[ZZII 527]

I'd like to lend my cautious approval to many of these suggestions as well. FIRST gets a lot of its appeal from the large and powerful robots that go out to compete and a lot of creativity stems from the wide range of motors available. So limits would need to be carefully thought out. But let me give a brief example from my own experience:

At MIT, sophomore Mechanical Engineering students take a class called 2.007 (formerly Prof. Flowers' 2.70), during which everyone individually builds a small robot (10 lbs, 18"x18"x24" max). So by weight, approximately a factor of 10 smaller than a FIRST-sized robot. The catch is that the whole thing must be powered by four baby Mabuchi RC-260 motors, capable of putting out no more than about 4 watts each. So by power, a factor of hundreds less than FIRST kits provide. The motors are also somewhat prone to burning up, and so particular care must be taken not to run at or near stall for extended periods of time.

I'm not saying that this necessarily turns out efficient designs (I know from taking the class that more often than not, it simply provokes endless complaints.) But the design limitation adds another dimension to the planning involved in making the robots. This year, I helped with the introduction of current sensors to the control system which can wirelessly feedback motor current data to the "OI" for use in design analysis and motor protection. We are also implementing an "energy meter," just like Dr. Joe mentioned, for fun now but it may wind up in the competition in the future.

In all, I still much prefer the ability to run motors as speed sources and know that they will supply as much torque as I want, as in many FIRST applications. But I can see how some restrictions could be beneficial in leveling the playing field and encouraging efficient design.