Building a FIRST Tech Challenge (FTC) robot is an intricate and dynamic process that involves a fusion of creativity, engineering precision, and strategic problem-solving. The journey commences with a meticulous study of the game manual and rules, guiding the team in understanding the specific objectives and constraints of the current competition. FTC game challenges change annually, and each season introduces a new set of tasks, rules, and objectives to challenge participating teams. This book does not aim to provide solutions to specific task problems, instead, it aims to provide a common and generic foundation for building and programming working FTC robots for beginners. Teams with advanced experience may also benefit from some topics of this book such as image processing, computer vision, and deep learning.
This book is organized into 7 chapters. Chapter 1 introduces the basic knowledge of building a robot chassis, its key components, and suggestions for an easy start. The chassis in FTC robotics stands as the foundational structure upon which the entire robot is built, and its importance cannot be overstated. Serving as the structural backbone, the chassis provides the necessary support for mounting motors, actuators, sensors, and other components. The design of the chassis directly influences the robot's stability, maneuverability, and overall durability during the competition. Teams must carefully consider factors such as weight distribution, wheelbase length, and ground clearance to optimize the robot's performance. A well-engineered chassis contributes to the robot's ability to navigate the game field efficiently, execute precise movements, and withstand the rigors of competition. Additionally, the chassis layout plays a pivotal role in determining the robot's center of gravity, affecting stability during acceleration, deceleration, and turning maneuvers. Therefore, the chassis is not merely a structural frame but a strategic element that impacts the robot's functionality and competitiveness, making its design and construction a critical aspect of any successful FTC robotics endeavor.
Chapter 2 introduces the basic configuration and connection of Control Hub and Expansion Hub. When building FTC robots, the Control Hub and Expansion Hub play key roles in orchestrating the electronic symphony that commands the robot's movements and functionalities. The Control Hub serves as the central brain of the robot, acting as the command center for processing and executing the programmed instructions. The Expansion Hub, on the other hand, acts as an extension of the Control Hub, enabling the connection and management of additional motors, servos, and sensors. With multiple ports for motor controllers and versatile input/output options, the Expansion Hub serves as the nexus for expanding the robot's capabilities. Both the Control Hub and Expansion Hub are crucial components in the intricate network of electronics, ensuring seamless communication between the robot's mechanical components and the programmed code. The incorporation of these hubs not only simplifies the wiring and configuration process but also enhances the overall efficiency and performance of FTC robots on the competition field.
Chapter 3 introduces how to power up and wire up the Control Hub, Expansion Hub, motors, servos and sensors. The power supply and wiring system in an FTC robot form the lifeblood of its functionality, providing the energy needed to drive motors, power servos, and activate sensors. A crucial aspect of building an FTC robot is managing power distribution efficiently. The wiring, intricately woven throughout the robot, acts as the conduit for transmitting electrical signals between the control hub, expansion hub, motors, servos, and sensors. Neat and organized wiring is not only essential for safety but also for maintaining the reliability of the robot's electrical system. A meticulous approach to power supply and wiring is paramount, contributing to the overall success and performance of the FTC robot during both autonomous and driver-controlled periods in competition.
Chapter 4 covers topics on building task-performance components and integrating them to the existing chassis. As the mechanical structure of chassis and electrical wiring system take shape, attention shifts to designing and integrating task-performing components, such as lifts, arms, and grippers, adding complexity and versatility to the robot's capabilities in accomplishing competition tasks. For instance, designing effective actuators and grippers is a critical aspect of creating a successful FTC robot, as they directly influence the robot's ability to accomplish specific tasks within the competition. Grippers, responsible for grasping game elements or objects, should be tailored to the specific size, shape, and weight requirements of the tasks at hand. Teams often employ a variety of materials and mechanisms, such as compliant wheels, pneumatic systems, or articulated fingers, to create versatile and adaptable grippers. Iterative testing and prototyping are crucial in refining the design, ensuring that actuators and grippers work seamlessly with the overall robot architecture. A well-designed actuator and gripper system enhances a robot's precision and agility, ultimately contributing to its success in effectively accomplishing tasks within the dynamic and challenging environment of FTC robotics competitions.
Chapter 5 discusses the software environment and tele-op programming on the Control Hub. In FTC robotics, the software environment and tele-op programming form the intellectual core that transforms mechanical design into actionable intelligence. The software environment involves Java programming, providing a platform for teams to develop code that controls the robot's behavior. The tele-op programming phase focuses on creating instructions for the robot during the driver-controlled period of the competition. This includes implementing responsive and intuitive controls using game controllers, translating the driver's inputs into precise and coordinated movements of the robot. Teams must fine-tune parameters like motor speeds, servo positions, and sensor integration to optimize the robot's performance. The programming phase is an iterative process, involving testing and refinement to ensure the tele-op code aligns with the strategic goals of the team and adapts to the dynamic nature of the competition.
Chapter 6 provides an in-depth discussion of technologies for autonomous mode. In the autonomous mode of FTC robotics, the integration of a camera, image processing, and computer vision technologies represents a cutting-edge approach to enhancing the robot's decision-making capabilities. Teams often employ cameras with adjustable resolutions and frame rates to capture visual information from the game field. Image processing techniques, implemented through the use of sophisticated algorithms such as those in OpenCV, allow the robot to interpret and analyze the visual data in real-time. Computer vision algorithms, such as those based on TensorFlow, can identify key game elements, navigate the robot based on visual cues, and make strategic decisions autonomously. This technology enables the robot to react dynamically to changing field conditions, locate targets, and execute precise maneuvers. The integration of camera systems and computer vision in autonomous mode not only adds a layer of sophistication to the robot's capabilities but also opens up new possibilities for tackling complex challenges presented by the game objectives. Successful implementation of these technologies requires a combination of hardware integration, programming expertise, and a deep understanding of computer vision principles, making it a transformative element in elevating the autonomous performance of FTC robots.
Chapter 7 discusses system integration and winning strategy in autonomous mode. The synergy between hardware and software integration, calibration, and testing is crucial in the realm of FTC robotics, representing the linchpin for a robot's success on the competition field. The harmonious integration of diverse hardware components, from motors and sensors to control hubs and expansion hubs, ensures a cohesive system that functions seamlessly. Calibration becomes the meticulous process of fine-tuning sensors, establishing precise motor movements, and guaranteeing accurate data acquisition. This process is pivotal in optimizing the robot's responsiveness and overall performance. Equally significant is the software component, which acts as the orchestrator, translating programming code into executable actions. Teams must develop, test, and refine their code rigorously to guarantee the software aligns with the strategic objectives and functions cohesively with the hardware. Thorough testing, conducted in controlled environments and simulated game scenarios, serves as the litmus test for the integrated system's reliability and efficiency. The iterative nature of calibration and testing ensures that the robot is not only mechanically robust but also intellectually agile, capable of adapting to the dynamic challenges presented by the FTC competition field. This holistic approach to hardware and software integration, coupled with meticulous calibration and rigorous testing, is essential for achieving a robot that excels in both precision and versatility during FTC competitions.
In each chapter, narratives, photos, example codes, instructions, and references to additional resources are provided for a practical understanding of FTC robot building and programming.