Chapter 3: Power Up and Wire Up

The main power of an FTC robot comes from one 12v battery. The battery may be one of the batteries from TETRIX (W39057, formally 739023), Modern Robotics/MATRIX (14-0014) (Figure 33), or REV Robotics (REV-31-1302).

The battery will supply electricity to the control hub or the expansion hub, as shown in Figure 33. Then other components such as motors are powered up by wires. As shown in Figure 33, the goBILDA Yellow Jacket motors, known for their compact design and high-performance capabilities, are equipped with motor controller integrated circuits. To integrate these motors into the robot's control system, teams connect them to the motor ports on the REV Robotics Expansion Hub. The Expansion Hub, serving as an extension interface to the primary Control Hub, provides additional motor ports and facilitates the regulation of power supplied to the motors. Teams use motor controller cables to establish a secure electrical connection between the Yellow Jacket motors and the designated motor ports on the Expansion Hub. This connection enables the Expansion Hub to interpret and execute commands from the Control Hub, allowing precise and coordinated control of the Yellow Jacket motors during autonomous and teleoperated phases.

Figure 34 shows an example of power switch, battery, control hub and their wiring patterns. Figure 35 shows one way of mounting the power switch on the channel. Figure 36 shows an example that the power switch is mounted on the channel. Figure 36 shows the battery and different ways of mounting the battery on the robot, and Figure 37 shows the battery and related accessories.

FTC Teams commonly use goBILDA servos (Figure 38) to actuate mechanisms such as grippers, lifters, and other moving components on their robots. The servos' high torque and precise control enable teams to create intricate and efficient designs, enhancing the overall functionality of their robots. Additionally, goBILDA servos are known for their compatibility with various control systems and programming languages commonly used in FTC, providing teams with flexibility and ease of integration into their robotic systems. Figure 39 shows wires that can be used to connect servos to expansion and control hubs.

In addition to servo wiring, Figure 40 shows goBILDA motor wiring accessories. The power adaptor simplifies the integration of goBILDA motors into a robot's power distribution system by providing a convenient and secure connection point. This streamlines the wiring process, reducing the risk of loose connections and electrical issues during the operation of the robot. The encoder cable, on the other hand, facilitates the integration of encoders with goBILDA motors, enabling teams to gather accurate feedback on motor position and speed. This feedback is crucial for implementing precise control algorithms and enhancing the overall performance of the robot. Together, these wiring tools contribute to the efficiency and effectiveness of goBILDA motor usage in FTC robotics, empowering teams to build sophisticated and high-performing robotic systems for competition.