Al's Annual Inspection Thread

[Al Skierkiewicz]

OK everyone, time to start thinking about issues you need to address for FRC events. I am basing some on experience and some on reports from preseason and first week events.
Please feel free to add to this list. I will as time goes on.

1. Bumpers! Your bumper system must satisfy all of <R07, 08 & 09> not just the parts that you want. Numbers need to be seen from 100 feet away by grandmothers in the stands and anyone else who is taking stats for strategy. If you want to be picked, make the numbers legible from the top row.

2. Update all software and firmware you are using for anything that might be update able. Check the First website for info and links.

3. Minibot rules are intentionally written and limited. Don't force inspectors to tell you something needs to be removed. We really don't like looking into team members faces and telling them that the rules were updated twice a week or that their design choice was ruled illegal in TU#4 and we are now up to #16.

4. Inspectors use the latest version of the inspection checklist for both robot and minibot reflecting the latest rules changes when they occur. We are using Rev K of Section 04 this week. If you have a specific Q&A answer that you think applies, bring a copy for your inspection team.

5. Before you make major changes to your robot, check with your inspector. You may have misunderstood a ruling or misinterpreted a decision. All teams may ask for the LRI at their event for a decision should they disagree with an inspector's ruling. LRI's will contact the FTA, Head Ref, or someone higher if there is no clear answer. We make mistakes sometimes and I don't want you to be adversely affected by a wrong decision.

6. The box and scale are unambiguous. You either fit or you don't. You are either over 120 lbs or under. Weight and size checks are free. Make use of the scale and box before you come in for an official inspection. Bring your robot over when you get it out of the crate. Know early.

7. You must reinspect whenever you make a change at the event. Check with an inspector prior to the change, they may have a better idea if you ask. They want you to have a great weekend. All robots in finals matches plus alternates will be reinspected prior to match play.

8. Pneumatic rules have been loosened this year but are not unrestricted. Parts still need to be COTS, unmodified and rated for 125 psi working pressure. Off board compressors still need to meet the rules and have to be controlled by the Crio and robot battery. That is the battery on the robot, not another robot battery. You only get to put the compressor (and a few other components) off board to save weight. All other rules apply still apply.

9. There are certain items on the robot that have labels that need to be seen. Don't paint over the labels or mount the components so they can't be seen and read. Wire color codes are strictly enforced. Use the right colors even if you have a sponsor who gave you thousands of feet of rainbow colored wire, only the colors specified can be on your competition robot.

10. Inspectors want everyone to have a fun event. We will be working all weekend toward that goal.

hanks for the info!

[Mike Betts]

Unless you are informed differently by your event organizers, remove your bumpers, minibot and battery before coming up for your initial inspection. Bring these items with you as the minibot and bumpers will be weighed separately.

Also, bring your BOM with you to the initial inspection and offer it up front to your inspectors. They will appreciate it.

Do the WPA configuration kiosk before your first practice match.

Lastly, do your inspection as early as possible. You will find the inspection crew ready and waiting early in the day rather than backed up at the end of the day.

As an example: If your arm is in need of the tender mercies of your pit crew, call it a non-functional decoration and have the rest of the robot inspected. You can get your inspection sticker and be assured that you are legal for Friday and have no other inspection issues to attend to. Now you can work on your arm for the rest of Thursday and ask for a re-inspection when ready. Usually, only the parts which were changed will be inspected.

Above all, have fun and, if you need help, ask for it... Your inspectors will be glad to help or try to arrange for another team to help you.

This should not be a traumatic experience!

Regards,

Mike

[Al Skierkiewicz]

OK,
Time for round two....

1. As Mike said, inspect early. There is a penalty for not being inspected...
<T03> A TEAM will only be allowed to participate in a MATCH and receive qualification, ranking, and Coopertition points only if it has passed inspection. If it is learned after the start of the MATCH that a TEAM did not pass inspection, the TEAM’s entire ALLIANCE will receive a RED CARD for that MATCH.

2. Inspect early and practice more. From At The Events...
4.6.1.2 The Filler Line
 Robots in the Filler Line must have passed full inspection;

3. Pneumatics rules (and as answered in the Q&A) allow one solenoid valve per actuator and all air must be vented when the vent valve is opened. <R73> & <R74>

4. Minibots will be inspected separately and will require an inspection for each one used at each event.

5. BOM needs to be complete and accurate and in an electronic form using the FIRST BOM Template, (thumb drive or other portable, USB storage device). It must be viewable in the pit during inspection. Printed copy is preferred, but a laptop is acceptable. Section 4.3.4 is very clear what needs to be included and how to list costs. No BOM=no sticker.

6. Teams may not contaminate the field with lubricants or other substances. If you have chains hanging down from your robot, you will need to find some method of keeping them from rubbing against the carpet during match play.

7. Safety is our first concern. Sharp edges, pointed mechanisms less than 1 square inch in cross section, entanglement hazards all must be eliminated. Participants are in close contact with robots in the pits and in the queue. My pet peeve is tywraps that are improperly trimmed leaving little sharp edges of plastic. I have lost enough blood already.

8. No exposed lasers. I know many of you want to use them for range finders, and aiming devices but they are not allowed.

9. Insulated battery terminals and PD terminals. The battery is capable of supplying welding currents. Yes that equates to metal coming in contact with terminals can weld itself in place and produce high temperatures, with possible battery case failure and fire. If I am inspecting, you will be insulating terminals while I work and will not pass inspection until all batteries are insulated. There is a reason there is a big bump molded into the case of the PD so that dropped tools will not contact both terminals. If the PD is exposed, we will ask you to insulate the terminals.

10. I hope all week two events go smoothly and everyone has a great weekend.

[Wayne Doenges]

Here's one that has been missed.
Have your Main Breaker visible AND easily accessible. If your robot starts to smoke, wouldn't it be nice if a ref could cut the power quickly?

[Al Skierkiewicz]

Sorry to add this out of sequence but...
I highly recommend that you check the First website well in advance of your next event for software and firmware updates. They may not be needed at your next event, but it would be better to have them if/when you might need them. This list might include cRIO firmware, Labview, DS, C++, and Java depending on your implementations. Be prepared for any old thing!

I am surprised more people haven't come on and stressed this so here goes...

Read the Manual!
Don't look out the window of the bus until you have read the latest version of all sections. The Arena is at Rev D, The Game is at Rev M, and The Robot at Rev K. Read the Robot twice.

[Al Skierkiewicz]

OK,
From experience in week 2 events. You were only shipped one pressure gauge in the KOP this year. That does not mean you only need one gauge. Two are required, one to display high pressure and one to display low pressure.

There are rules that apply for off-board compressors so if you choose, those rules also apply. If you don't quite understand the off-board rules, think that the system design must be the same as if everything was on the robot. All of the same parts are required and the same power on test as well. You can have certain parts off board but the compressor must still be controlled by the Crio, pressure switch and Spike and the power must come from the robot battery not a second battery.

[wilsonmw04]

Originally Posted by Al Skierkiewicz

OK,
From experience in week 2 events. You were only shipped one pressure gauge in the KOP this year. That does not mean you only need one gauge. Two are required, one to display high pressure and one to display low pressure.

There are rules that apply for off-board compressors so if you choose, those rules also apply. If you don't quite understand the off-board rules, think that the system design must be the same as if everything was on the robot. All of the same parts are required and the same power on test as well. You can have certain parts off board but the compressor must still be controlled by the Crio, pressure switch and Spike and the power must come from the robot battery not a second battery.

Question regarding use of off robot compressors. do we follow the same rules to pre charge the system while you are waiting in queue? We have a rather large reservoir this year and it can take up to 1:30 minutes to charge completely. Can we use an off board system to charge the system and then use the on board system during the match?

[Al Skierkiewicz]

Originally Posted by wilsonmw04

Question regarding use of off robot compressors. do we follow the same rules to pre charge the system while you are waiting in queue? We have a rather large reservoir this year and it can take up to 1:30 minutes to charge completely. Can we use an off board system to charge the system and then use the on board system during the match?

No. All pressure for use on the robot must come from the KOP or equiv compressor running under Crio control using the robot battery.

<R69> Compressed air for the pneumatic system on the ROBOT must be provided by one and only one compressor. This compressor may be either the compressor from the KOP, or an equivalent compressor that does not exceed any of the KOP compressor performance specifications (specifically: nominal 12v, 1.03 cfm flow rate, 120psi maximum working pressure). Compressed air shall not come from any other source. Off-board compressors must be controlled and powered by the ROBOT.

[Ether]

No. All pressure for use on the robot must come from the KOP or equiv compressor running under Crio control using the robot battery.

What if their off-board system IS a KOP or equiv compressor running under Crio control using a robot battery?

[Al Skierkiewicz]

It must be as you describe if off-board.

[big1boom]

Originally Posted by wilsonmw04

Question regarding use of off robot compressors. do we follow the same rules to pre charge the system while you are waiting in queue? We have a rather large reservoir this year and it can take up to 1:30 minutes to charge completely. Can we use an off board system to charge the system and then use the on board system during the match?

You can use your onboard compressor to pre charge your system, as long as it is controlled by the cRIO and robot battery.

EDIT
Upon further review
<R69> Compressed air for the pneumatic system on the ROBOT must be provided by one and only one compressor

[wilsonmw04]

Originally Posted by Ether

What if their off-board system IS a KOP or equiv compressor running under Crio control using a robot battery?

That's what we are considering: two batteries, two cRIO's, and two complete pneumatic systems.

[Alan Anderson]

If you have a legal on-board system, there's no room in the rules for having an off-board system too.

[Al Skierkiewicz]

Originally Posted by wilsonmw04

That's what we are considering: two batteries, two cRIO's, and two complete pneumatic systems.

Sorry,
But all robot rules apply here. One and only one battery and one and only one Crio.