Frequently Asked Questions 

1. How detailed should our CAD models be? Does it need to show every single screw or belt?

• Your CAD doesn't need to be super detailed, as a rookie team getting different assemblies cadded to flesh them out more can be super helpful even if they aren't super detailed. It is helpful to have a full model (includes all robot parts even if they are not detailed parts) to make sure they will still fit together if you need to make a change later in the season.  

2. Which CNC services are good for rookies to use, and about how much do they cost?

• We get our side panels CNC'd although most of our custom parts are 3-D printed out of PLA. We only make a part out of metal if it needs to be super strong. The printer we use is here. If you do need CNC machining, try contacting local universities that may have facilities and will be willing to support a STEM project.

3. What are some advantages and disadvantages of parallel plate drivetrains?

• Our drivetrain uses parallel plates because it lets us use spacers and bearings to keep our wheels in place and we can sandwich them in between the plates. The space between the wheels in the plates can be valuable as protected space for other elements like our batteries.

4. What's the difference between normal screws and thread-locking screws, and when do you use either of them?

• We don't use thread locking screws a lot, instead we use blue loctite to keep our threads sealed. We use brass heat set inserts inside of our plastic parts and we loctite our screws into the inserts.

5. How can we fasten/stabilize our pulleys' effectiveness?

• We usually use a tensioner on our belt systems in order to keep them tight. 

6. How much tolerance is given if the robot slightly exceeds the 18 x 18 size limit? Is one screw sticking out of the size limit enough to disqualify a robot?

• Don't exceed the 18x18 limit, even a screw sticking out will need to be fixed. They will measure your robot before every competition during the "robot inspection". Our team likes to have a little wiggle room so that we can fit easily.
  This year it’s even more important to be an inch or two less than 18 inches in at least one dimension - as many end game double parks will require fitting between the extensions of another robot.

7. What was the auto-clipping automation process like? Did you use a state machine?

• For the process of our auto clipper, we knew early on that we wanted to do something ambitious and we thought about how we could reduce our cycle times and have the most efficient robot possible. Most years we only have a state machine for our drive, intake, and depositor, but because the clipper was its own complex mechanism, we also used state machines for the clip clamp, clipper slide, and clipping mechanism.

8. Would it be better to do the CAD or prototype a lot of things first?

• For our team, we start off by prototyping a lot of ideas that “could work” with some CAD for 3-D printing parts for prototypes. We then categorize them with pros and cons and narrow down the best ideas for each of our subsystems. Document all the things you consider - judges want to see what didn’t work as much as they want to see what worked - they want to know why you picked one idea over the others. After that, we CAD out the final ideas we have and test them for feasibility and accuracy. So to answer your question, we recommend prototyping first, then cadding the designs that appeal to your team.

9. How does the mechanism design process work for you?:

• We list the design criteria and what the mechanism needs to do, then brainstorm ideas, narrow them down with pros and cons, and then look into how to prototype them. Creating a design criteria is helpful because it gives you an overview of what each mechanism needs to do and you can base your brainstorming on.

1. Is the Logitech webcam that comes with the control kit reliable for computer vision?

• Yes, but it depends on the use case. Some deciding points may be the field of view, resolution, or how well it fits on your robot.

2. Are the touch and color sensors useful for anything?

• Yes, touch and color sensors can be very valuable. Touch sensors can be used to detect a successful intake, or for re-zeroing a slide. Color sensors can be used to sort game elements, avoid collecting the wrong colored game elements, or finding field features.

3. How does your code structure work? Does it follow any methodology or something specific?

• We generally have it split into what manages our robot and what our robot is actually doing. We use state machines and a robot class, as well as inheritance and velocity control loops.

4. What type of library do you use for code organization? Would it be SolverLib or NextFTC?

• We don’t use any specific code library, most of our code is organized with github. We don’t have experience with SolverLib or Next FTC so we can’t say anything about those.

5. Do you use any type of calculation to calculate the power of the shooter based on distance?

• We have just started prototyping so we are still developing a definitive calculation, but the physics for a flywheel would start with the Kinetic energy generated (if the ball is not slipping) Ef=½(Iw^2), then use a ballistic trajectory formula for the distance: y = h + xtan(α) - gx²/2V₀²cos²(α). Google those terms to get details on what the variables are. 

6. If you use Limelight, how do you use it and configure it in the code?

• We do not use Limelight because we find the camera FOV to be too narrow and we prefer making our own color sensing algorithms. For our vision code, we use openCV because it is compatible with our camera of choice and allows deeper control via the openCV library. We haven’t used the Limelight sensor so we don’t have insight into how to configure it.

1. What exactly do judges expect to see in our presentation and portfolio?

• For the portfolio, the awards rubric is posted in the game manual in section 6.3. Try satisfying all of the requirements for the award(s) you would like to win. For the interview, the judges like to see how enthusiastic you are, that everyone is involved, and how you spread first/gracious professionalism.

2. In how much detail do we have to explain our code in our presentation/portfolio?

• Judges will want a general understanding of your code. Using visuals like flowcharts are a great way to convey how your code works. You want to show the judges that you know your code well. Be ready to verbally explain your code.

3. Is there some sort of rubric we can use to structure our presentation and portfolio? So far, we haven't been able to find one.

• The awards rubric is posted in the game manual in section 6.3. We recommend trying to satisfy all of the requirements for the award(s) you would like to win.

4. Which award would be the "easiest" for a rookie team to get?

• After the Inspire Award, all the other awards are worth the same amount of advancement points so try for the one that best fits your team. You might shoot for awards like Innovate, Connect, or Design because they may be easier to get for newer teams. For the Innovate Award, if you are able to make your robot have a new creative feature, even as a rookie team, it's feasible to win. For the Connect Award, judges are looking to see how you work with your local STEM community and spread FIRST. Finally, for the Design Award, it can be awarded to a simple robot that is optimized for the challenge.

5. How is your portfolio divided?

• Our portfolio changes over the course of the season, but we categorize it by having 3-4 pages about our team, sponsors, and goals. We have 3-4 pages on outreach which we try to make as concise as possible. Finally we share the remaining pages among hardware and software. Make sure to expand on the design process and how you spread first in these sections. For our portfolio, we try to abide by the rubric that's posted in the game manual (section 6.3) to maximize our award winning potential. 

1. Is reaching out to local businesses rather than large corporations an effective way of securing sponsors/grants?

• We would recommend trying to do both as it is a good idea to have as much support as possible. Large businesses are harder to get, but contribute more money, while local businesses are easier, but will likely not give a high amount of money. Some ways to secure these grants are through parent employers or foundations that are interested in supporting First.

2. What are some ways a rookie FTC team can do outreach?

• Some good ways to get started with outreach are presenting in local events, technology fairs, holiday events, or even farmers markets where you can show off your robot. Also, if you have connections with schools, presentations/demonstrations are a great way to raise awareness. You can also ask for tours of local foundations/businesses. Stem focused events are preferable, but doing other charitable actions in your community can spread your team name and First values.

Team Organization: 

1.  How often do most teams meet?

• It depends on the team's goals and the time constraints of the students, mentors, and facilities. For us - always trying to build a world-class robot, we meet around 10 hours a week, and it escalates as we get further into the season. We would recommend making goals that you want to accomplish each week, and if possible meeting for as long as it takes you to accomplish them.

2. How is the team divided into sub-team areas?

• Our team is mainly divided into a software subteam and a hardware subteam (each student is on one or the other). Then there are other sub teams like outreach, media, scouting, and notebook subteams that any members from the software and hardware subteams can be on.