ROBOTS must be controlled via 1 programmable NI roboRIO or roboRIO 2.0 (P/N am3000 or am3000a, both versions referred to throughout this manual as “roboRIO”), with image version 2022_v3.0 or later
OpenMesh wireless bridge (P/N: OM5P-AN or OM5P-AC), that has been configured with the appropriate encryption key for your team number at each event, is the only permitted device for communicating to and from the ROBOT during the MATCH
roboRIO Ethernet port must be connected to the wireless bridge port labeled “18-24 vPOE” either directly, via a network switch, via an RPM, or via a CAT5 Ethernet pigtail
Communication between the ROBOT and the OPERATOR CONSOLE may not exceed 4 Mbits/second and is restricted to network ports listed in Table 9-5.
Only use explicitly permitted pneumatic parts
No custom pneumatics and meet minimum pressure ratings
Don’t modify pneumatics
Only use specific pneumatic devices
Compressed air from ROBOT compressor only
Air storage pressure limit no greater than 120 psi (~827kPa)
No stored air pressure intended for the ROBOT may be located off-board the ROBOT
Working air pressure (air pressure used to actuate devices) on the ROBOT must be no greater than 60 psi (~413 kPa) and must be provided through a single primary adjustable, relieving, pressure regulator
Use specified colored wires
Red, yellow, white, brown, or black-with-stripe on the positive (e.g. +24VDC, +12VDC, +5VDC, etc.) connections
Black or blue for the common or negative side (-) of the connections
(Wire exceptions below)
Wires that are originally attached to legal devices and any extensions to these wires using the same color as the manufacturer
Ethernet cable used in POE cables
Lead acid
12V max
Min 17 Ah Max 18.2 Ah
Rectangle
7.1 in. x 3 in. x 6.6 in., +/- .1 in. for each dimension (~ 180 mm x 76mm x 168 mm, +/- 2.5 mm for each dimension)
11lbs to 14.5 (~5 kg to 6.5 kg)
Nut and bolt style
No greater than 120mm (nominal) size and rated electrical input power no greater than 10 watts (W) continuous duty at 12 volts (VDC)
Electrical solenoid actuators, no greater than 1 in. (nominal) stroke and rated electrical input power no greater than 10 watts (W) continuous duty at 12 volts (VDC)
Hard drive motors part of a legal COTS computing device
Factory installed vibration and autofocus motors resident in COTS computing devices (e.g. rumble motor in a smartphone).
PWM COTS servos with a retail cost < $75. Motors integral to a COTS sensor (e.g. LIDAR, scanning sonar, etc.), provided the device is not modified except to facilitate mounting
1 compressor compliant with R806 and used to compress air for the ROBOT’S pneumatic system
The mounting brackets and/or output shaft/interface may be modified to facilitate the physical connection of the motor to the ROBOT and actuated part.
The electrical leads may be trimmed to length as necessary and connectors or splices to additional wiring may be added.
The locking pins on the window motors (P/N 262100-3030 and 262100-3040) may be removed. The connector housings on KOP automotive motors listed in Table 9-1 may be modified to facilitate lead connections.
ROBOT Construction Rules V2 85 of 136
Servos may be modified as specified by the manufacturer (e.g. re-programming or modification for continuous rotation).
The wiring harness of the Nidec Dynamo BLDC Motor may be modified as documented by FIRST in Nidec Dynamo BLDC Motor with Controller.
Minimal labeling may be applied to indicate device purpose, connectivity, functional performance, etc.
Any number of #10-32 plug screws may be removed from the Falcon 500.
Insulation may be applied to electrical terminals.
Don’t connect motor outputs to roboRIO
Control PWM controllers from the roboRIO
Only approved MXP devices can control actuators (more info attached)
Control CAN motor controllers from the roboRIO.
Control PCM/PH(S) and Servo Hubs from roboRIO
Connect the PDP/PDH to the roboRIO CAN bus
Don’t alter the CAN bus
USB to CAN adapter permitted