Quote:
Originally Posted by Al Skierkiewicz
The above rule lists the only devices that could be used on the robot. There was no hidden or silent list of actuators that could be used. There is nothing that would be allowed if it wasn't on the list. There was no custom circuit that could be or act as an actuator. The list was the only actuators that you could use.
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For 2012: "The only motors and actuators permitted on 2012 FRC Robots include...". This is
exclusive with respect to motors and actuators.
For 2010: "Motors specifically permitted on 2010 FRC ROBOTS include..." and "Items specifically PROHIBITED from use on the ROBOT include...motors [not from the KOP or otherwise permitted]...[and] solenoid actuators". This is
exclusive with respect to motors and solenoid actuators, but
not exclusive with respect to actuators that are neither motors nor solenoids.
That non-exclusivity is the important fact. If the bell or clutch
was not a solenoid or motor, then it
would not have been prohibited in 2010. (And if it was a solenoid or illegal motor, it would have been prohibited.)
Since the 2012 rule is exclusive, it works the opposite way: if the bell or clutch is a solenoid, then it must meet the requirements for solenoid actuators. If it is not a solenoid actuator (or a legal motor), it is prohibited.
The rules provide no reason to believe that a device can't simultaneously be a custom circuit and an actuator. (Indeed, having both sets of constraints apply simultaneously is desirable...otherwise teams could use legal actuators without regard to the specific electrical conventions required of custom circuits.) Though admittedly the rules aren't clear about this, for 2012 there isn't really any reason why any motor couldn't be considered a custom circuit...there's no significant discrepancy between the motor requirements and custom circuit requirements. I doubt this is necessarily what FIRST intended, but at least it doesn't conflict.
Quote:
Originally Posted by Al Skierkiewicz
From the Q&A...
"Re: clutches
Posted by GDC at 01/21/2010 10:54:45 pm
There is no rule specifically prohibiting the use of clutch mechanisms on the ROBOT. However, these devices may not be used if they contain electric motors and/or servos different from, or in addition to, those in the KOP, solenoid actuators (per Rule <R53>) or pneumatic actuators (such devices are not explicitly permitted by Rule <R72>, and therefore violate Rule<R71>).
Simply put: if the device utilizes an electric solenoid to provide mechanical motion for the device, it cannot be used."
In addition to the above, the GDC also ruled that relays (solenoids with electrical contacts) other than Spikes could not be used on the robot even if fully contained in a custom circuit and meeting all other robot rules.
The only movement on the GDC's part that even comes close was to allow an electromagnet that holds something in place while energized and simply released it when the current was removed.
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I'm contending that it doesn't meet the definition of solenoid, and therefore doesn't conflict with the rule or the Q&A quoted above.
Solenoids would have been illegal in 2010 as you and the GDC stated.