FRC 2412 Robototes - 2023 Offseason Build Thread

Hello everyone and welcome to the Team 2412 offseason build thread! I’m Jonah Kowal, the Technical Director for the Robototes and I’ll be writing here weekly chronicling the progress of our technical team, which includes both our Programming and Mechanical teams.

Curious about the Robototes? Visit our website at www.robototes.com!


Getting back to business - Weeks of 9/4 and 9/11

Our first two weeks of whole-team meetings since the end of the school year! We had a lot to get done.

Recruiting, recruiting, recruiting

Both our programming team and mechanical team are a bit low on members. Not only that, our programming team is ~70% senior. So recruiting was super important this year. Fortunately, we planned for this. During the summer, we ran a programming bootcamp, teaching incoming freshman and current highschoolers Java, with the hope that some of the attendees would then join our programming team. The camp was very successful in this regard, with several of the programming camp attendees later expressing interest in joining the team.

The first week of school we held two open shop times. Anyone from the school could come down to the shop during these times and learn about robotics. At these meetings we collected a list of names and emails of students interested in the team.

We also showed off our t-shirt cannon at the back-to-school assembly. Here’s a video of us testing the cannon before the assembly.

Next, we reached out to the interested students and invited them to attend our orientation meeting. At this meeting we went over the basics of FIRST and our team, and gave more information on our first meetings and the path to joining the team.

Overall, our recruiting this year seems to have been very successful. We had a very good showing at the orientation and we’re hoping that we see a similar amount of people at our first meeting.

Getting the squad back together

Today was our first whole team meeting since the end of the school year. This meeting was composed of only returning team members; new team members will have their first meeting this Monday. At this meeting we focused on creating training plans, setting the goals for the year, and tuning the robot for offseason competitions.

On the programming team, we split into two groups. One group was focused on creating curriculum for teaching WPILib to new programmers, while the other group focused on getting the robot’s programming in tip-top shape for our offseason events.


We change up our table configuration each meeting on the Programming Team. This week had a triangle.

The mechanical team split into three groups. One group focused on redoing the bumpers on our Hummingbonk robot to get it ready for offseason competitions. Another group focused on creating CAD training materials for our incoming mech team members. The last group was training electrical - not a ton of members on our mechanical team are experienced in electrical and we’re trying to change that.

The general theme for today’s meeting and the past two weeks in general has been that of recruiting and preparing our team for the offseason. Evidently, we’re all very excited for the next few meetings welcoming our new members.

That wraps up the first offseason build post! See you next week!

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Is team 2412 going to the PNW off season event, Bordie Charged?

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Believe it or not we are!

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Meeting new members & beginning safety training - Week of 9/18

This week we got to know our new members, then began training - including safety training.

For those curious, these are our off-season competition dates this year:
Bordie Charged - October 14-15
Girls Gen - October 21-22
Block Party - October 28-29

Monday was our new-member introductions day. Most of the day was spent with icebreaker activities.


Programmers introducing themselves

Thursday, Mechanical began safety training our new members. First, we presented a PowerPoint with the basic safety information - wear safety glasses, how to use a fire blanket, etc. Then, we started training on specific tools.


Always be safe safe

On the Programming team, we started Java training. We went through some of the bootcamp materials again for the members not from the bootcamp, then played a Blooket game to test our knowledge.


Today’s table configuration was a lowercase l

That concludes this week’s post! Next week we will be safety training the whole team - not just the Mechanical or Programming team. Programming will continue their Java training. See you next week!

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Week of the 25th

We’re really getting back into the flow of meetings now.

Sorry no photos this post!

CAD Troubles

We’ve had some issues getting our CAD training started on the Mechanical subteam. We’ve lost access to the district-provided CAD laptops we have been fortunate to use in the past. Without them, teaching Solidworks, our team’s CAD software for a while now, is much more difficult. To cope, we’ve been teaching Onshape in the meantime, but we hope that’s a temporary solution. We’re currently exploring getting laptop donations and Solidwork’s online workspace solution.

We’ve also been focused on getting our robots ready for offseason competitions on the Mech team. Hummingbonk is getting new bumpers!

More Programming Training

On Monday, we also safety trained our Programming team to get them prepared for prototyping in the build season. Other than that, the Programming team has been focused on training our new recruits more this past week. We also submitted requests to our district’s IT department to get our team necessary software such as VSCode, Git, and Java 17.

That’s all for this weeks post. See you all next week!

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Week of the 2nd

This week we focused on continuing rookie training and preparing ourselves for our offseason competitions.

CAD Successes and Hummingbonk Bumpers

Mech is split between training and bumper work at the moment. CAD training is progressing well and we have some good news - the district was able to provide Solidworks 2022 on the computers in our school’s computer lab. This means we’re able to stick with Solidworks for our CAD this year. As such, we’ve continued CAD trainings now with Solidworks. Yay!

Our other experienced mech students have been continuing work on the bumpers for our Hummingbonk robot. One improvement those with a keen eye may notice on our Hummingbonk robot is that we’ve lowered the plate on which all the electronics are mounted, so that everything is contained within the robot.


Hummingbonk is looking good!

Programming training and robot verification

The programming team is continuing its Java training. We’ve been teaching classes & object oriented programming this week, and we’re progressing well. Our other programmers have been working on robot verification. Both our 2023 competition robot Crane and our offseason project robot Bonk have to be verified for offseason competition use. Our programming team has also been working with our media team to create useful infographics for our drive team such as controls diagrams and auto diagrams.


Such a studious programming team

That’s all for this week. See you next week!

no more onshape :partying_face: this is the best day ever

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Weeks of the 9th and 16th

We’ve been super busy these past few weeks. So busy in fact that I wasn’t able to post last week! Therefore, this post will contain two weeks in one.

Bordie Charged

The weekend of the 14th we had an absolute blast hosting our 3rd annual Bordie Blast offseason event! We were ecstatic to host 27 FRC teams with 32 robots in all. We hope all FRC teams who participated in the event had a great time, and we’re looking forward to hosting our 4th Bordie Blast in 2024!

We were so proud of our media team which managed to produce the event’s recap video in less than 48 hours. Check it out here if you haven’t already seen it!

Bordie Charged was the first offseason event we have participated in this year. We were super happy with both the performance of our competition robot Crane (Captain of the Finalist Alliance) and our practice robot Hummingbonk. We’re also planning to attend Girls Gen hosted by Team 2046 Bear Metal this weekend 10/21-10/22 and Block Party 10/28-10/29 hosted by Team 2910 Jack in the Bot.

If you attended or watched Bordie Charged this year, we would really appreciate if you would take the time to complete this survey! All the questions are optional. The feedback will help us plan an excellent Boride Blast 2024!

Wrist Woes

Unfortunately, our wrist was damaged during Bordie Charged. Several of the polycarbonate plates connecting the wrist to the arm were cracked and had to be replaced. We used our OMIO CNC machine to cut the replacement plates.

Fortunately, this meant we had the pleasure of experiencing that sweet sweet sound of peeling polycarbonate protective plastic. We even recorded the sound for this OA post.

New Motor Purchasing

The Kraken X60 and Neo Vortex drops spurred our team to excitement the last two weeks. We’ve spent a long time discussing new motor purchases and have just come to a decision recently. We ended up deciding to purchase only 10 Kraken X60 motors. We poured over the motor data for the Kraken, Vortex, Falcon 500, and original Neo brushless motors, and found that the Kraken’s performance was pretty much unmatched.
While our interest has been piqued by the Vortex’s interchangeable shaft system, we believe it’s best to wait a year to see how this feature is really used in competition and how useful it ends up being. As such, we’re only purchasing the Kraken motors at this point. Our plan is to use the Kraken motors as propulsion motors for our swerve drive, and use Neo motors as the steering motors. We purchased 10 Neo motors prior to the new motor releases, so we believe it’s a good idea to use those rather than purchase additional motors.


The final analysis slide of a FRC motor comparison PowerPoint presented to our leadership team

That’s all the highlights from the past two weeks! See you next week for another OA post!

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Week of the 23rd

We’ve been prepping for our last offseason competition of the year this week. We’re focusing on improving our bots to get them to the best of their ability before their last competitions.

Hummingbonk Intake

Hummingbonk is our practice/offseason project bot. Up until now, it’s just been a drivebase, but now we’re pursuing adding an intake to it. Here’s what the CAD looks like: (note this design is lacking modifications needed to give the intake clearance from the bumpers)

The intake itself is pretty much a replica of the intake on our competition robot, Crane. As of writing this OA post, the intake is still being fabricated, but the code for it is all done. Check out the PR for it here: Add bonk intake by jbko6 · Pull Request #89 · robototes/ChargedUp2023 · GitHub

Speaking of intakes…

Crane Intake Repairs

We had to repair the intake on Crane again this week. Specifically, we had to repair the connection of the intake to the wrist. Check out an exclusive look at Crane’s arm with its intake taken off!

Hummingbonk Module Code Fixes

Hummingbonk also had some work done on it in regards to its module code. The code currently doesn’t optimize the module rotation correctly, so that while strafing the modules will sometimes rotate 360 degrees unnecessarily.

Our other programmers focused on continuing their training for the offseason. They’re currently learning about interfacing commands, subsystems, and controls.

That’s all for this OA post! See you next week!

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Hello! I was wondering if the CAD for the swerve covers you guys use is publicly available?

I don’t think we’ve officially published our CAD yet, but

it’s mainly 2 parts with heatset inserts for the thumb screws and mcmaster carr handles on top
(tbh i would recommend getting cushier handles, my hands still got pretty bruised with these ones)
we also made a maxtube spacer insert

MK4i 3d printed cover.zip (5.7 MB)

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Thank you!!
could you explain how the polycarb attaches to the cover?

Each 3D print has two 10-32 heatset inserts, and each cover is held on with four 10-32 thumbscrews.

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Week of the 30th

Business Takeover

Our annual Silent Auction fundraiser is approaching rapidly and our finance team needed some help sending out emails to contact businesses. During our Monday meeting everyone on our team pitched in to write emails and contact friends and family to attend the auction.

Our in-person auction is taking place December 9th, but we also have an online auction from December 5-8th. Check out the website here: Auctria
As a note, we cannot ship items unless they can fit in an envelope. For the rest of the items, you must pick them up at our shop in Bellevue, WA.

Field Teardown

Monday we also bade goodbye to our 2023 wooden field elements. They served us well but it was time for them to go. We made quick work dissasembling each of the pieces during our Monday meeting. During our Thursday meeting, we finished up the disassembling and organized our leftover wood and polycarb pieces.

An upside to the field teardown is that our wood stock is looking pretty good now!

Ready for Romis

This year we bought 3 Romi robots for our programming team. As a part of our larger initiative to train up new programmers to replace graduating seniors, we hope the Romis will allow each rookie programmer to get some more hands-on time with a robot. Our Thursday meeting was spent preparing the Romis for use and later testing a Romi out with code. We did learn a bit of a lesson in preparation though, as we were missing a few key components required to run the Romis and had to scramble a bit to secure them. Next time we are definitely going to be double checking our supplies list before we attempt to try out new tech.

That’s just about all for this OA post! See you next week!

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Week of the 6th

Farewell, Crane

On Monday we officially retired our 2023 competition robot Crane. Crane has served us well this past year, winning the Industrial Design Award during competitions, and exceeding during offseason competitions where we made it to finalists all three we attended. During the meeting, we all said a few fond words of our ol’ robot, then gave our farewells.

Don’t worry though, Crane is such a versatile robot that we’re going to continue to use it for years to come as an Outreach bot. Crane turned out to be a great bot with the kids, great at playing catch and even making baskets!

Crane showing off at an outreach event

Game Night!

Thursday was our game night! After an hour of regular subteam work, we took a break with some team bonding! Mario kart was played, fun was had. In the past we’ve held our game nights after regular meetings, but that can cause issues with attendance, with some members preferring to maintain the little free time robotics allows. With that in mind, for this game night we decided to have it replace some of our regular meeting time. To maintain our goals, we extended our Monday meeting out an hour. Overall, the game night was a success with many new memories made.

That’s all I’ve got for this OA post! See you next week!

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Weeks of the 13th, 20th, and 27th

Finally another OA post! Our OA poster (me) has been very busy the past few weeks with college apps, other extracurriculars, and Thanksgiving, so this post will be a big catchup post on everything that’s been going down at the Robototes in the past few weeks.

Crane changes heights

Monday the 16th we removed the pole from our 2023 competition robot Crane. The pole was previously installed to elevate our Limelight to improve April tag sightlines. Now that the season is over, Crane no longer requires vision capabilities. However, Crane’s RSL was previously mounted on the pole, so now Crane is lacking an RSL. Adding the RSL back is now on our to-do list.


Crane reaches old heights

CAD Training Continues

These past few weeks CAD training has been continuing well. Our team CADs nearly everything our mechanical team manufacturers so it’s very important all our mechanical members are at least somewhat familiar with CAD.


Our CAD design challenges consist of our members being shown a complete part then being asked to replicate the part with their own CAD

Shop Cleanup

We didn’t meet on the 23rd seeing as it was Thanksgiving break, and Monday the 27th returning from break we decided to do a bit of shop and pit cleanup. Our mechanical team worked on organizing our pit so that we will be able to access tools and materials faster during stressful moments at competitions. We are trying to cleanup during meetings around once a month so we’re always staying on top of it.

Programming: Finishing Some Projects & Starting Some Others

Our programming team finished up their Romi projects on the 20th. The finished code for the Romi robots included a complete drivebase system with controls. Our rookie programmers were able to get a taste for what developing a new subsystem for the robot looks like from start to finish, so in all the Romi projects were a great success. Once our programmers had finished their Romi projects, they moved on to their research specialization projects. The programmers were split into 3 groups, with each group researching some specialization (control loops, vision, and sensors). Each group is expected to research their specialization, then prepare a presentation to spread their new knowledge to the rest of the programming team.

Inventory and Ordering

Another big project we’ve been working on these past few weeks is inventorying what we have and ordering what we need. We need to be sure we have all the materials we need for the build season before they run out of stock. For us, this has meant buying materials such as MAXPlanetaries, Through Bore Encoders, and CANcoders now before the season begins. It’s been a bit surprising to me just how fast money is spent even before the season begins.


A sneak peak into our robot budget for this year. The season hasn’t even begun and we’ve already spent nearly a third of our budget!

Although a little surprising to me personally, it is necessary to make such purchases early lest we end up having to wait for items to come back in stock or ship during the season.

That’s all I have for this update! See you next week (for real this time)!

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Weeks of the 4th and the 11th

Welcome back to another OA post after exactly one week from the last post!

CAD Training, CAD Training, CAD Training

Our CAD trainings have continued as we sneak up to kickoff. These past few weeks we’ve concentrated our CAD training efforts through CAD challenges and quizzes. We use resources from https://caddexpert.com/ and challenge our students to complete their assemblies within a certain time limit. Until they’re able to reach the time limit set, they are asked to CAD parts again. We hope these challenges will lead to a very CAD-proficient mech team for our upcoming season.

Shop Organization

We’ve also been continuing our work on organizing our shop. We want everything to be in place before kickoff so that as we’re prototyping and manufacturing our robot all our parts are easily accessible.

Updating WPILib Versions

Our programming team has been working on updating our old Rapid React repository to WPILib 2024. Through updating the WPILib version now, we should gain some good experience with the new version before kickoff. We have encountered some difficulties porting the versions, which I suppose proves that it was a good idea to attempt the port now before the actual season begins.

Another portion of the programming team has also been working through porting our robots from TalonFX API v5 to v6. This has also come with its own set of difficulties as we work through updated method names and methodologies. We’re hoping to finish both ports before kickoff.

Orange PI 5

Our programming team has also been getting more familiar with our new Orange PI 5. We’re planning on using it this competition season for vision with April Tags. We also made sure to buy a global shutter camera as we hope this will improve accuracy. Right now we only have one camera, so we’ll see how effective that is once we have our setup down.


Our April Tag testing setup

It’s been a good year

This is the last OA post for this year with winter break coming up. 2023 has been a great year for the Robototes, but we can’t wait to see what we can do in the future.
When we return in 2024, I’ll be creating the 2024 season build thread and updating our progress there. See you then and happy holidays!

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