

Figure 14- Assembled view

Parts Needed: REV-41-1307 – Plastic Bracket, 45 degree (2) REV-41-1480 – Metal Bracket, 90 degree (1) REV-41-1359 – Screw, Hex Cap, M3, 8mm (12) REV-41-1361 – Nut, Locking M3 (12)

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Step 2: Build Mast Inside Corner Brackets

Figure 15- Unassembled view

Figure 16- Assembled view

Parts Needed: REV-41-1320 – Plastic Bracket, Inside Corner (2) REV-41-1359 – Screw, Hex Cap, M3, 8mm (4) REV-41-1361 – Nut, Locking, M3 (4)

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Step 3: Assemble Mast

Figure 17- Unassembled view

Figure 18- Assembled view

• Leave the

Parts Needed: REV-41-1430 - Extrusion, 150mm, 45-45 degree (1) REV-41-1431 - Extrusion, 225mm, 90-90 degree (1)

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Step 4: Add Mast to Chassis

Figure 19- Unassembled view

Figure 20- Assembled view

Parts Needed:

REV-41-1361 - Nut, Locking, M3 (2)

The mast aligns with the front support beam.

Tighten all screws on the mast.

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Step 5: Prepare Right Mast Front/Back Support Brackets

Figure 21- Unassembled view

Figure 22- Assembled view

Parts Needed: REV-41-1480 - Metal Bracket, 90 Degree (2) REV-41-1359 – Screw, Hex Cap, M3, 8mm (4) REV-41-1361 – Nut, Locking, M3 (4)

•

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Step 6: Add Support Brackets to Chassis

Figure 23- Unassembled view

Figure 24- Assembled view

Parts Needed: REV-41-1361 – Nut, Locking, M3 (4)

•

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Step 7: Prepare Right Mast Secondary Support Brackets

Figure 25- Unassembled view

Figure 26- Assembled view

Parts Needed: REV-41-1307 – Plastic Bracket, 45 degree (3) REV-41-1359 – Screw, Hex Cap, M3, 8mm (8)

REV-41-1361 – Nut, Locking, M3 (8)

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Step 8: Add Right Mast Diagonal Support

Figure 27- Unassembled view

Figure 28- Assembled view

Parts Needed: REV-41-1430 – Extrusion, 150mm, 45-45 Degree (1) REV-41-1361 – Nut, Locking, M3 (2)

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Step 9: Add the Mast Vertical Beam

Figure 29- Unassembled view

Figure 30- Assembled view

Parts Needed: REV-41-1431 – Extrusion, 225mm, 90-90 Degree (1)

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Build the Mast/Jib Gear Train

Step 1: Build Caster Brackets

Figure 31- Unassembled view

Figure 32- Assembled view

Parts Needed: REV-41-1432 – Extrusion, 420mm, 90-90 Degree (1) REV-41-1333 – Gear, 120 Tooth (1) REV-41-1360 – Screw, Hex Cap, M3, 16mm (2) REV-41-1361 – Nut, Locking, M3 (2)

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Step 2: Prepare Pillow Blocks

Figure 33- Unassembled view

Figure 34- Assembled view

Parts Needed: REV-41-1317 – Bracket, Pillow Bearing Block (5) REV-41-1359 – Screw, Hex Cap, M3, 8mm (10) REV-41-1361 – Nut, Locking, M3 (10)

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Step 3: Assemble Top Gear Train

Figure 35- Unassembled view

Figure 36- Assembled view

Parts Needed: REV-41-1347 – Shaft, 5mm Hex, 75mm (1) REV-41-1322 – Bearing, End Cap (2) REV-41-1323 – Spacer, 15mm (1)

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Step 4: Assemble Bottom Gear Train

Figure 37- Unassembled view

Figure 38- Assembled view

Parts Needed: REV-41-1337 – Gear, 90 Tooth (1) REV-41-1332 – Gear, 30 Tooth (1) REV-41-1347 – Shaft, 5mm Hex, 75mm (1) REV-41-1322 – Bearing, End Cap (2)

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Step 5: Build the Mast Motor

Figure 39- Unassembled view

Figure 40- Assembled view

Parts Needed: REV-41-1301 – HD hex motor (1) REV-41-1433 – Metal Bracket, Core Hex Motor, Bent (1) REV-41-1334 – Gear, 45 Tooth (1) REV-41-1359 – Screw, Hex Cap, M3, 8mm (4)

REV-41-1361 – Nut, Locking, M3 (2)

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Step 6: Add the Mast Motor

Figure 41- Unassembled view

Figure 42- Assembled view

Parts Needed: Assembly from previous steps

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Step 7: Add the Bottom Gear Train

Figure 43- Unassembled view

Figure 44- Assembled view

Parts Needed: Assembly from previous steps

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Step 8: Add the Upper Gear Train/Jib

Figure 45- Unassembled view

Figure 46- Assembled view

Parts Needed:

Assembly from previous steps

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Step 9: Position Upper Gear Trains/Jib

Figure 47- Unassembled view

Figure 48- Assembled view

Parts Needed: Assembly from previous step

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Step 10: Position Mast Motor

Figure 49- Mast motor positioned

Parts Needed:

Assembly from previous step

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Restore the Front Wheels

Step 1: Install Front Wheels

Figure 50- Unassembled view

Figure 51- Assembled view

Parts Needed:

Front wheel assemblies removed in a previous step

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Build the Trolley

Step 2: Assemble Trolley Balance Beam Brackets

Figure 52- Unassembled view

Figure 53- Assembled view

Parts Needed: REV-41-1303 – Plastic Bracket, Motion (2) REV-41-1359 – Screw, Hex Cap, M3, 8mm (4) REV-41-1361 – Nut, Locking, M3 (4)

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Step 3: Add Brackets to Balance Beam

Figure 54- Unassembled view

Figure 55- Assembled view

Parts Needed: REV-41-1431 – Extrusion, 225 mm, 90-90 Degree (1)

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Step 4: Assemble Trolley Back Stops

Figure 56- Unassembled view

Figure 57- Assembled view

Figure 56- Assembled view

Parts Needed: REV-41-1304 – Plastic Bracket, Rod End (2) REV-41-1359 – Screw, Hex Cap, M3, 8mm (4) REV-41-1361 – Nut, Locking, M3 (4)

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Step 5: Add Back Stops to Balance Beam

Figure 58- Unassembled view

Figure 59- Assembled view

Parts Needed:

Assemblies from previous steps

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Step 6: Assemble Servo Support Beam Brackets

Figure 60- Unassembled view

Figure 61- Assembled view

Parts Needed: REV-41-1320 – Plastic Bracket Inside Corner (2) REV-41-1359 – Screw, Hex Cap, M3 8mm (8) REV-41-1361 – Nut, Locking, M3 (8)

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Step 7: Add Servo Support Beams to Trolley

Figure 62- Unassembled view

Figure 63- Assembled view

Parts Needed:

REV-41-1431 – Extrusion, 225 mm, 90-90 Degree (2)

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Step 8: Assemble Servo Brackets

Figure 64- Unassembled view

Figure 65- Assembled view

Parts Needed: REV-41-1319 – Plastic Bracket, Servo (2) REV-41-1359 – Screw, Hex Cap, M3, 8mm (8) REV-41-1361 – Nut, Locking, M3 (8)

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Step 9: Add Servos to Bracket

Figure 66- Unassembled view

Figure 67- Assembled view

Parts Needed: REV-41-1360 – Screw, Hex Cap, M3, 16mm (8) REV-41-1361 – Nut, Locking, M3 (8) REV-41-1097 – Smart Robot Servo (2)

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Step 10: Add Horns to Servos

Figure 68- Unassembled view

Figure 69- Assembled view

Parts Needed: REV-41-1363 – Aluminum Servo Horn (2) Machine Screws from Servo Kit (2)

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Step 11: Add Hooks to Servos (Part 1)

Figure 70- Unassembled view

Figure 71- Assembled view

Parts Needed: REV-41-1304 – Plastic Bracket, Rod End (2) REV-41-1359 – Screw, Hex Cap, M3, 8mm (4)

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Step 12: Add Hooks to Servos (Part 2)

Figure 72- Unassembled view

Figure 73- Assembled view

Parts Needed: REV-41-1303 – Plastic Bracket, Motion (2) REV-41-1359 – Screw, Hex Cap, M3, 8mm (4) REV-41-1361 – Nut, Locking, M3 (4)

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Step 13: Add the Hooks

Figure 74- Unassembled view

Figure 75- Assembled view

Parts Needed: Assemblies from previous steps

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Step 14: Assemble Balance Beam Axle

Figure 76- Unassembled view

Figure 77- Assembled view

Parts Needed: REV-41-1327 – Shaft Collar (2) REV-41-1329 – Bearing, Through Bore, Long (3) REV-41-1326 – Bearing, Through Bore, Short (1) REV-41-1324 – Spacer, 3mm (2) REV-41-1347 – Shaft, 5mm Hex, 75mm (1) Pillow Block from Previous Step

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Step 15: Add Trolley to Jib

Figure 78- Unassembled view

Figure 79- Assembled view

Parts Needed:

Assemblies from previous steps

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Figure 80- 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. Use the REV SRS programmer to set the hook close point to provide a firm grip on 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 frame and armature have been built, however 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.

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 – 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!