A CSA at one of my events suggested that I should upload the Robot Inspection cheat sheets I’ve been updating for a few years. The original sheet was not my idea, and I’ve lost track of who created the version I started with. Whoever that was has my thanks.
The goal of this is to be a quick reference so that a robot inspector can identify legal motors and controllers and help with basic wiring and pneumatics. It is intended as a reference for the rules not best practices. For example you are allowed to use 22AWG wire to power your RoboRio, but it is recommended to use 18AWG.
I gave a class on how to be ready for inspection and I mentioned a few 3D prints I bring with me as an LRI.
To summarize the highlight from that class. Come to inspection early to make sure that there are no big issues (i.e. frame perimeter, weight, safety) that could take a while to fix. Make any changes you want / need and get reinspected. Second the inspection checklist is published around the time of competitions and can be useful to unofficially self inspect your robot prior to the event: CHARGED UP - Season Materials | FIRST
A general rule of thumb for us, inspired by R612, is “you must be able to kick the breaker to turn off the robot in case of an emergency”. It’s not how we understand the rule, but it’s a step above to insure an actual ability to turn it off.
To make my stand more clear: I think this approach is dangerous. There has been an instance (in an American off-season if I’m not mistaken) where a rogue robot had to be turned off by chasing it and shutting off its breaker. When you put up a shield like this you make it much more difficult to hit both unintentionally (which is the purpose), but intentionally as well.
I very much disagree. As someone who has been there when a breaker has had to be shut off in an emergency, the bigger deal is not being able to find the breaker.
Either of these breaker covers do more than enough to allow emergency access*, so long as the breaker is mounted in a spot where it can be found by field staff, without having to look for it for over a minute. If they are printed in a color that doesn’t hide it in a robot (black on black, red on red, etc.), even better!
The easier the breaker is to find, the easier it is for field staff to hit the button intentionally. These breaker covers do not inhibit field staff*.
As for the off season you are referencing, that was a week 0 event that did not run an official field wall, nor FMS (if I remember correctly). There has been 1 time on season I can think of that a robot has gotten off the field in the last 15+ years, and since it was on season, a field e-stop was able to disable the robot.
*All emergency access statements are assuming that the breaker is in an easy to find location that field staff can normally access easily, and not behind polycarbonate side panels, under wires, below arms or manipulators or launching mechanisms, etc.
If the robot is moving, you shouldn’t be close enough to hit the breaker anyway. Hitting a breaker while a robot is moving is NOT safe, and is bad practice to begin with. If a robot were to escape a field again, and were to not respond to a field e-stop, then you should wait until it comes to a stop against something before you even attempt to gain access to said robot.
If FIRST wanted people to be able to disable the robots by hand in an emergency we’d be required to install E-Stops on the actual robot. Those are yellow and red and large mushroom style twist locks to be obvious and stay down. They are easy to push even with a stick or a foot. The breaker Red little button is not. I have also had an issue of thinking I pressed on the breaker button only for the lever arm not to swing out fully and it stays on.
The issue with a true E-Stop for an FRC robot would be expense and if someone accidentally hit it mid match like breakers… It has to be able to handle the maximum robot current at all times if it’s directly between the battery and the rest of the system. They could use it instead as a signalling device directly to a robot controller (RoboRio) to disable when the contact isn’t closed. Think like the compressor pressure switch.
This was the week 0, but it has happened during the real season as well. I don’t remember when or where it was though. I feel like I remember it being a false field start though, where the MC was “instructing” the audience, and the Scorekeeper thought it was the actual countdown, or something like that.
Real season was in Israel, 3211 on the field (as well as the MC). MC “3-2-1-1!” Scorekeeper heard: “3-2-1-GO!” Cue match-start sounds and the MC exiting the field via the nearest guardrail. No robots left the field, but the foghorn sounded very shortly afterwards.
3211 is now referred to as thirty-two eleven.
I also know about a field escape way back in 2003: a team shot across the ramp as planned in auto, then took off under the rail (I think there was a cable between rail and bottom of rail, but it went under that too) and was E-stopped under the stands. Fortunately, it was practice day (Arizona Regional, to be exact, not going to shame the team here).
For anyone who has had frustrations with the previously made FRC bumper inspection tool, like me. I have made an updated one for every measurement needed in regards to bumper inspections. I am open to improvements and suggestions to this and curious how many inspectors use a tool like this.
