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Be careful with spring loaded tensioners. Spring loaded tensioners are designed to work on the slack side of the chain. This works great when you never change the drive direction of the chain. Since most FIRST robots do change the drive direction of the chain, you need to tension both sides.
We've found it far easier to either have an adjustable fixed tensioner or adjust the center distance between the sprockets. The easiest tensioner (used by our OCCRA robotics team) is simply a piece of PVC (1") bolted to the frame next to the chain with a 1/4" bolt and large washer. You just loosen the bolt and move the piece of PVC to take up any slack.
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