2005 FIRST Robotics Competition (FRC) Game Field Manual
Table of Contents Teams Required for Assembly
2
Assembly Preamble
3-4
Carpet Installation and Marking
5-8
Field Border Assembly
9-13
Field End Installation
14-23
Center Goal Assembly
24-28
Goal Assembly/Field Placement
29-36
Tetrahedron/Vision Tetrahedron/Hanging Tetrahedron Assembly
37-46
Field Electronics
47-57
Team Queuing
58-60
Field Finish
61-62
Field Disassembly
63-69
Field Vision Auto-calibration Procedure
70-80
Practice Area Set Up Procedure
81-82
Sizing Box Information
83-84
IT IS A SUPERB IDEA TO READ ALL OF THE INSTRUCTIONS BEFORE YOU BEGIN.
Everything must be
done in a prescribed sequence.
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2005 FIRST Robotics Competition (FRC) Game Field Manual Teams Required for Assembly Quantity
Carpet Installation Team Move carpet in place Roll back matched edges Cut off carpet edge Install Carpet Tape Lay carpet in Tape Roll Carpet Seam (using carpet rollers)
8 8 6 2 2 6 2
Field Layout Team Locate Base Lines and Key Points Swing Tie Corner Points from Base line and Center Point Chalk Line Field Perimeter and crosswise
3 1 3 3
Field Container Layout
5
Field Perimeter/End Frame Assembly Team Field Perimeter 2 teams of 4 End Frame 2 teams of 4
8 (Two teams of 4) 8 8
Field Marking Team (Layout and Taping) Layout 2 Teams of 2 Taping 2 Teams of 2 Vision Tetrahedron Position Marking
8 4 4 2
Field/Game Element Assembly Team Goals 2 teams of 2 Tetrahedrons Center Goal
4 2 2
Field Electronics and Wiring Team LED/Light Installation LED/Light Wiring Station Control cabinet installation and wiring IFI Radio Bank Installation Mats/Mat Box Wiring
4 2 2 2 1 2
Finish Team (Vacuum Carpet, Acrylic Cleaning, Taping down wires) Vacuum Carpet Acrylic Cleaning Tie Wrapping/Taping down wires General housekeeping
8 2 4 4 4
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2005 FIRST Robotics Competition (FRC) Game Field Manual ASSEMBLY PREAMBLE
Our motto is “finesse, not force.” The new field and associated travel cases should make your event easier on the back and mind. PLEASE READ THIS ENTIRE DOCUMENT BEFORE YOU DO ANYTHING… AND THAT INCLUDES UNPACKING ANY PART OF THE FIELD OR ITS COMPONENTS. YOU WILL BE GLAD YOU DID. You do not need many tools to assemble this field. DO NOT REMOVE ANY BOLTS FROM ANY FIELD STRUCTURE ELEMENTS UNDER ANY CIRCUMSTANCES! Bolts may be removed from the pipe ends with pipe nuts installed in the ends for the goal/center structure
Do not drill, grind or cut field components. Each field was set up at FIRST and at several other events. If a component does not fit, it is possible that you have it in the wrong position. Please recheck the component’s label.
All field border components are labeled to insure proper installation TRAVEL CASES & CARTS (The carts should be treated with care and respect). o CAUTION: DO NOT TO TRY TO PUSH A CASE OR CART OVER A RAISED THRESHHOLD AS THIS MAY RIP THE WHEELS OFF. Be gentle and get help to lift it over. o CAUTION: IS ADVISED WHEN PUSHING A CASE OR CART OVER A WIDE OPENING IN THE FLOOR, SUCH AS A DRAIN GRATE, AS THE WHEELS MAY TURN AND FALL INTO THE OPENING. The wheels on all cases and carts are rubber so they absorb shock quite well. The wheels are placed such that they will fit within a 24” truck ramp should one be available at a site. The handle mounted at each end of a case is very heavy duty and is very well fastened but there may be a limit to how much force it can take… so be careful. The cases have caster cups on the covers except for the tall electronics cases. The caster cups allow cases to be stacked. Obviously, pay attention to case weight and put lighter cases on top of heavier cases. You may need to rotate the wheels so they sit in the caster cups properly.
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Typical Travel Case The travel cases have locking latches. The latches unlock by turning the spanning latch turn mechanism counterclockwise. You may want to keep your free hand on the spanning latch tongue, as it will spring down when it is released and it can hit the hand turning the latch mechanism. MAKE SURE YOU FOLD THE SPANNING LATCH TURN MECHANISM FLAT AGAINST THE CASE so that the spanning latch tongue also sits flat as this can rip your pants and / or leg.
General Field Information The field sits on carpet. The carpet should be taped to the floor around all sides using 3” black gaffer’s tape. This tape adheres the best and does not leave adhesive when removed. Do not force anything. All of these fields have been assembled previously and they fit together quite well. All of the field border segment and the plexi-glass border parts have a “number” and/or a “letter on them, which represents the joint designation or their placement on the field border. The numbers are at the joints so match like numbers. CAUTION: BEFORE YOUR VERY ENTHUSIASTIC VOLUNTEERS BEGIN TEARING INTO THE CRATES TO UNLOAD THEM - STOP!!!!! If you read and follow these instructions, you will save a lot of time and effort. Believe it or not, we have found the ideal number of people to unpack and build the field. A couple of volunteers together should be capable of lifting about 80 lbs. A pack of excited 10-year old kids is neither what you want nor need to do this job effectively. H:\The Competition\2005\FTA Manual\2005 FRC Competition Game Field Manual.doc
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A
Carpet Installation & Marking
8 people
Equipment Needed: Two Carpet Rolls Black Gaffer’s Tape 3” Sharpee pen and white paint markers (2) 25’ tape measures (1) Sharpie and/or white paint marker 50’ chalk line (yellow or white) Carpet Tape 50’ tape measure box cutter Work with the AV production director for venue site to ensure proper placement of the carpet. Carpet Positioning A1. Roll out both rolls of carpet side by side on the centerline. A2. Trim selvage material from the seam edges using the box cutter.
Both carpets side by side on Centerline
Trim selvage material on carpet seam edges
A3. Move both pieces of the carpet to match at baseline as tight as possible. A4. Eliminate any ridges and puckers by stretching carpet sides. A5. After matching both pieces of the carpet to form a seam down the middle of the field without overlapping the edges and with no major gaps in the seam, place the carpet tape on the floor, sticky side up on the centerline and match both carpet edges to the tape. Ensure no overlap of carpet on the centerline seam. H:\The Competition\2005\FTA Manual\2005 FRC Competition Game Field Manual.doc
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A6. Apply 3” Gaffers tape to topside of entire seam. Tape entire carpet perimeter with Gaffer’s tape to the floor.
KEEP TAPE AS STRAIGHT AS POSSIBLE. Carpet Marking You will need (1) 50’ and (1) 25’ tape measures, a means of marking the black/gray carpet, and a chalk line that is at least 50’ long. The “p” used below means “point.” Refer to the Carpet Layout Diagram Figure A-1. A7. Starting from “start”, measure 37’ along the seam and mark the center point (p0). A8. Locating the 1st field corner (p1): • Starting from point p0, measure east along the seam 26’ 10” and mark p5. • Starting from p0, measure northeast 30’ 1 3/4”. • Starting from p5, measure north 13’ 5”. • At a point where the 2 tapes intersect, mark p1 field corner.
Intersection of two tapes – Mark Point
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2005 FIRST Robotics Competition (FRC) Game Field Manual A9. Locating the 2nd field corner (p2): • The person at p5 should stay there. • Starting from p0, measure southeast 30’ 1 3/4”. • Starting from p5, measure south 13’ 5”. • At a point where the 2 tapes intersect, mark p2 field corner. • Verify 26’ 10” distance between p1 and p2. A10. Locating the 3rd field corner (p3): • Starting from point p0, measure west along the seam and mark p6. • Starting from p0, measure southwest 30’ 1 3/4”. • Starting from p6, measure south 13’ 5”. • At a point where the 2 tapes intersect, mark p3 field corner. A11. Locating the 4th field corner (p4): • The person at p6 should stay there. • Starting from p0, measure northwest 30’ 1 3/4””. • Starting from p6, measure north 13’ 5”. • At a point where the 2 tapes intersect, mark p4 field corner. • Verify 26’ 10” distance between p3 and p4 • Verify 54’ distance between p1 and p4, as well as between p2 and p3. A12. Snap the chalk lines: • Snap the line from p4 to p1 (chalk A). • Snap the line from p1 to p2 (chalk B). • Snap the line from p2 to p3 (chalk C). • Snap the line from p3 to p4 (chalk D). A13. Locate the points for the midfield line: • From p4, measure along chalk line p4-p1 26’ 10” east and mark p7. • From p3, measure along chalk line p3-p2 26’ 10” east and mark p8. • From p6, measure along chalk line p6-p5 26’ 10” east and mark p0 or verify that p0 is as previously determined by the Production Technical Director. A14. Snap midfield line: • Snap the line from p7 to p8.
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2005 FIRST Robotics Competition (FRC) Game Field Manual 2005 Carpet Markings for Field Position and Layout chalk A
Figure A-1 74'
27'
P4
13’ 5"
chalk E
27'
P7
30' 1-¾”
P1
30’ 1-¾”
13’ 5" chalk B
37’ start
0
P6
P5
chalk D 13’ 5"
30' 1-¾”
P3
30' 1-¾”
P8
13’ 5"
P2
N Directions for reference in carpet installation only. E These are not meant to indicate the actual venue orientation.
W
Scoring Table
chalk C
S
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30'
2005 FIRST Robotics Competition (FRC) Game Field Manual
B
Field Border Assembly
8 people (2 crews of 4)
Equipment Needed: ƒ Field Border Perimeter Assembly Diagram, Figure B-1
Strongly Recommend Wearing Gloves During Assembly General Information NO MODIFICATIONS ARE TO BE MADE TO THE FIELD The field border segments and field border side outriggers are contained in 2 long packing crates. Position these crates, one on each long side of the field shown on the Field Border Perimeter Assembly Diagram, Figure B-1.
Field Border Crate Make sure that the border segments containing gates are handled with the gates in closed position and locked. This will avoid pinched fingers and the gate swinging and hurting people or damaging the venue. Remove the field border segments and the field border side outriggers from the packing crates. As the field border side segments are placed along their respective long sides of the field, match the number on the end of the field border segment bottom rail to the corresponding number on the next correct field border segment as shown in the Field Perimeter Assembly Diagram, Figure B-1.
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2005 FIRST Robotics Competition (FRC) Game Field Manual Procedure: B1. Build the field perimeter one side at a time. Each segment is marked on each end with a number, e.g., Section 1-1, Section 2-2, starting at the left of the field when facing the field from outside the field border (i.e., from the scoring table or audience looking into the middle of the field). B2. Place the border segments face down and toward the field center with the bottom angle lined up with the perimeter chalk line. The bottom angle and the bottoms of the field border side outriggers have Velcro attached. Slide each field border segment together so that there is the best fit possible between the connecting pieces. Ensure the field border segment with the number 1 on one end remains at the respective chalk line corner as the other field border segments are pieced together.
Field Border Segments face down
Assembly of Field Border Segments
B3. Once the segments for one side have been connected and aligned with the side and end chalk lines, they may be flipped up to the vertical position. Use 4 or more people to flip the entire field border side at the same time. Position these people on the outside of the field and flip the border up by raising the top of the border segments in unison. The Velcro on the bottom of the segments and outriggers will hold the entire side in place on the carpet.
Field Border in the aligned and upright position H:\The Competition\2005\FTA Manual\2005 FRC Competition Game Field Manual.doc
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2005 FIRST Robotics Competition (FRC) Game Field Manual B4. Check the side for straightness. If the raised side is not straight and aligned on the chalk lines, flip it back down and repeat the procedure. B5. Repeat the procedure for the opposite field side. B6. For the field border facing the scoring table, locate the (4) field border side outriggers. Install the field border side outriggers by placing the top against the top rail, “snapping” the base in, and then sliding to insert the attached pin/tube into the joint tubing on the bottom of the field border segment at the proper locations in accordance with the Field Border Perimeter Assembly Diagram, Figure B-1.
Field Border Side Outrigger
Field Border Side Outrigger Installed
B7. For the field border facing the audience, locate the (2) field border side outriggers. Install the field border side outriggers by placing the top against the top rail, “snapping” the base in, and then sliding to insert the attached pin/tube into the joint tubing on the bottom of the field border segment at the proper locations in accordance with the Field Border Perimeter Assembly Diagram, Figure B-1. B8. Place the ramps next to the gates only on the side of the field with the automatic tetrahedron loaders (scoring table side of the field). There are no ramps on the human player (audience) side of the field as the ramps pose a potential trip hazard. These should be installed after the electronics cabling is completely routed and Ty Wrapped into position. To install the gate ramps on the outside of the gate openings, these ramps slip into the pipes located at the gate opening. Some alignment of the ramp posts into the side border holes will be required for the ramp to slide into place, be patient. The top of the ramp must by flush with the top of the bottom side border railing. Do not force the ramp into place, as this will have to be removed when the field is disassembled. (See pictures on next page.)
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Gate Ramp Installation
Gate Ramp in place
B9. Once the standing field borders are complete, proceed to the Field End Installation, Section C.
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2005 FIRST Robotics Competition (FRC) Game Field Manual Field Border Perimeter Assembly Diagram Figure B-1
Audience
8-8
7-7
6-6
5-5
4-4
3-3
2-2
4.5’ segment connecting field border segment to end frame
1-1
End vertical support
Center vertical support
Interchangeable field end panel Gate Field border segment
1-1
2-2
3-3
4-4
5-5
6-6
7-7
8-8 Horizontal corner pin
Ramp
Ramp
Field border outrigger Scoring Table
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C
8 people
Field End Installation
(2 crews of 4)
Equipment Needed: Rubber Mallet Field Border Perimeter Assembly Diagram, Figure B-1 Plexi-glass Field Border Installation Diagram, Figure C-1
Strongly Recommend Wearing Gloves During Assembly General Information: The field ends must be assembled after the field side borders are completed. The exact location of the field border determines the proper fit of the field ends. If this is not the case, it will be necessary to draw the sections together or stretch them apart to make them fit. This is reasonably easy by lifting the “Velcro plates” attached to the bottom of the end frames. Construct one field end at a time. Once a field end is finished, it will allow another crew to start installation of the control electronics on that end of the field. The field end components, including the joint structure weights, and plexi-glass are all located in (1) cart and there are (2) carts total per field. These 4.5’ connecting field border segments are found in the crate with the pipes, hex nuts, and steel tetra connectors for the goals and the center structure. Procedure: C1. Starting at one field corner, install the 4 ½’ field border end section into the end field border section. Insert the pinning pipe through the upper hole in the corner of the field border end section into the upper pipe of the field border. Pin with a snapper pin with the D-ring facing to the outside of the field. (See the pictures on the next page.)
4.5’ Field Border End Segment
4.5’ Field Border End Segment (Stand Up view)
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Aluminum Pipe Pin
Field Border End Pinned with Aluminum Pipe Pin and Snapper Pin Installed
C2. Move the vertical joint structure with the hinge joint into position abutting the section in step C1. Use an aluminum pin to join both. The hinges should be facing the field border.
Vertical Joint Structure with the Hinge Joint
Vertical Joint Structure Pinned to the 4.5’ Border Segment
C3. Slide an end panel section, making sure the Velcro pads are flat against the panel, onto the two horizontal posts on the installed vertical joint structure. H:\The Competition\2005\FTA Manual\2005 FRC Competition Game Field Manual.doc
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End Panel Section with Velcro Pads Flat Against the Panel
End Panel Section Slid onto the two Horizontal Posts of the Vertical Joint Structure
C4. Move a vertical joint structure, with no hinge joint, towards the section assembled in C3 until the two horizontal posts are seated into the installed end panel section.
Vertical Joint Structure, No Hinge Joint
Vertical Joint Structure, No Hinge Joint (Stand up View)
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Vertical Joint Structure, No Hinge, Seated into End Panel Section Assembled in Step C3 C5. Repeat steps C3 and C4.
Second Vertical Joint Structure, No Hinge, Seated into Second End Panel Section
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2005 FIRST Robotics Competition (FRC) Game Field Manual C6. Repeat step C3 and move another vertical joint structure, with the hinge joint, toward the end panel just put in place until the two horizontal posts are seated into the end panel. The hinges should be facing the field border.
Third End Panel Section with the Second Vertical Joint Structure, with Hinge, Installed C8. Repeat step C1 to attach another 4.5’ connecting field border segment for the remaining unattached side of the field end frames and opposite field border. CAUTION: Before going beyond step C9, ensure that the vertical joint structure weights, on the Antler Cart, have been placed over the base of the D-ring of the vertical joint structures. This will assist in keeping the end frame from falling as the weight of the end frame top rails and plexi-glass shields are added to complete the assembly of the end frames.
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2005 FIRST Robotics Competition (FRC) Game Field Manual C9. Place the vertical joint structure weights over the base of the D-ring of each vertical joint structure, with and without hinge joints on an end frame (4 outrigger weights total). Place all Velcro footpads in the down position to lock the end frame panels to the carpet, if not already done. The vertical structure weights should rest on top of the Velcro footpads when in the correct position.
Vertical Joint Structure, with and without Hinge Joint, Weight – (4) per End Frame
Vertical Joint Structure Weight Installed
C10. Install, with assistance from someone, one sheet of plexi-glass above one end section of the end frame panel section by aligning and placing the bottom edge of the plexi-glass sheet in the bottom channel. With someone holding the plexi-glass in place, another person installs a top plexi-glass holder by inserting its large posts into the inside holes of the two adjacent vertical joint structures. Ensure that the person holding the plexi-glass in place causes the top plexi-glass holder to seat over the top edge of the plexi-glass into the channel of the top plexi-glass holder. (See pictures next page.)
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Top Plexi-glass Holder
Plexi-glass Being Held in Place
Top Plexi-glass Holder in place C11. Repeat step C10 for the middle section end frame. C12. Repeat step C10 for the remaining end section of the end frame. C13. Repeat steps C1 to C12 for the other end of the field. C14. After the entire field border and end frames are all completely assembled and pinned to form the outside boundary for the 2005 FRC competition field, (24) lexan/polycarbonate shields will need to be ty wrapped into position to cover all open spaces in the field border perimeter and (4) gate lexan/polycarbonate shields will need to be hooked on the gates, (1) lexan/polycarbonate shield per gate, when the gate is locked in the down position. All lexan/polycarbonate shields are to be installed on the inside of the Field Border towards the playing field. Holes in the lexan/polycarbonate shields go towards the top of the field border. The lexan/polycarbonate installation must occur before the goals are placed on the field. H:\The Competition\2005\FTA Manual\2005 FRC Competition Game Field Manual.doc
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2005 FIRST Robotics Competition (FRC) Game Field Manual Lexan/polycarbonate field border installation note: REFER TO THE LEXAN/POLYCARBONATE FIELD BORDER INSTALLATION DIAGRAM, FIGURE C-1, WHEN DOING THE INSTALLATION OF THE FIELD BORDER LEXAN/POLYCARBONATE. THE LEXAN/POLYCARBONATE SHIELDS HAVE SPECIFIC POSITIONS BASED ON THEIR LENGTH. The lexan/polycarbonate shields have been pre-cut to fit between the vertical support poles on the field border and to fit the 4.5’ between the end frame and the end of the field border. There are (4) lexan/polycarbonate shields of length 4’ 4” for the field border between the end frame and the field border ends; there are (4) lexan/polycarbonate shields of length 3’for the end of the field border to the first vertical support before each gate; there are (4) lexan/polycarbonate GATE shields of length 3’ 7”; there are (8) lexan/polycarbonate shields of length 4’ 1” for the field border from the vertical support pole of the gate nearest the center of the field to the next vertical support pole of the field border; and finally, there are (8) lexan/polycarbonate shields of length 6’ to cover the length of the vertical support poles in the center of the field border. There are black Velcro patches identifying where the corner of the appropriate length lexan/polycarbonate shield should match up.
Lexan/polycarbonate Shield Ty Wrap Instructions: THIS MUST BE DONE BEFORE THE GOAL PLACEMENT ON THE FIELD. Ty wrap by threading the point of the ty wrap from outside the field towards the playing field through the holes in the lexan/polycarbonate top. The ty wrap connection point must be on the top outside of the field border. Pull the ty wrap as tight as possible without breaking the ty wrap. Trim any excess ty wrap when complete.
Inserting Ty Wrap from Outside the Field Border Towards the Center Playing Field
Ty Wrap Connection Point on the Top Outside of the Field Border and Pulled Tight
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Excess Ty Wrap Trimmed
Ty Wrap Connection Point to the Outside Of the Playing Field
Lexan/polycarbonate Shields Ty Wrapped onto Field Border
Lexan/polycarbonate Gate Shield on Closed Gate
Lexan/polycarbonate Gate Shield on Open Gate
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2005 FIRST Robotics Competition (FRC) Game Field Manual Lexan/polycarbonate Field Border Installation Diagram Figure C-1
Audience
8-8
7-7
6-6
5-5
4-4
3-3
2-2
4.5’ segment connecting field border segment to end frame
1-1
End vertical support
Center vertical support
Interchangeable field end panel Gate
A
B
C
1-1
Ramp
C
2-2
D
D
3-3
4-4
D
D
5-5
6-6
C
7-7
Field border segment Field border outrigger
Lexan border panels
C
B
A
8-8 Horizontal corner pin
Ramp Scoring Table
A 4’ 4" The panels run vertical post to vertical post. The corner panels A run from the field corner to the C 4’ 1" driver station. The gates panels have hooks. D 6’ B
3’
NOTE: The same pattern is repeated on the opposite field border. The two field border sides are exactly the same for the lexan/polycarbonate border installation.
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D
Center Goal Assembly
2 people
Equipment Needed: 3/8” drive ratchet Drill (1) Welded triangular base with 3 short vertical posts (4) Steel tetra connectors (3) Steel corner connectors (6) Top tetra sides – 48” pipe with pipe nuts in both ends of the pipe (3) Vertical supports – 40” pipe with one pipe nut in only one end of the pipe (15) 3/8” x ¾” Hex head bolts 2005 Field Elements Center Goal Base Drawing 2005 Field Elements Center Goal Assembly Drawing 2005 Field Layout and Marking Diagram STRONGLY RECOMMEND WEARING GLOVES TO BUILD THIS STRUCTURE D1. Using the 2005 Field Layout and Marking Diagram, measure and mark the location on the field where the center structure is to be placed on the field. Coordinate this with the field border and end frame assembly to make sure the field border and end frame assembly has been completed. Locate one welded triangular base with three short vertical posts and lay it on the floor with the vertical posts pointing upward in the position just marked for the center structure in accordance with the 2005 Field Layout and Marking Diagram.
Center Goal with Velcro Showing
Center Goal in the Correct Position For Assembly
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2005 FIRST Robotics Competition (FRC) Game Field Manual D2.
Locate the (3) vertical supports which should be 1 ¼” Sched40 Aluminum pipe, measuring 40” in length, with a pipe nut installed 1.15” from one end in each of the vertical supports and open ended on the other end of the pipe. Place the open end of the vertical support, without the pipe nut, over each of the three short vertical posts of the welded base. Ensure that the (3) vertical supports are firmly installed on the three vertical short posts of the welded base without using any tools other than your hands. Please DO NOT use a hammer or mallet to seat the (3) vertical supports. These will need to be removed when the field is disassembled.
Vertical Support with Pipe Nut End Closest View and Open End on Opposite End
Close Up View of Vertical Support End with Pipe Nut And Open End on the opposite end
(3) Vertical Supports Installed on Welded Base H:\The Competition\2005\FTA Manual\2005 FRC Competition Game Field Manual.doc
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2005 FIRST Robotics Competition (FRC) Game Field Manual NOTE: All pipes with pipe nuts should already have a 3/8” x ¾” hex head bolt screwed hand tight into the pipe nut insert. If there is one missing, look in the crate the pipes for the goals arrived in or get a spare 3/8” x ¾” hex head bolt from the Tool Support Crate. D3.
Mark the Center Goal location by the chalk line center, then fasten one corner connector, using one 3/8” x ¾” hex head bolt, to the pipe nut end of each vertical support. (At this point the corner connector on each vertical support should have two unused holes and one 3/8” x ¾” hex head bolt attaching each corner connector to each vertical support.)
Corner Connector with 3/8” x ¾” Hex Head Bolts D4.
Corner Connector Installed on a Vertical Support End with Pipe Nut
Steps D4 – D6 will build the top tetrahedron prior to attaching it to the structure assembled in steps D1 – D3. Locate (4) steel tetra connectors and (6) top tetra sides, which are 1 ¼” Sched 40 aluminum pipes 48” in length with pipe nuts in both ends.
Steel Tetra Connector with 3/8” x ¾” Hex Head Bolts
Top Tetra Side with Pipe Nuts on Both Ends
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2005 FIRST Robotics Competition (FRC) Game Field Manual D5.
Take one steel tetra connector and (3) top tetra sides and loosely attach the (3) top tetra sides to the tetra connector using the (3) 3/8” x ¾” hex head bolts. Use caution here because the (3) top tetra sides are not supported by the structure and can swing loosely causing damage to people or venue components.
(3) Top Tetra Sides Loosely Attached to (1) Steel Tetra Connector D6.
On the unattached end of the (3) top tetra sides in the structure assembled in step D5, loosely attach (1) steel tetra connector to each top tetra side.
Step D5 Structure with (3) Steel Tetra Connectors Attached to Ends Of Each Top Tetra Side D7.
Assistance will be required in this step to complete the center goal assembly. As one person lifts the structure assembled in step D6, align the steel tetra connectors attached to each of the top tetra sides, one at a time, to the corner connectors on each vertical support on the structure assembled in step D3. Use the remaining (6) 3/8” x ¾” hex head bolts to firmly attach
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2005 FIRST Robotics Competition (FRC) Game Field Manual the steel tetra connectors to the corner connectors. Once the structure assembled in step D6 is firmly attached to the structure assembled in step D3, ensure all (15) 3/8” x ¾” hex head bolts are tightened. Please DO NOT tighten the hex head bolts so that damage will result when the center goal is being disassembled.
Step D6 Structure Being Aligned to the StepD3 Structure
Attaching Corner Connector to a Steel Tetra Connector. Notice Steel Tetra Connector is Behind the Corner Connector.
Final Assembled Center Goal Structure
CAUTION: When joining the assembled structure from Step D6 to the assembled in Step D3, be careful not to get fingers/skin between the corner connector and the steel tetra connector – PINCH POINT.
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E
Goal Assembly/Field Placement
4 people (2 crews of 2)
Equipment Needed: (28) steel tetra connectors no holes in the center (4) steel tetra connectors with1/4” drilled in the center (96) 3/8” x ¾” Hex Head bolts (12/goal) (24) six-foot length 1 1/4” Sched 40 aluminum pipes (3/goal) (24) six-foot length 1 1/4” Sched 40 aluminum pipes with Velcro strips attached (3/goal) 9/16” socket wrench Drill with 1/4” drill bit Flat Head Screwdriver 2005 Field Elements Goal Fab & Assy Drawing NOTE: All pipes with pipe nuts should already have a 3/8” x ¾” hex head bolt screwed hand tight into the pipe nut insert. If there is one missing, look in the crate the pipes for the goals arrived in or get a spare 3/8” x ¾” hex head bolt from the Tool Support Crate. Non-Corner Goal Assembly Procedure Start the goal assembly procedure off of the field as field construction may be in process and the goal assembly will interfere with an efficient field set up process. E1.
There are only (4) non-corner goals that need to be built. Obtain (4) steel tetra connectors, (3) six-foot length 1 1/4” Sched 40 aluminum pipes, and (3) six-foot length 1 1/4” Sched 40 aluminum pipes with Velcro strips attached for each goal to be assembled. (See pictures on the next page.)
Steel Tetra Connector with a Hole And No Hole – 3/8” x ¾” Hex Head Bolts
6’ Length 1 ¼” Sched 40 Aluminum Pipe with and without Velcro
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This will start to form the base of the goal. Using the 9/16” socket wrench/drill, fasten (1) steel tetra connector to the ends of (2) six-foot length 1 ¼” Sched 40 aluminum pipes with Velcro strips attached that are lying on the floor. This is best accomplished by placing each of the (2) 3/8” x ¾” Hex Head bolts, one at a time, through the holes in the steel tetra connector into the pipe ends and using the 9/16” socket wrench/drill to loosely fasten. Spread the (2) six-foot length 1 ¼” Sched 40 aluminum pipes with Velcro strips attached apart as the same process is repeated on each unattached end of the (2) starter six-foot length 1 ¼” Sched 40 aluminum pipes with Velcro strips attached. A third six-foot length 1 ¼” Sched 40 aluminum pipe with Velcro strips attached will need to be added to completely form the goal base. Make sure Velcro is down against the floor when connecting to the steel tetra connector.
Hex Head Bolt Through Steel Tetra Connector Into 6’ Length 1 ¼” Sched 40 Aluminum Pipe
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(2) 6’ Length 1 ¼” Sched 40 Aluminum Pipes Joined by (1) Steel Tetra Connector
Final Goal Base Assembled With Velcro Side Down and Velcro Side Up E3.
Take the unused steel tetra connector and with the assistance of another person, attach (3) sixfoot length 1 ¼” Sched 40 aluminum pipes to this steel tetra connector by placing the 3/8” x ¾” Hex Head bolt through the steel tetra connector and into the pipe end and loosely tighten the 3/8” x ¾” Hex Head bolts. PLEASE RESTRAIN ALL LOOSE PIPE ENDS DURING THIS STEP OF THE ASSEMBLY SO AS TO NOT BEND BOLTS, DAMAGE THE STEEL TETRA CONNECTORS, DAMAGE PIPE ENDS, AND SO NO DAMAGE IS DONE TO THE FLOOR OR TO PERSONNEL DUE TO A FALLING PIPE END. Loosely tightening these bolts will assist in the final steps of the goal assembly without unduly stressing the bolts, the steel tetra connectors and the pipe ends.
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(3) 6’ Lengths 1 1/4” Sched 40 Aluminum Pipe Loosely Attached To (1) Steel Tetra Connector
E4.
This step requires another person for assistance. Attach each free end of the six-foot length 1 ¼” Sched 40 aluminum pipe from step E3 to the unused hole in each of the (3) steel tetra connectors forming the base from step E2. Be careful not to overstress bolts, the steel tetra connectors or pipe ends in this step. DO NOT FORCE THE PIPE INTO POSITION.
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Aligning the Structure from Step E3 to the Base Assembled in Step E2 E5.
After all (6) six-foot length 1 ¼” Sched 40 aluminum pipes have been connected to build a freestanding tetrahedron shaped goal, then make sure that all (12) bolts are tightened. Please do not tighten the bolts so tight that they will cause damage when the goal is being disassembled.
E6.
Repeat steps E1 – E5 until all (4) non-corner goals are assembled. (See 2005 Field Elements Goal Fab & Assy Drawing)
Corner Goal Assembly Procedure E7. There are only (4) corner goals that need to be built. To build these corner goals, repeat steps E1 – E5 until all (4) corner goals are assembled with the modifications listed below: H:\The Competition\2005\FTA Manual\2005 FRC Competition Game Field Manual.doc
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2005 FIRST Robotics Competition (FRC) Game Field Manual Step E1: Obtain (3) steel tetra connectors and (1) steel tetra connector with ¼” hole drilled in the center. All other hardware remains the same. Step E2: No change. Step E3: Use the steel tetra connector with ¼” hole drilled in the center vice an unused steel tetra connector. Step E4: No change. Step E5: No change, however, ensure that the steel tetra connector with ¼” hole drilled in the center is not in the base of the goal and that it is the upper most steel tetra connector above the base. E8.
After the (4) corner goals are assembled, check to see that there is one steel tetra connector, that is not in the base of the goal, that has a ¼” hole in the center of that steel tetra connector. If there is not a ¼” hole in the steel tetra connector not in the base of the goal, then replace the steel tetra connector with one that has a ¼” hole in the center. This hole will be for the bolt that holds the magnet mechanism used to hang the tetrahedrons in the corner goals. The goal will need to be turned so that the steel tetra connector with the ¼” hole drilled through it will be the apex not resting on the floor.
E9.
To assemble the magnet mechanism on each corner goal, obtain (1) 10-24 x 2” Flat Head screw, (1) Shallow Pot Magnet (General PN 376B - Grainger), (2) 10-24 Nylok nut, (1) 10-24 Jamb Nut, and (2) #10 Flat Washer.
Magnet Mechanism for the Corner Goal
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Magnet Mechanism for the Corner Goal (Magnet View) E10.
The magnet mechanism is built by taking (1) 10-24 x 1 ¾” Flat Head screw and putting the flat head screw through the center hole of the Shallow Pot Magnet. With the flat head screw pulled as far as it will go through the center hole of the magnet, tighten (1) 10-24 Nylok nut on the non-magnet side of the magnet. Now take (1) 10-24 Jamb nut and screw it onto the flat head screw stem about ½”. Put (1) #10 flat washer on top of the 10-24 Jamb nut and then place the end of the flat head screw stem through the ¼” drilled hole in the tetra connector from the bottom side of the tetra connector. The magnet mechanism should be on the inside of the goal. On the stem of the flat head screw protruding through the top of the tetra connector, place (1) #10 flat washer and screw on (1) 10-24 Nylok nut so that only a few threads of the flat head screw are protruding through the nylok nut. Tighten the 10-24 Jamb nut with the #10 flat washer to the bottom side of the tetra connector. Finally, adjust the flat head screw, using a screwdriver, until there is 1 ¼” between the non-magnetic side of the magnet and the bottom side of the tetra connector. (See the 2005Field Elements Tetra Assembly Drawing)
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Corner Goal with Hanging Tetra
Field Placement E11. After all (8) goals and the center structure have been assembled and after the lexan/polycarbonate for the field borders has been put into place, then place the (8) goals and the center goal in accordance with the Field Layout and Marking Diagram.
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F
Tetrahedron/Vision Tetrahedron/Hanging Tetrahedron Assembly
2 people
Equipment Needed: (6) 30” length 1 ¼” Sched 40 colored PVC pipe with end caps already attached (4) Colored LDPE tetra connectors (same color as the PVC pipe) (12) 5/16-18 x ¼” Hex Head Bolts (12) 5/16” Flat Washers ½” Socket Wrench Drill with ¼” drill bit Flat Head Screwdriver 2005 Field Elements Tetra Assembly Drawing The game element tetrahedrons, the game element vision tetrahedrons, and the game element hanging tetrahedrons come already assembled to each FRC event. Section F should ONLY be utilized if one of these types of tetrahedrons has to be built due to being destroyed because of the game play. Non-hangingTetrahedron Assembly Procedure F1. Obtain (6) 30” length 1 ¼” Sched 40 colored PVC pipe with end caps attached, (4) colored LDPE tetra connectors, (12) 5/16-18 x ¼” hex head bolts, and (12) 5/16” flat washers for each tetrahedron to be assembled.
30” length 1 ¼” Sched 40 Colored PVC Pipe
(1) LDPE Tetra Connector
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(1) 5/16” Washer and (1) 5/16-18 x ¼” Hex Head Bolt
This will form the base of the non-hanging tetrahedron. The completion of the base of the nonhanging tetrahedron will require (3) LDPE tetra connectors, (3) 30”length 1 ¼” Sched 40 colored PVC pipes with end caps, (6) 5/16-18 x ¼” hex head bolts, and (6) 5/16” flat washers.
F2.
Take (1) 5/16-18 x ¼” hex head bolt insert the stem through (1) 5/16 flat washer and insert the stem into an unused hole in the LDPE tetra connector. Insert the stem of the 5/16-18 x ¼” hex head bolt through the hole in the colored end cap attached to (1) 30” length 1 ¼” Sched 40 colored PVC pipe so that the LDPE tetra connector is against the flat side of the end cap. DO NOT tighten the 5/16-18 x ¼” hex head bolt, just leave it loosely tightened.
(1) 5/16-18 x ¼” Hex Head Bolt Inserted Loosely Through (1) 5/16” Flat Washer Through (1) Hole in the LDPE Connector And Into the End Cap with the Tee Nut
F3. To continue to form the base of the non-hanging tetrahedron, perform step F2 on the unused hole in the LDPE tetra connector adjacent to the hole that has the end cap and pipe already attached such that when the LDPE is placed on the floor both of the attached 30” length Sched 40PVC pipe rests on the floor. Remember DO NOT tighten the 5/16-18 x ¼” hex head bolts.
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(1) LDPE Connector With (2) 30” length 1 ¼” Sched 40 Colored PVC Pipes Attached
F4. Some assistance may be required in this step. Carefully spread the two attached 30” length 1 ¼” Sched 40 PVC pipes so as to not stress the 5/16-18 x ¼” hex head bolts in the LDPE tetra connectors and perform step F2 on the open ends of the two attached 30” length 1 ¼” Sched 40 PVC pipes. A third 30” length 1 ¼” Sched 40 PVC pipe will be required to complete the base of the non-hanging tetrahedron.
Final Assembled Tetrahedron Base
F5. To complete the non-hanging tetrahedron, take (3) 30” length 1 ¼” Sched 40 colored PVC pipes, (1) LDPE tetra connector, (3) 5/16-18 x ¼” hex head bolts, (3) 5/16” flat washers, and perform step F2 to build a superstructure with the (3) 30” length 1 ¼” Sched 40 colored PVC pipes loosely connected to the (1) LDPE tetra connector. With the (3) remaining 5/16-18 x ¼” hex head bolts and the (3) remaining 5/16” flat washers, connect the superstructure to the tetrahedron base by performing step F2. Remember DO NOT tighten the 5/16-18 x ¼” hex head bolts as this will aid in the assembly process without damaging any components.
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Superstructure (Top) Part of the Tetrahedron
F6. Once the freestanding non-hanging tetrahedron is built, go back and tighten all (12) 5/16-18 x 1 ¼” hex head bolts. DO NOT tighten so hard that the LDPE tetra connector or the end cap start to crack.
Final Assembled Tetrahedron
Hanging Tetrahedron Assembly Procedure F7. Perform steps F1 – F6. In step F5, the LDPE tetra connector will need to have a ¼” hole drilled through its center, if a tetra connector with a predrilled hole cannot be obtained. H:\The Competition\2005\FTA Manual\2005 FRC Competition Game Field Manual.doc
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2005 FIRST Robotics Competition (FRC) Game Field Manual The (4) LDPE tetra connector used in making a hanging tetrahedron will need to all be WHITE.
LDPE Tetra Connector
F8. Obtain (1) 10-24 x 1 ¾” flat head screw, (1) 2 ½” OD x 0.87” ID steel washer, (2) #10 flat washers, (2) 10-24 nylok nuts, and (1) 10-24 Jamb nut.
F9. This step builds the mechanism that will allow the tetrahedron to hang and attach to the magnet mechanism in the corner goals. Take (1) 10-24 x 1 ¾” flat head screw and put the stem through the center holes of (1) 2 ½” OD x 0.87” ID steel washer, (1) #10 flat washer, (1) 10-24 nylok nut, and (1) 10-24 Jamb nut. Ensure this assembly has the flat head screw as flat as possible against the large steel washer and then insert the stem into the ¼” drilled hole in the LDPE tetra connector from the top towards the floor. On the open stem protruding from the bottom of the LDPE tetra connector, place (1) #10 flat washer and (1) 10-24 nylok nut and tighten. Measure the height from the bottom of the 2 ½” OD x 0.87” ID steel washer to the top of the LDPE tetra connector. This distance must be 5/8” and if it is not, then add #10 flat washers, 10-24 nylok nuts or 10-24 Jamb nuts until this measurement is obtained. (See2005 Field Elements Tetra Assembly Drawing)
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Exploded View of Hanging Tetrahedron Mechanism (See 2005 Field Elements Tetra Assembly Drawing – Tetra/Goal Magnet Addition Section)
End View of the Final Assembly of the Hanging Tetrahedron Mechanism
Final Assembly of the Hanging Tetrahedron Mechanism
Tetrahedron Hanging Mechanism Installed On theTetrahedron
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Completed Hanging Tetrahedron
Vision Tetrahedron Assembly Procedure
F10. Perform steps F1 – F6. F11. Obtain (3) ¼” black HDPE textured panels, (12) 4 ½”Ty Wraps, (6) stainless steel cable ties, and (3) sheets of 3M, 220, bright green vinyl.
(1) ¼” Black HDPE Panel
(1) 6” Ty Wrap – 30# Tensile Strength (1) Stainless Steel Cable Tie
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(1) Bright Green Vinyl Piece
F12. The (3) ¼” black HDPE textured panels have two sloping sides to create a parallelogram shape. Two ¼” holes will need to be drilled on the sloping sides. (See FIRST 2005 Field Elements Vision Tetra Assy Drawing).
Closer View of Holes Drilled in ¼” Black HDPE Panel
F13. Apply the bright green vinyl to each of the (3) outer faces of each HDPE black panel prior to ty wrapping the panels together. When applying the green vinyl to the black HDPE panels make sure there are no air bubbles or grit between the green vinyl and the black panels. Redo until the green vinyl has been applied completely smooth. With the short flat side as the top, use the six ty wraps to assemble the (3) black HDPE panels prior to attaching them to the tetrahedron game piece. Pull the ty wraps as tight as possible without breaking. Trim the excess ty wrap. (See FIRST 2005 Field Elements Vision Tetra Assy Drawing)
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(3) Green Vinyl Covered Black HDPE Panels Assembled with Ty Wraps
F14. To attach the assembled black HDPE panels to the tetrahedron game piece, place the assembled black HDPE panels on the inside of the tetrahedron game piece. Assistance may be required until the green vinyl covered black HDPE panel assembly is attached to the tetrahedron game piece. Put the stainless steel cable tie through the six holes with the Ty Wrap holding the (3) green vinyl covered black HDPE panels together. Make sure the indentation on the steel cable tie, with the connecting band, is facing you after threading the pointed end of the steel cable tie into the holes of the green vinyl covered black HDPE panels. Pull the green vinyl covered black HDPE panel assembly up into the tetrahedron, with the slanting edges of the assembly in line with each colored PVC pipe forming the top of the tetrahedron, until the assembly can not move any higher, then have someone hold the assembly in this position. Wrap the stainless steel cable ties around the 30” length 1 ¼” colored PVC pipes by pulling the steel cable ties until tight and then folding the excess over. Secure each stainless steel cable tie with a Ty Wrap around the pointed end of stainless steel cable tie that was bent over the connection band and inserted into the holes of the assembled black HDPE panels and the stainless steel cable tie band next to the pointed edge band. (See FIRST 2005 Field Elements Vision Tetra Assy Drawing)
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Stainless Steel Cable Tie Inserted into the Ty Wrap Holes Of the Green Vinyl Covered Black HDPE Panel Assembly
Green Vinyl Covered Black HDPE Panel Assembly Secured into Position on the Tetrahedron
Close Up View of the Stainless Steel Cable Tie Ty Wrapped
Final Assembled Vision Tetrahedron
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G
Field Electronics
4 people (2 crews of 2)
Tools Needed: • Small Common (flat blade) screwdriver, 1/8” • Wire cutter pliers (cutting Ty Wraps) • Utility knife or similar Carts & Cases needed: • Scoring System Electronics (SSE): includes Laptops, PDA’s, scan converter, monitor, routers, power strips, banked radios, banked radio stand hardware and associated cables. • Field Electronics Case: includes Station Control Cabinets, LED Display units, Field Light Assemblies, E-stop switches, human player mats, mat sensor boxes, and Field electrical cables. Overview of Electronics Installation The Field Electronics installation consists of three elements. They are: 1. Placing the main hardware components in their appropriate locations about the field. 2. Routing and connecting the cables supplied to the appropriate hardware termination points. 3. Dressing and securing cable bundles for protection. Scoring System Electronics (SSE) Determine the intended location of the tables for the Scoring System Electronics. The main scoring table for the SSE should be located at mid-field and about 8 to 10 feet from the field side border. 10 or more feet in distance is desirable. The “RED” Alliance Stations and field equipment will be located on the Right end of the field when observed from the Scoring table. The “Blue” Alliance Stations and field equipment will be located on the Left end of the field when observed from the Scoring table.
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2005 FIRST Robotics Competition (FRC) Game Field Manual Electrical Cabling Installing and connecting cables for 2005 can be less complicated when broken into and handled in two groups. Group A is composed of the pair of cables running from the Scoring Table to each end of the field. Group B consists of the cables interconnecting the electronics at the ends of the field. To aid the installer, the cables for the groups A and B are coded by colored tape at the connectors matching the colors as shown in the drawing below for easy recognition. The general routing of cables is also depicted on this drawing for reference. Group A – Two cables running from the Scoring System Equipment to each end of the field. They are the Field AC Power and the Network Data cables. Group B – These cables interconnect the Team Number LED Units, Team lights, E-stops, Mat switches, and Operator radios to the Station Control panels. These cables are marked and/or color-coded for reference. Installing Group A Cabling The cables in this group (color-coded Red and Green) should be laid, starting from the Station Control Units at the field ends and ending at the Scoring System table. This is recommended so that any excess cable can be stored in the Scoring table area.
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2005 FIRST Robotics Competition (FRC) Game Field Manual The recommended cable path (shown in the figure above is through Ty Wrap loops placed in the Ty Wrap anchor pads on the vertical support structures and then side by side parallel down the side of the field to the area of the Scoring System tables. Scoring System Interconnections At the tables, the cables are routed into the cableway (arena provided) and then over to the Scoring System tables as shown in the drawing above. (2 cables to each end.) AC Power cable ( 100’ heavy duty) – Color-code: Red. There is an AC Power cable to feed each end of the field. The 3-pin round female plug should be connected to the AC IN receptacle of the Station Control Cabinets located at the ends of the field. The AC Power connections at the Scoring System table are plugged into the AC receptacles provided from the Arena. Network CAT. 5 Cable (75 feet) - Color-code: Green. One Network cable goes to each end of the field. Connect the RJ-45 plug into the Network connection on the rear panel at each Station Control Cabinet. At the scoring System end the RJ-45s are each plugged into the wireless router in any open slot numbered 1 to 4. DO NOT plug the RJ-45s into the WAN slot. The general wiring diagram for the scoring System components is shown below.
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2005 FIRST Robotics Competition (FRC) Game Field Manual Field Electronic Placement The Field Electronics case contains the Station Control Cabinets, LED Display Units, Field Light Assemblies, E-Stop Switches, Field electrical cables, Human Player mats, and mat sensor boxes. The Field End diagram shown below depicts the general layout for the end of the field and is viewed such that you are outside and behind the playing field at the end and looking back to the playing area. All equipment mounts are behind the diamond plate and Plexiglas panels (i.e., on the outside of the field). The equipment is mounted identically at each end except for the location of the Mat Junction boxes. The Human Player Mats and the associated junction boxes are always mounted to the “audience” side of the field (away from the scoring table). So, the Mat box will be on the left side of the end panel for the “Blue Alliance” end and on the right side for the “Red Alliance” end. The following steps should be followed to place the electronic equipments: G1.Place 1 Station Control Cabinet assembly at each end of the field at the left side of Drivers Station 2 as shown in the figure below.
CAUTION The Station Control cabinet weighs approximately 110 pounds and features a pair of rollers on the forward side of the cabinet base and flat mounting feet on the back side of the unit. The unit is moved by lifting the handle on the top of the cabinet and tilting the unit forward to engage the rollers. Use care to ensure that you have full control of the unit by its handle before tilting the box. When maneuvering the cabinet into its operating position under the Driver Station shelf, it may be necessary to use the side handles. Use caution when gripping these handles as any attached connectors on the side panel connection plates may obscure and interfere with your grip and control of the cabinet.
G2.Mount the Team Number LED Display Units onto each of the three driver stations as numbered below. The LED Display assembly is attached by hooking the “J” hooks into the # 2 and # 6 holes of the 15 holes pre-drilled in the top frame of each section as shown.
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G3. Mount 1 Team Light assembly onto each of the three driver stations into position by sliding the light over the # 8 hole in the top frame. Secure the light by inserting the locking pin through the light plate and #8 hole. G4.Mount 1 Timer LED Display Unit to the Driver Station 2 Panel, hanging the Timer “J” hooks at the #10 and # 14 holes in this center panel. G5.Fasten 1 E-stop Assembly onto the left end of each Drivers Station shelf in the positions shown above to the corresponding Velcro pads, such that the cable connector is on the side closest to the edge of the flat top panel for ease in routing and connecting the cable. G6.When assembling the Red End of the field, mount the Mat Sensor Box onto the underside of the “right’ edge of the Driver Station 3 shelf using the bolt hardware provided. The proper box orientation is with the green light panel facing outward to the mats.
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2005 FIRST Robotics Competition (FRC) Game Field Manual When assembling the Blue End of the field, mount the Mat Sensor Box onto the underside “left” edge of the Driver Station 1 shelf using the bolt hardware provided. The proper box orientation is with the green light panel facing outward toward the mats. G7.Placing and Connecting Mats – On the Red end, place 3 mats along the diagonal line off the field corner in order 1, 2, 3 as shown. On the Blue end, place 3 mats along the diagonal line in order 3, 2, 1 as shown. G8.The Banked-Radio Panel containing 7 Operator Interface transceivers is mounted onto a Tetra. The cables and the radios are numbered as R1, R2, etc. for the Red alliance and B1, B2, etc. for the Blue alliance. The spare radio and cables are designated as “E”. The Banked Radio panel is located at the Blue Alliance end at Scoring Control side of the field. G9. The Banked Radio Tripod is assembled as follows: The tetrahedron shaped base is constructed very similar to the game element tetrahedron. Obtain the (4) steel tetra connectors, the (12) 3/8” x ¾” hex head bolts (these may already be screwed into the pipe nuts in the ends of the pipe), and the (4) black powdered coated pipes with pipe nuts installed on both ends of the pipe that are in the Scoring System Electronics Crate. One of the steel tetra connectors should have a hole in the center large enough to insert one 3/8” x ¾” hex head bolt. This steel tetra connector is to be at the top of the fully assembled tetrahedron base, this will allow the vertical pipe to be installed that will hold the radio bank. There should also be two collars with the radio bank attached, which will need allen wrenches to tighten the collars around the vertical pipe to hold the radio bank in the air. (See pictures below)
Radio Bank Tetrahedron Shaped Base
Top Steel Tetra Connector with the Center Hole for 3/8” x ¾” Hex Head Bolt to Hold The Vertical Support Pipe
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Banked Radio Holder
Close-Up View of the Blue and Red Banked Radio Cables Connecting to the Banked Radio Holder
Completely Assembled Radio Bank Stand
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Panel on the Left side of the Station Control Console
Panel on the Lower Back side of the Station Control Console
NOTE: Looping 11� or 14� Ty Wraps through the holes of the end frame top rails initially helps to form the harness support required for finishing the cable installation.
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2005 FIRST Robotics Competition (FRC) Game Field Manual Field B Cabling Group B includes all cables used at both ends of the field that plug in to the Station Control Cabinets. Refer to the Station Control Panel and Field Control Panel drawings below for the layout and location of interconnections. LED Power/LED Com (Violet/Magenta) Cables The primary LED Power and Data cables are 16 feet long and are routed from connections LED Pwr and LED Com on the rear panel of the Station Control unit along the base flange of the diamond plate to the far left-side post and then up to the top of the Field end panel. The connectors must then be attached to the #1 Team Number LED at the left end receptacles. At the Station Control end, the cables are attached to the LED PWR and LED Com receptacles as shown in this figure. Be sure to tighten the locking screws on the LED Com DB9 plug on the Station Control Unit. LED Power/Data Jumpers These short Power and Data cables interconnect serially from the #1 Team Number LED output to the Team Number #2 LED inputs (6’), from #2 LED outputs to the Timer input (3’), Timer output to # 3 Team Number LED inputs (3’). The 3-foot and 6-foot cables with the Amphenol 5-pin plugs deliver the Com data while the 3-pin cables provide the AC power for the LEDs.
Team Lights (Brown) Connect the 13-foot Team Light cables from the Station Control Console receptacles #1 and #2 on the lower panel (shown on the Station Control panel) to the appropriate Team Light assembly. Typically the H:\The Competition\2005\FTA Manual\2005 FRC Competition Game Field Manual.doc
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2005 FIRST Robotics Competition (FRC) Game Field Manual routing is from the Station unit up the left post to the top of the end section and then over to the #1 and #2 light assemblies. The 19-foot #3 Team light cable should be routed up the right post to the light assembly. NOTE: Be sure to route the cables such that they will not by contacted by a robot sliding down the edge of the player station. E-Stops (Blue) (5) 6 foot cables fitted with DB-9 connectors and two gender-benders are provided. Connect one 6’ cable to the #2 E-stop assembly and to the #2 E-stop receptacle on the rear of the Station Control unit. Attach one pair of 6-foot cables (joined by a gender-bender) to the #1 E-stop and to the corresponding #1 E-stop receptacle. Attach the other pair of 6-foot cables (joined by a gender-bender) to the #3 E-stop and receptacle. The best cable routing is from the E-stops to the diamond plate base flange and then over to the Station Control unit.
Gender Bender Electrical Connector
View from the Female End of the Gender Bender Connector
Banked Radio (Yellow) When the Banked Radio tower has been located the 3 Blue radios (cables B1, B2, and B3) should be routed to the Blue Station Control unit and plugged into the corresponding Radio Port DB9 receptacles. The R1, R2, and R3 cables will extend down the length of the field toward the Red Alliance Station Control unit and plugged into the Radio Port DB9 receptacles. These cables will need to be extended by use of 50� extension cables (supplied) to reach the SCC for termination.
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2005 FIRST Robotics Competition (FRC) Game Field Manual Dressing and Securing cables When the cables have been fully interconnected, the installing team should inspect, secure, and dress, as necessary, all electrical cables for best appearance and safety of the equipment and all participants to the game. The following items should be reviewed and addressed in this step: LED cables at each end of the field should be dressed and secured neatly by Ty Wraps using the available unused holes in the top rail. As a suggestion, looping 11” or 14” Ty Wraps through the holes of the end frame top rails initially helps to form the harness support required for finishing the cable installation. Cables running vertically should be secured by Ty Wraps to Tyrap pads mounted on the vertical posts in a tidy manner inside the hinged vertical joint structures so they can’t be hit by a robot. Cables and any excess at the Station Control unit should be coiled and stowed behind the unit when the Station Control unit has been placed in the proper location under the shelf at the left side of the #2 Drivers station. Verify that the E-stops are secured in their correct position at the left-side edges of the Driver station shelves and that the E-stops are not activated. Any slack in cables running to the Scoring System table should be taken up towards the table and secured. Cable bundles under the driver station shelves should be drawn together and secured by Ty Wraps supporting the bundle. Cables should neatly go down the end poles and be secured to the pole as necessary for support. The cables should be routed along the outer edge of the field sides and secured to the Tyrap anchor pads as necessary. Cables should be run under the gate walkway plates and under the outrigger support legs. Be sure that the cables are kept up against the side of the field and clear of any diamond plate or weight edges that could damage the cables.
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2005 FIRST Robotics Competition (FRC) Game Field Manual
H
Team Queuing
3-4 people
Equipment Needed: • Team/Driver, Robot, and Human Position Diagram Responsibilities of Lead Team Queuer • Create and manage the safe, orderly flow of robots to and from the playing field. • Properly stage alliances in holding areas. • Verify that drivers have connected their controllers correctly within the assigned drivers station. • Establish a system of either a 3” x 5” index card system with each alliance’s robot position with the filled in team number or copies of the Team/Driver, Robot, and Human Position Diagram in sufficient number with the filled in team number to be provided to the Field Supervisor in a timely manner to keep the schedule of events on time. • Ensure that this system for identifying the robot positions in the qualifying and elimination matches and the flow pattern to and from the competition field are communicated to the teams during the drivers’ meeting. Role of the Lead Team Queuer • Work with the event manager and field supervisor to create unrestricted paths to/from the pit area to the playing field. • Manage the flow of teams to/from the playing field. • Ensure that the appropriate numbers of teams are in the queue. • Serve as the “gate keeper” of the field. There should be no robot entry without processing through the Lead Team Queuer. Match Assignment and Robot Positioning • Qualifying Rounds o The qualification match schedule will indicate alliance partners and match pairings. It will also tell the alliance its color, RED or BLUE, for each match. The color is used to determine the placement of each team’s robot, drivers, human players, and coach around the playing field. o The qualification match schedule will indicate alliance partners and match pairings by the scoring system randomly assigning each team two alliance partners for each qualifying match to be played. o The team number will appear in the LED display above each of the positions for the drivers and the drivers must be in that drivers position (See the Team/Driver, Robot, and Human Position Diagram). o Prior to each qualifying match, teams shall indicate to the Lead Team Queuer their choice of available starting robot positions for that alliance. Once starting locations are selected and announced to the Lead Team Queuer, teams must place their robot in the selected location. Robots may not be repositioned in response to robot positions of the opposing alliance (Rule T09). H:\The Competition\2005\FTA Manual\2005 FRC Competition Game Field Manual.doc
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2005 FIRST Robotics Competition (FRC) Game Field Manual •
Elimination Rounds o The elimination match schedule will indicate the alliance color, RED or BLUE, by a predetermined color matching to the particular elimination round. o The elimination match ladder will be filled with the seeded alliances as follows: Quarterfinal 1: 1 vs. 8 Quarterfinal 2: 4 vs. 5 Quarterfinal 3: 2 vs. 7 Quarterfinal 4: 3 vs. 6 Semifinal 1: Winner Q1 vs. Winner Q4 Semifinal 2: Winner Q3 vs. Winner Q2 Final: Winner S1 vs. Winner S2 o The elimination match schedule will be conducted in the following order: First Quarterfinal Elimination Bracket • 1st match from Q1 • 1st match from Q2 • 2nd match from Q1 • 2nd match from Q2 • Etc. until the first alliance wins two matches and then that alliance will advance to the Semifinal elimination Bracket. Second Quarterfinal Elimination Bracket • 1st match from Q3 • 1st match from Q4 • 2nd match from Q3 • 2nd match from Q4 • Etc. until the first alliance wins two matches and then that alliance will advance to the Semifinal elimination Bracket. First Semifinal Elimination Bracket • 1st match from alliance winner Q1 vs. alliance winner Q4 Second Semifinal Elimination Bracket • 1st match from alliance winner Q3 vs. alliance winner Q2 • Etc. until the first alliance wins two matches and then that alliance will advance to the Final Elimination round. o The team number will appear in the LED display manually through the scoring system above each of the positions for the drivers and the drivers and their robots must be in that drivers position (See the Team/Driver, Robot, and Human Position Diagram). o During elimination rounds, teams may orient their robots within the selected locations once the robots are placed on the field. The higher seeded alliance will have the last opportunity to orient their robots within the selected positions (Rule T09).
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2005 FIRST Robotics Competition (FRC) Game Field Manual Team/Driver, Robot, and Human Position Diagram Figure I-A
1
3 2
2 3
1
BLUE
1
B
2
3
C
A
C
B
2
A
3
A, B, and C are robot starting positions. Starting positions are chosen by each alliance before placing robots on the field before each match.
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RED
1
1, 2, and 3 are team / driver positions. These positions are assigned by the scoring system for each match.
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I
Field Finish
8 people
Equipment Needed: Plexiglas Cleaner Vacuum Rags or Paper Towels Gaffer’s Tape (Red, White, Blue) Black Sharpie Pen 2005 Field Layout and Marking Diagram. J1. Place the Automatic Tetra Loaders in position on the scoring tableside of the field in accordance with the Field Layout and Marking Diagram. J2. Vacuuming: vacuum the entire field. J3. Mark the vision tetrahedron locations by snapping a chalk line between the six green tape marks on each side of the bottom rails of the field border in accordance with the 2005 Field Layout and Marking Diagram. Measure from the edge according to the 2005 Field Layout and Marking Diagram. The chalk line corresponds with the base of the vision tetrahedrons; the mark on the 2005 Field Layout and Marking Diagram to each vision tetrahedron location is the center of the bottom edge of the vision tetrahedron. With a black Sharpie pen or small black tape, lightly mark the carpet with the 3 corners of a game/vision tetrahedron as an outline and in the center of the triangle shape, marked by the 3 corners, mark lightly the corresponding number from 1 – 8 in accordance with the Field Layout and Marking Diagram. The flat edge of each tetrahedron shape MUST face the respective colored end frame and BE PARALLEL with the respective end zone line. The marks or tape for each corner/point of the vision tetrahedron location should not be visible from the audience. J4. Place all Velcro backed HDPE red, blue, and yellow triangular shapes in accordance with the Field Layout and Marking Diagram. The red and blue triangular shapes are for the Human Player and Automatic Tetra Loading Zones. The blue and red triangle edge locations are marked by the blue tape on the bottom rails of the field border. The yellow triangular shapes are centered in the base of each goal, including the center goal. When all triangular HDPE shapes have been correctly placed, clean them using a paper towel and plexi-glass cleaner to remove any and all markings, especially the yellow triangular shapes in the bases of the goals. J5. Tape the Human Player zone for the red and blue alliance in accordance with the 2005 Field Layout and Marking Diagram to include the Human Player loading zone areas and the pressure mat areas, if not already done.
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2005 FIRST Robotics Competition (FRC) Game Field Manual J6. While one crewmember is vacuuming two crewmembers will be cleaning the Plexiglas. The Plexiglas MUST be cleaned with the cleaner provided. Note: This cleaner is for Plexiglas/HDPE plastic ONLY. J7. Once the field has been vacuumed two crewmembers can begin taping the field. Use the 2” white, the 2”blue, and the 2” red gaffer’s tape as specified in the Field Layout and Marking Diagram for proper placement of the lines. The both end zone line tape locations are marked with red tape on the bottom rails of the field border. J8. Scoring Table Completion: Ensure that the scoring computer, the pit computer, the scan converter, the router, and the (2) PDA’s are unloaded from the crate and placed on the scoring table. Check to make sure all components are hooked up correctly and everything is functioning properly. J9. Tetrahedron Distribution: The tetrahedrons will need to be distributed and placed as follows for the red and the blue alliance half of the field: • (2) Stacks of (8) tetrahedrons directly behind of each the (2) tetra loading stations per alliance. (16) Total tetrahedrons. • Place (1) tetrahedron on each of the tetra loading stations. (2) Total tetrahedrons. • (3) Stacks of (6) tetrahedrons on the drivers station side of the pressure sensitive mat for the human players. The human players must have a clear path to their alliance’s human loading stations. (18) Total tetrahedrons. • (2) Hanging tetrahedrons in each corner goal in the end zone of the respective colored alliance. (2) Total tetrahedrons. • (2) Vision tetrahedrons need to be placed near the center side goal, nearest the scoring table, on the respective colored alliance’s half of the field. These do not get officially placed until the random numbers 1-8 are generated by the scoring system prior to each match to determine the random position of each vision tetra. (2) Total tetrahedrons. • (1) Tetrahedron needs to be placed in the respective colored end zone for each alliance for one robot on that alliance to have at the start of each match. (1) Total tetrahedron. (41) Total tetrahedrons per alliance at the start of each match. See Team Update 02, Section 3 – The Arena.
Minimum crew requirements: Eight willing able bodied people and one really good Field Marshall that knows the components and installation sequence. The Field Marshall must be able to control the crews to prevent them from getting ahead of themselves.
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J
Field Disassembly
8-10 people
FIELD DISASSEMBLY IS NOT THE FIELD ASSEMBLY JUST DONE IN REVERSE. IT IS IMPORTANT TO READ THIS DOCUMENT COMPLETELY IN ORDER TO BE PREPARED FOR THE DISASSEMBLY. PLEASE PACK EVERYTHING PROPERLY. Nothing should be left over after the packing is complete All crates have a location color to designate their location: Yellow = Pit, Green = Field, Pink = Event Office, Orange = Judge’s Room, and the Volunteer Resource has no color assigned. Preparation for Packing the Field and Load Out While tearing the field down and packing it into the crates, you will likely find you have more help than you ever imagined. Stop the chaos before it begins! Gain solid control of the field breakdown. The FTA / Field Supervisor should pick 8-10 volunteers that will assist in field disassembly and packing. See “Unionized Venues” section before you completely populate your crew. Unionized Venues – General Discussion If you are in a unionized facility, the union will help you and you must let them. The level of their participation seems to vary from venue to venue and it is not clear that it varies because of union rules or the actual workers. Whatever the case, they are easy to get along with and are very hard (and quick) workers. If you have any questions concerning this issue, then ask the SPS technical director or the Show Ready Event Manager on site. If you do not comply, the job could be shut down. As an Example: In Pittsburgh, we were allowed to pack crates and push them to the loading dock but about 6PM that changed when the Stagehands started. They were the only ones that could push crates to the loading dock. It wasn’t an issue; you just needed to find one of the many union people to help you… and they were glad to help. Sometimes they help pack the crates and you and others can pack the truck and sometimes they “insist” that they pack the trucks. While you or someone like Steve Sargent can direct them, they will do the bulk of the work. Bottom line listen to them. Typically, there will be a union supervisor or the like that will help you with the “rules”. If you have any questions, you can also ask the Technical Production person or the event manager. Whoever does the work, keep the packing under control and make sure that you follow the truck packing instructions so that everything will fit on the truck. All Venues – Specific Instructions Steve Krawik (Event Manager overseeing all events) and Steve Sargent (Technical Production Director overseeing all events) have decided that S. Sargent (or his designee) will arrange for his truck loaders to unload and load the FIRST truck at every event. That helps make the "1 day setup" work, and sets all of us H:\The Competition\2005\FTA Manual\2005 FRC Competition Game Field Manual.doc
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2005 FIRST Robotics Competition (FRC) Game Field Manual up to operate in a manner more in keeping with what the venues expect. The FTA / Field Supervisor or whomever is in charge of the FIRST truck packing can direct 4 union (or non-union) loaders. These 4 people will do the lifting. In most cases, you are free to push your gear to the field area and set it up. Stephen Sargent (or his designee) will assign 4 local Stagehands to assist you with field setup. The FTA should see the Technical Director on site to confirm any special exceptions. Before the Awards Ceremony • The colored tetrahedrons can be gathered together for transport to the next event; • TETRAHEDRONS ARE NOT TO BE GIVEN OUT; they are a scarce resource; FIRST will need all tetrahedrons for future events; • Remove the end zone goals from each end zone leaving the center row of goals. The goals removed from the field can QUIETLY start to be disassembled. Any disassembly of field components prior to the Awards Ceremony needs to be respective of the noise level generated from field disassembly. Event Over Teams, particularly the winners, will want to take pictures on the field after the event is over. That is okay but you can get started with packing even while they are on the field. Cutting wire ties, disconnecting wiring and starting to pack LED’s and electronics can all be accomplished while photos are being taken on the field.
TEAMS CANNOT HANG FROM THE GOALS, THE CENTER GOAL, OR STAND ON THE DRIVER STATION SHELVES FOR A PHOTO OP!
Items to complete while teams are still on the field Get your workers together. Tell them that about 8 people are all it takes to dismantle and pack but the rest can stand by to help push crates to the loading dock when they are full or when someone might need a break. Too many people, all with good intentions, can be totally chaotic and non-productive. Move all crates into position. This will eliminate extra handling of some pieces as they can be placed directly into their travel crates. •
• • •
The Scoring System Electronics (SSEs… this has the laptop computers, including the pit laptop, scoring software, router, PDA’s, the scan converter, the banked radios, the banked radio stand hardware, power strips and associated cables) can be disconnected, the printer and monitor stored within the Scoring System Electronics Crate; Ensure the field support items like the fire extinguisher, scissors, tape, etc. are collected and packed into the Field Tool / Support Crate; Move the Field Electronics Crate to one end of the field; The Pit Display computer should be shut down and returned to the scorer’s table for packing into its case and then into the Scoring Table Crate; the Ethernet cable run from the pit area typically belongs to Steve Sargent’s crew; check with his rep;
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2005 FIRST Robotics Competition (FRC) Game Field Manual • • • • • •
All field wire ties can be cut in preparation for the removal, coiling, and packing of cables. Ask the FTA for guidance. All the cabling connections to Field Electronics (LED’s, lights, Station Control Cabinet, pressure sensitive mats, mat boxes and banked radios) can be broken down; The LED’s displays (3 team and 1 timer) at each end can be taken down and placed directly into the Field Electronics Crate; The 3 lights at each end can be taken down and packed into the field electronics travel crate; The Banked Radios can be removed and put into the Scoring Table Crates; The Station Control Cabinets (SCC… this houses the Station Control cabinet controllers and other electronics) at each end can be packed into the Field Electronics Crate;
Breakdown and Pack the Field The event manager, the event assistant, pit admin, and other areas will prepare their areas and pack their crates. They will either move them near the field or move them towards the loading dock. The only exception is the sizing box, scale, and calibration weights. This is the responsibility of the field crew to pack. Coordinate with everyone so that FIRST leaves the event with all that FIRST brought. Once again, make sure your people know what is going to happen ahead of time. As crates and carts are filled, they can be staged and prepped to go to the loading dock. You must be careful, however, because some venues have limited dock space and we share with A/V and Midwest Conference Service. Also, you must carefully follow the truck packing plan so anticipating what needs to go to the loading dock 1st to go on the truck is very important. • All carts are labeled with the field component(s) stored on that cart. It is critical to use the proper cart to avoid damage to field components or injury to people moving carts; • Collect and pack in the same crate all colored triangular floor shapes, all (4) plexi-glass field border gates, and all (24) pieces of the plexi-glass border.
Triangular colored shapes, plexi-glass border, and the field border plexi-glass gates Crate
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2005 FIRST Robotics Competition (FRC) Game Field Manual •
The 4.5’ field border segment that connects the end frame to the field border, (4) total, pack in the same crate as the pipe crate for the goals. Disassemble all goals, including the center goal, and pack in the same crate as the 4.5’ field border segments that connect the end frame to the field border. The hex nuts get screwed back into the pipe ends leaving the steel tetra connector on one end of the pipe. The 4.5’ field border segments connector DO NOT go in the field border segment crate nor the Antler cart;
Crate with the Pipes/Hardware for Goals, Center Structure, Hardware, and 4.5’ Connecting Field Border Segments • •
End of Crate with Pipes for Goals Showing Boxes with Hardware for Goals and Center Structure
Collect all (4) automatic tetrahedron loaders. These ride on top of crates or in the open crate with the goal pipes. All four will not fit in the crate with the goal pipes; One crew of 4 will dismantle and pack 1 field end, while another crew of 4 will dismantle and pack the other end. The total for each end is 1 cart. Pack the end frames only after the field electronics has been properly packed for that end;
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2005 FIRST Robotics Competition (FRC) Game Field Manual
Antler Cart for End Frame Same Antler Cart for End Frame (1) Antler Cart for each End Frame – (2) Total o The (4) outrigger weights are to be placed on the Antler Carts prior to loading any End Frames or Plexi-glass onto the Antler Cart. The outrigger weights are to be loaded with the V-shape facing upwards with the steel weights showing as one looks down on the Antler Cart.
Outrigger Weights with the V-Shape Facing Upwards when looking down on the Antler Cart o The Plexiglas holders (the 3 tops from each end) all pack onto the Antler Cart; o The 3 Plexiglas sheets from each end all pack onto the Antler Cart and secured; H:\The Competition\2005\FTA Manual\2005 FRC Competition Game Field Manual.doc
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• •
•
•
•
o The 3 diamond plate end panel sections with the Velcro pads and the fold down shelf all pack onto the Antler Cart; o The 4 vertical joint structures, with and without hinges, per end frame all pack onto the upper racks of the Antler Cart. BE CAREFUL WHEN THIS PORTION OF THE ANTLER CART IS LOADED. Make sure the vertical joint structures are secured so as to not slide out during on/off load. The (4) vertical joint structures load onto the top portion of the Antler Cart in a particular order to make sure the Antler Cart can make it through the height of a doorway. PLEASE FOLLOW THE PROPER LOAD SEQUENCE. The two non-hinged vertical structures go on top first. They are loaded such that the D-rings are opposite to one another. The two end hinged vertical structures then go on top such that the D-rings are again opposite to one another and interlocked to fit on the two non-hinged vertical structures. Now that the field ends are gone lay both side borders down onto the carpet towards the inside of the playing field; you will have to help the Velcro release from the carpet. One of the two crews starts at the field border end and works towards the opposite end; dismantle and pack into a long crate x01. The border sections lie down in the crates and alternate the 3” angle aluminum towards the front of the crate, the back, the front, etc. The 4 side outriggers and the side outrigger weights from each field border side go into same cart as the field border segments; One of the two crews starts at the other field border end and works towards the opposite end; dismantle and pack into a long crate x01. The border sections lie down in the crates and alternate the 3” angle aluminum towards the front of the crate, the back, the front, etc. The 4 side outriggers each field border side go into same cart as the field border segments; One crew of 2 dismantles the center goal and packs it; o Disconnect the tetrahedron top from the vertical support poles on the welded base supports by removing the hex head bolts from the corner connector and the steel tetra connector and then screwing them back into the end of the pipe with the pipe nut; o Remove the 3 vertical support poles from the welded base with the corner connectors attached; o Disassemble the tetrahedron top by removing 2 of the 3 bolts from each steel tetra connector, leave the steel tetra connector attached with a hex head bolt to one pipe end, and screw all remaining hex head bolts into all open pipe ends with pipe ends; o Place all disassembled pipes into the crate; o There should be no remaining hex head bolts, steel tetra connectors, and/or corner connectors after all pipes are in the crate. Two crews of 2 dismantles the (8) goals and packs them; o Remove the 6’ length 1 ¼” sched 40 aluminum pipes by removing 2 of the 3 bolts from each steel tetra connector, leave the steel tetra connector attached with a hex head bolt to one pipe end, and screw all remaining hex head bolts into all open pipe ends with pipe ends; o Leave the steel tetra connector attached with a hex head bolt on one end of the pipe; o Replace the hex head bolts in the end of the pipes; o Place all goal 6’ length 1 ¼” sched 40 aluminum pipes in the crate.
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2005 FIRST Robotics Competition (FRC) Game Field Manual Carpet The carpet must be rolled up. Usually there is a team that will take the used carpet for their own use at local events. You may not know who the team might be before the event begins but start asking around during the Thursday practice day. â&#x20AC;˘ Remove the gafferâ&#x20AC;&#x2122;s tape from the perimeter of the carpet; â&#x20AC;˘ Use a carpet blade to cut the carpet down the middle so that you cut through the gafferâ&#x20AC;&#x2122;s tape and the under-carpet seaming tape; BE CAREFUL OF THE FLOOR UNDERNEATH; â&#x20AC;˘ Separate the 2 pieces of carpet a little to simplify rolling; â&#x20AC;˘ With a 15â&#x20AC;&#x2122; wide piece of carpet, 5 people should help do the rolling; â&#x20AC;˘ Roll the carpet by starting with a very tight roll and maintain it with good alignment; the last thing you or the team taking the carpet wants is a roll that looks like a pencil; a 15â&#x20AC;&#x2122; carpet could end up being 18â&#x20AC;&#x2122; wide if the rolling really runs off course; â&#x20AC;˘ After it is rolled, tape the roll in 4 spots to keep it together; this will require the tape to totally encircle the roll 1x plus a little; â&#x20AC;˘ Use the carpet dollies to roll the carpet off to the side or to a location from which the team can take it or the venue will let you dispose of it; â&#x20AC;˘ Make sure you collect all of the carpet dollies and tools; these are easily forgotten; All Crates / Carts at the Loading Dock â&#x20AC;&#x201C; Start the Packing Remember, depending on where you are, the union will have varying degrees of involvement in the packing. Pay attention to the truck loading from the beginning. Follow the truck packing instructions, which is basically pack it high and tight right away because it is really hard when you are at the back of the truck and it is obvious not everything is going to fit. Many trucks show up with a variety of items on them that belong to the trucker / trucking company, e.g., moving blankets, load bars, and plywood. You may need some or all of these but we have seen trucks with 100â&#x20AC;&#x2122;s of blankets, 50 load bars, and 36 sheets of plywood. This material can really eat into the space available for your load. Advice: do the best to figure it out, as the field cannot stay where it is. You may get a truck that has a higher front section that can deduct from your available load area. Just deal with it. A good trick can be to build a platform high in the truck from the load bars and plywood. This can hold a lot of smaller items and basically creates more â&#x20AC;&#x153;floorâ&#x20AC;? space for you. Load the crates / carts. Periodically, use straps, load bars, and moving blankets as required to stabilize the truckâ&#x20AC;&#x2122;s contents and prevent the load from shifting / tipping over. Items that do not have a storage place can be thrown on top at the end. <28 6+28/' +$9( 25 3(23/( 3(5)250 $ 48,&. :$/.7+528*+ 2) 7+( %8,/',1* 72 9(5,)< 12 ),567 0$7(5,$/ +$6 %((1 )25*277(1 $6 $ ),1$/ &+(&. 9(5,)< 7+$7 7+( &$53(7 '2//,(6 $5( 3$&.(' 21 7+( 758&. The trucker will have you or the FTA sign paperwork. The truck and crate contents are listed in your manual and, if the trucker requires a list of what is included in the load, you should tear out this section, initial it, and give it to the driver. If the trucker has a cell phone, it is a good idea to get his number. This can assist FIRST in tracking the truck if it is delayed in route to the next event.
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Add - 1
Field Vision Auto-Calibration Procedure
1 person
Equipment Needed: Auto-calibration camera Tetrahedron (color is irrevelant) (1) Red HDPE triangular shape (1) Yellow HDPE triangular shape (1) Vision tetra with the green vinyl covering the black HDPE panels Information about the CMUcam II FIRST has made every effort to make the CMUcam2 setup and calibration as robust as possible but does not have control over the varied environments in which the camera may be operated. Since the vision sensor deals specifically with the nature of light and color in a more precise manner than the human eye-to-brain system, it requires a stable operating environment. Below is some useful information to help you get positive results with your use of the vision sensor. As you experiment with the CMUcam2 camera from the Kit of Parts, make sure that you pay attention to the lighting environment in which you test. Most, if not all, of the competition venues will be very well lit and the light levels will be much higher than you might expect. This will have an affect on the illumination levels received by the camera. But perhaps even more important, the type of lighting used in the competition venues will significantly affect the response of the camera. If you are testing your camera in a lighting environment that is markedly different, you may want to take steps to adjust the lighting to be more closely aligned with the competition lighting. Most gymnasium and coliseum locations use sodium vapor or mercury vapor lights. These lights usually have a color temperature of around 2000-2100 Kelvin, and have a noticeable yellow tone. This yellow tone will shift the color of the vision tetras as the camera perceives them. As most of the competitions will be held in these types of lighting environments, you will need to be aware of - and compensate for - this warmer lighting. If your development environment is lit with standard florescent lighting as is found in most school rooms and shop environments, be aware of the heavy blue bias in the lighting. Florescent tubes have a color temperature of around 6500 Kelvin (standard broken spectrum tubes). This is noticeably bluer/cooler than typical daylight at midday (around 5500 Kelvin) or bright metal halide lighting (around 4500 Kelvin). If you tightly calibrate your camera for this type of environment, you may run into problems when you get into competition lighting. If you have access to a lighting colorimeter or spectroradiometer, you can measure the precise color temperature of your environment and make appropriate adjustments. But there are less involved, and less expensive, ways to get a reasonable approximation of what you can expect in the competition H:\The Competition\2005\FTA Manual\2005 FRC Competition Game Field Manual.doc
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2005 FIRST Robotics Competition (FRC) Game Field Manual venues. One of the best ways to compensate for the differences in the lighting environments will be to get a 500 watt halogen work light (available at Home Depot and similar locations) and use it to light your test environment. Halogen lamps have a color temperature around 3200 Kelvin. One or two of these will dump a lot more lumens and a lot more warmth into your lighting. Add one or two targeted incandescent tungsten lamps (color temperature 2850 Kelvin for a typical 100 watt bulb), and you will be getting close to where you want to be. Vision Auto-Calibration Procedure 1. IFI personnel/FTA will carry out the below identified vision auto-calibration procedure at least two times during each day of practice and competition. The first time will be within 15 minutes of the pits opening each day and the second time will be during lunchtime. When the three correct exposure values for yellow, green and red have been determined for the lighting conditions on the playing field in the venue, IFI personnel/FTA will post the numbers at pit admin for use by the teams. 2. Perform the following vision auto-calibration procedure to determine the three correct exposure values for yellow, green and red:
Camera Calibration Guide This document will guide you through the calibration process allowing your CMUcam2 to track the five predefined FIRST competition colors. In general, the ability to track colors with the CMUcam2 is drastically effected by the intensity of the light that is reflecting off of the target. One way you can compensate for lighting variation is by adjusting the cameraâ&#x20AC;&#x2122;s exposure. The exposure of a camera controls how much light is allowed to fall on its sensor. By increasing the exposure value on the CMUcam2, more light is allowed to reach the sensor making the image look brighter. Since the colors that are to be tracked are known ahead of time, we have provided the ability to automatically calculate a correct exposure value for each particular target on the field. This automatic calibration can be found in the modified version of the CMUcam2 Graphical User Interface (GUI) available from the FIRST website. Before you begin, make sure that you have correctly installed all of the FIRST software including java.
Step 1: Setup and Position the Camera In order to be able to track all five of the FIRST specified colors, you must calibrate on three different targets shown below. The order in which you calibrate does not matter. It is best to train the target in the position it will be used on the field. This calibration procedure is to be done for five positions on the field: at each end zone, at the center of the field, and for one vision tetrahedron position on each half of the field. If for some reason you find that your normal light is not bright enough (this can occur with certain florescent lights), consider illuminating just the target with a more concentrated external light. In general, yellow and green tend to be more robust even in lower light conditions.
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Flat Red Triangle
Flat Yellow Triangle
Special Green Tetra
1) Connect the camera to the battery pack using the battery adapter cable.
Calibration Camera
Battery Pack
Battery Adapter Cable
2) Connect the serial cable (DB9) from the computer to the camera. Make sure the camera lens cover has been removed and put in a safe location. The lens cover will need to go back on the camera lens when the calibration process has been completed.
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2005 FIRST Robotics Competition (FRC) Game Field Manual 3) Setup the Field as shown below i. Make sure the camera is 36 inches from the floor - Two stacked tetras can be used as a stand ii. Clamp the camera to the top tetrahedron in the stack of two
Camera Clamped to Top Tetrahedron iii. Make sure the camera is 11 ft from the target iv. Using a piece of guide rope can help in the alignment
Top View
Guide Rope
Target
Tetra 10 Feet from front of Tetra to Target
Side View Point Camera Straight Ahead Camera 36 in
11 Feet from camera to front of target
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2005 FIRST Robotics Competition (FRC) Game Field Manual Step 2: Starting the CMUcam2 GUI Find the CMUcam2GUI_fe folder/directory on your computer and go into the stand_alone subdirectory. You should see the following three files: CMUcam2GUI_fe.jar, sserial.dll, and config.txt. â&#x20AC;&#x153;config.txtâ&#x20AC;? contains the default camera tracking parameters that are read when the GUI initially loads.
Turn the camera on using the power switch at the bottom of the enclosure on the camera control board.
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2005 FIRST Robotics Competition (FRC) Game Field Manual Double Click on the CMUcam2GUI_fe.jar file to launch the GUI. Next, you should see a dialog box like the one below asking you to select a serial port.
Enter the number of the COM port that you wish to use. For example COM1 would be “1”. After you have entered the correct COM port, Press the OK Button to continue.
If the camera is connected correctly, and you entered a correct COM port, you will see the message “CMUcam Version 2 type 7 ready” appear in the Console text box
If the camera is not found, try restarting the GUI after turning the camera on and off. Check the power, cables and make sure that you had the correct COM port entered. Steps 3, 4, and 5 should be done at both ends of the field, at the center of the field, and at one vision tetrahedron position on each half of the field.
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2005 FIRST Robotics Competition (FRC) Game Field Manual Step 3: Grab a Frame and Align the Target
Next, Click the “Grab Frame” button (circled in red) to see where your target is located. After about 30 seconds, an image should appear in the middle of the screen. Try to center the target as best as possible inside the “Alignment Bracket”. You may need to tilt the camera slightly to correct for any vertical error. Grab a few more frames to be sure. Also, make sure that the area inside the light grey calibration bounding box is clear of colorful objects such as other tetras or targets. This is the region of the image that the camera will use for its calibration.
One useful feature to explore is the ability to scroll the mouse pointer over the image to see the Red, Green, Blue, (RGB), color values for each point in the image. These values are displayed under their titles next to the Color Picker in the Camera View window. When you click on a color, all occurrences of that color in the image are highlighted, and the colors Red, Green, Blue, (RGB), values are filled into the min. and max. boxes of the “Color” window. The min. and max. values are determined by adding / subtracting the value in the Select Tolerance text box to / from the mean values of the color the cursor was on when you clicked on it.
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2005 FIRST Robotics Competition (FRC) Game Field Manual Step 4: Calibrating Before calibrating the target “grab” a frame and inspect it closely for instances of glare. Shown below are two pictures; the one on the left has an excessive amount of glare, the one on the right was taken after the target was slightly rotated. NOTE: When you calibrate on a color the camera is programmed to operate in one of two color modes, RGB or YCrCb. In RGB mode the picture you get when you GRAB a frame will appear normal in color. In YCrCb mode the picture you get when you GRAB a frame will appear abnormal in color. To normalize the picture you get when you GRAB a frame click on RESET at the top of the GUI screen, wait a couple of seconds then GRAB a frame. The picture should appear normal.
A Bad amount of glare
Target slightly rotated to remove glare
Next, Click on the name of the color target that you have centered in the screen.
The progress bar below “Grid Toggle” should start moving as the camera is calibrating. Upon successful completion, the “???” in the text box next to the color’s name should be replaced with the correct exposure value. Repeat steps 3 and 4 for the other two colors until all question marks are replaced by number values. For each of the five positions on the field that the calibration is required to be done, record the correct exposure value for the 3 colors and then average the 5 numbers for each color. H:\The Competition\2005\FTA Manual\2005 FRC Competition Game Field Manual.doc
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2005 FIRST Robotics Competition (FRC) Game Field Manual Step 5: Testing the Calibration Once you have calibrated each color, you can test to see how well the calibration is working.
Click on the “Color” tab to switch to the color tracking panel. Then Click on the color that you wish to track. For example, here the red target is being tracked. *Note that if you manually enter the exposure values on the previous panel, and then you switch back to the “color” panel, your new manually entered values will be used. Test the calibration for the yellow, red and green colors. Once satisfied with the testing of the calibrations for each color, provide three correct exposure values for each color to the scorer at the scoring table.
The Red Dot shows the “centroid” also referred to as the middle of mass of the image. This is where the camera has calculated the center of the object is located. The middle of mass is what you should use when trying to drive towards or follow an object. The light blue color shows a low-resolution image of the exact regions in the image the camera detects are close to the color you are tracking. Here we can see our red triangle from before. This feature of the CMUcam2 is called “linemode”.
To get out of this program, bring up the task manager by using CNTRL-ALT-DEL or by scrolling to the bottom task bar and right clicking the mouse. The Task Manager bar should appear in the box.
The dark blue box shows the bounding box that contains all tracked pixels. It is the smallest rectangle that is parallel to the x and y axis that holds all of the tracked sections of the image. If this dark blue area fits tightly around the cyan colored blob, then you have a great track on the object.
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2005 FIRST Robotics Competition (FRC) Game Field Manual How Calibration Works The camera calibration program is given the approximate size, (in pixels), and location, (distance), of the target object. It uses this information in the process it uses to “pick” an Automatic Exposure Control, (AEC), setting. It starts off initially with the AEC set to 0. At this level, the image should be nearly black. It then uses hard coded tracking parameters for the color and checks to see if it can find the object. If it does not find the object, it increases the AEC setting and then tries again. As the AEC setting starts to get closer to a good value for the scene, the object will start to be found by the camera. The program stops the search when it can track an object that is large enough to be the target that you placed in front of it and reports the AEC setting.
Troubleshooting The CMUcam GUI_fe will not start, or Java does not appear to work. If this turns out to be the case, please refer to the CMUcam2_fe_manual Documentation provided by FIRST. It has a more detailed explanation of how to install and setup the camera.
The following error dialog pops-up when I try to calibrate on a color:
This error message occurs when the target fills up too much of the camera’s view. This could be because the target is too close, too bright, or that the background does not have a large enough contrast with the target. Make sure that you have a dark carpet / floor underneath where you are training.
The following error dialog pops-up when I try to calibrate on a color:
This can be caused if the target was not correctly place in the training brackets. It can also be caused by too little light. Make sure that you have at least 75-foot candles of illumination on the target you are trying to train.
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2005 FIRST Robotics Competition (FRC) Game Field Manual None of the target colors specified will not work when I try to calibrate on them: This can happen if the lighting is insufficient for the camera to â&#x20AC;&#x153;seeâ&#x20AC;? the colors as they are defined for the FIRST competition field targets. If you are sure the camera is working they you should try; a. Increasing the lighting in the environment you are testing in. b. Choosing a different target color. c. Moving to another area to test the camera. 3. Once the three correct exposure values for yellow, green and red are determined for the existing venue conditions, then these values need to be posted on the pit display. The scorekeeper will need to have the three correct exposure values for yellow, green and red to input into the scoring system to have displayed on the pit display.
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2005 FIRST Robotics Competition (FRC) Game Field Manual
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Practice Area Set Up Procedure
2 people
Equipment Needed: Carpet – 15’ x 30’ (Carpet edges to be taped) Spare field and game elements o (2) Side goals – (1) center side goal, (1) corner goal o (1) Center goal o (2) Automatic Tetra Loaders o (3) Yellow HDPE Targets o (2) Red HDPE Targets (1/8” vs. 1/4”) o (2) Blue HDPE Targets (1/4”) o (1) Red Vision Tetras – keep one spare vision tetrahedron near the field for exchange while the other vision tetrahedron is being repaired o (1) Blue Vision Tetras – keep one spare vision tetrahedron near the field for exchange while the other vision tetrahedron is being repaired o (1) Red Hanging Tetra o (1) Blue Hanging Tetra o (5) Red spare tetras o (5) Blue spare tetras (1) Black Sharpie pen Red, Blue, Black and White gaffers tape 2005 Practice Area Layout Diagram Practice Area Criteria Cost effective Utilizes spares that FIRST provides with the field Fits within the FIRST trucking standards Fits within the venues hosting FRC regional events Provides an area for teams to test code and hardware, but not to carry out full match rounds Practice Area Set Up Procedure 1. FTA is not responsible for setting up the Practice Area, but will assist if time and priorities allow. A volunteer, or group of volunteers, will be responsible for setting up and making sure the Practice Area is packed and ready for truck packing. There is not a requirement to set the practice area provided by FIRST up at each venue. This practice area set up and disassembly will be contingent on having willing volunteers that will take on this responsibility. If a venue has made arrangements for some other practice field/area, then do not use what FIRST has provided. 2. The first time the practice area carpet is used the edges of the carpet will need to be taped using black gaffers tape around all four edges of the carpet prior to being taped in place in the venue. If it H:\The Competition\2005\FTA Manual\2005 FRC Competition Game Field Manual.doc
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2005 FIRST Robotics Competition (FRC) Game Field Manual is not the first time that the practice area carpet is being used, then ensure that the four edges are taped around and that the tape is in good condition. 3. The 15â&#x20AC;&#x2122; x 30â&#x20AC;&#x2122; section of carpet should be placed in an area suitable for the length and width of the carpet and that has adequate lighting for testing the vision systems of the robots. In some venues, lighting may not be suitable for the location of the practice area in the particular venue, but there may no other space available. Do the best you can for what the venue has to offer. 4. The spare center goal, the spare side center goal, and the corner goal will need to be assembled using the procedures of sections D and E. Once assembled, then they can be placed on the carpet in accordance with the Practice Area Layout and Marking Diagram, Figure Add-1. 5. The carpet will need to be taped in accordance with the Practice Area Layout and Marking Diagram, Figure Add-1. A red and/or blue end zone line will need to be marked and the 2, 7, 5, 1, and 6 random vision tetra positions will need to be lightly marked in the carpet with a Sharpie pen with the flat sides of the vision tetras facing the end zone and parallel with the end zone line. 6. After the goals have been assembled and placed, the carpet marked as stated in step 4, and the automatic tetra loaders have been placed, then the yellow, red and blue triangular HDPE shapes are to be placed in the appropriate places. The yellow shapes are inside the goals, including the center goal. The red and/or blue are to be placed directly in front of the automatic tetra loaders. 7. Place the vision tetras randomly on the marked spots and use the spare tetras to be placed on the automatic tetra loaders or with the robots in the starting position in accordance with the rules for robots starting with a tetra. Also, hang a spare hanging tetra in the assembled corner goal. 8. There will be no formal practicing of the human player in the Practice Area due to safety reasons and no pressure sensitive mats to disable the robots. 9. All robot testing and practicing in the Practice Area will be done on the tether. THIS IS FOR SAFETY REASONS. 10. If a need arises due to game and/or field element(s) failure on the competition field, then the practice area will become the source to replace the competition game and/or field element(s). Team practice elements may be a good alternate source for game and/or field element(s) taken for the replacement on the competition field or the practice area will be without that particular game and/or field element(s), if all spares are utilized on the competition field.
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2005 FIRST Robotics Competition (FRC) Game Field Manual
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Sizing Box Information
2 people
The Sizing Box is supplied in six pieces; 1. One Side Panel 2. One Back Panel 3. One Base 4. One Top Panel 5. One Support 6. One Wand
The Side and Back panels are assembled to the Base by inserting the ends of the plastic sheets into the channels along the side and end of the base. The Support is assembled to the Base by inserting the sharp-cornered end of the Support into the corner slot provided on one corner of the base. The Top Panel is assembled to the structure by placing the Top panel on the structure with the corner tabs fitting onto the support. The Side and Back panels assemble to the Top Panel in the channels created between the plastic sheet and frame of the Top Panel.
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2005 FIRST Robotics Competition (FRC) Game Field Manual The Wand is used to determine if any part of the robot protrudes beyond the limits of the open sides of the sizing box.
Sizing Box operation: • Load the robot (if necessary, temporarily raise the Top Panel and remove the Support). Ensure that all panels are squarely in place. • Position the robot within the box per inspection requirements. • Sweep the Wand up and down, flush across each open side of the box. Orientation is such that the underside of the Wand’s tab slides along the outside of the Support, and the other end of the Wand slides along the edge of Side or Back Panel.
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