FLL to FVC a Case Study

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1 FLL to FVC a Case Study Presented by: John Pilvines, Coach of Team Unlimited (FVC 2013) Alex Falcon, Nick Kondratiev, Benjamin Mende, Patrick Pilvines, and Omer Zaidi - whichever members of Team Unlimited (FVC 2013) that are not on the field currently

2 Outline Origins of Team 2013 roots in FLL Creation of the FVC program Demo to Pilot to Extended Pilot The Vex System designing & building easyc C coding simplified Care & feeding FVC team maintenance FIRST Vex Challenge competing

3 Community-based Organization Sharon Youth Robotics Association (SYRA) Independent not school affiliated - CONTINUITY Article in local paper, posters, website and referrals to announce season team formation meetings Jack Gregory SYRA founder, MA head referee Weekly SYRA meetings for all teams: info, training, mentoring and table runs SYRA Mentors Team Alumni coaches orient new FLL coaches, alumni team members mentor current FLL teams

4 2002 the Birth of an FLL Team Saw article in local paper - team formation meeting Form new team group of friends City Sights FLL challenge Sharon Urban Eagles Steep learning curve RIS coding Weekly SYRA meeting made huge difference benefit of experience Blackstone Regional observed competition Quincy Eastern MA State won Robotic Performance Charlton Regional won junior division

5 2003 Onward to Atlanta Mission Mars FLL Challenge Sharon Mars Eagles Robonautica at WPI runner-up Quincy Eastern MA State won Robotic Performance and Director s Award Combined with Sharon Angelbots team to maximize opportunity for all Found the World Championship experience in Atlanta to be incomparable! Team Goal for 2004 they wanted to do it again!

6 2004 Summer Robotics Developed Eagle Overdrive for LEGO RCX Mindstorms Go Straight! Work with IFI Robovation kit Team wanted to move up in size Follow-up from Blackstone FRC team invitation Lessons applied in our Robovation chassis Demonstrate LEGO robotic soccer multi-remote control RCX-based remote Laptop & IR tower based Later used as demonstration game at MA FLL tournaments

7 2004 Year-Round Program No Limits! FLL Challenge Sharon Eagle Robotics Unlimited Robotic Avatar for telepresence remote classroom working with project partner with Cystic Fibrosis Blackstone Regional first place Quincy Eastern MA State Innovative Project Award Robonautica mentored 3 Sharon FLL teams QCC Regional technical award for Eagle Overdrive

8 Creation of FIRST Vex Challenge Unmet needs of high school age students Competing robotics programs Lack of influence of freshman in a high school environment FRC is very resource intensive Sponsorship & funding, facilities & space, machine tools School support is a practical necessity FVC requires fewer resources Modest funding sufficient, lesser space demands, hand tools School support is optional Existing FLL teams can keep their teams in being Often no FRC team available age out

9 2005 FVC Demonstration 1st FIRST Vex Challenge 2004 FIRST Frenzy Raising the Bar in 1/3 scale No autonomous programming kit not ready Following the general competition pattern of the FRC 28 days to prepare for challenge 4 Vex Development System kits, from Radio Shack & FIRST 52 teams selected internationally Advance scrimmages where feasible Successful competition in Atlanta Radio Shack sponsoring program

10 2005 Competition Field

11 FVC 2005 for Team Unlimited MA Senior Mentors selected us for first season Prepared with C classes from mentor Ron Czik We fielded two teams FVC 13 FVC 44 Mixed members from Unlimited & AngelBots teams Added members from retired FLL team, now the Myotonics Our FVC 13 robot could cap the ball, could not hang Our FVC 44 robot could hang, could not cap We were all lacking in basketball skills (soccer players) Awesome wrap party, sponsored by Radio Shack We teamed with Grant Imahara (of MythBusters)!

12 2005/6 FVC Pilot 2 nd FIRST Vex Challenge The Half-Pipe Hustle Challenge designed specifically for FVC Autonomous separate from operator-control Full season to prepare, teams supply kits, reusable IFI back in control of Vex system equipment 6 Regionals each qualifying (up to) 6 teams Balance to 50 teams for Atlanta selected by lottery Successful competition in Atlanta Decision to move forward to extended pilot in 2006/7

13 2005/6 Competition Field Gather balls from floor or wall feeders Score in corner or center goals Bonus for parking on center pads at end of period

14 FVC 2005/6 for Team Unlimited Formally instituted three Sharon teams FVC 13 (Unlimited), FVC 44 (AngelBots) and FVC 78 (Myotonics) Fall season spent with SYRA FLL teams Mentoring new FLL teams and coaches Promoting FLL competitions RoboSoccer game Scrimmage at WPI NERVE (New England Regional Vex Event) at Hartford AngelBots, Myotonics & Unlimited all to Atlanta! All in alliances, Myotonics in the Runner-up Alliance

15 2006/7 FVC Extended Pilot 3 rd FIRST Vex Challenge Hangin -A-Round Challenge designed specifically for FVC Standardized field kit Autonomous combined with operator-control Full season to prepare, teams supply kits, reusable 25+ Regionals each qualifying (up to) 4 teams 100 teams to compete in Atlanta Decision to move forward to full program in 2007/8?

2006-7 7 Competition Field Autonomous 20 seconds, operator-control 2 minutes Gather balls from floor

16 Competition Field Autonomous 20 seconds, operator-control 2 minutes Gather balls from floor piles Score balls in low or high goals, control doubling ball Bonus for parking or hanging at end of period

17 FVC 2006/7 for Team Unlimited Fall season mixes mentoring and competition Mentoring new FLL teams and coaches Held 1 st Annual Sharon FLL Invitational great success! Promoting FLL & FRC competitions MA FVC Championship December 2006 AngelBots Semi-finalists, Think Award Team Unlimited Winning Alliance, Inspire Award to Atlanta! CT FVC Championship December 2006 Myotonics Winning Alliance to Atlanta! Team Unlimited Runner-up Alliance, Innovate Award

18 What Needs Does the FVC Fill? FIRST FVC Inspires and Recognizes high school students working to excel in Science & Technology! Lower barrier to FIRST entry at the High School level Affording these opportunities to students without an HS FRC team, or immediate prospect of forming one Allowing FLL teams to continue their path, regardless of school or corporate support and facilities Encouraging the participation of teams less oriented to machine tools and mechanical engineering Creating a Junior Varsity track for incoming members of existing FVC teams

19 Mentoring and Program Promotion The success of our team was aided by the selfless efforts of many people PAY IT FORWARD! Mentor s team for the SYRA FLL program Recruiting & publicity Orientation & training of both new team members and coaches Help run weekly SYRA meetings Mentoring at competitions Sharon FLL Invitational competition Liaison with area FLL teams - affiliates Promotion of the FVC program Demonstrations at FLL & FRC competitions Volunteered to help initiate RI FVC program

20 Mentoring and the FVC program FVC teams mentoring FVC teams Affiliate teams share expertise Sponsor orientation seminars Compete twice, volunteer at least once? FVC teams mentoring FLL teams Affiliate teams encourage the future FVC teams Sponsor orientation seminars Volunteer for FLL competitions FRC teams mentoring FVC teams Internal or external

21 RI FVC Program a New Model? Rhode Island intends to have at least one FVC team in every high school Rolled out February 3rd (funding delays) Workshops and weekly reports to focus assistance Rhode Island FVC Championship held on March 31 st Team Unlimited demonstrated, mentored & volunteered Great new program in our backyard Pay It Forward! eaglevex.syraweb.org/rivex2007.htm Contact Brad Lauer & Steve Cremer from FIRST

22 Origins of the Vex System Innovation First Inc (IFI) designed the system Edu-bot system, later changed to Robovation Supplied to rookie FRC teams for training Vex is a superset update of this system IFI markets Vex System at Radio Shack marketed, and sponsored FVC demo season Rights re-acquired by IFI by pilot season Revell-Monogram retail deal

23 Basic Vex kit components

24 Transmitter, batteries & motors

25 Vex sensor kits Light sensor Line-following sensors Bumper switches Limit switches Optical shaft encoders Ultrasonic range finder

26 Tracks, gears, chains & wheels

27 Vex metals and hardware

28 Robots: Mindstorms vs. Vex FLL robots are entirely autonomous LEGOs are friction-fit plastic parts, no use of tools Very extensive parts list No modification of parts Available retail Proprietal graphics-oriented coding environment Teams achieve in ways that you would never expect! FVC robots both autonomous & operator controlled Vex uses bolted metal parts, varied use of tools Limited parts list Allowed to modify parts Available from VexLabs Graphical-oriented coding environment produces C code Teams achieve in ways that you would never expect!

29 Building Vex robots chassis design Physical layout Chassis usually rectangular Short wheelbase & wide body better for turns & side stability Long wheelbase & narrow body better for front-back stability Square chassis a compromise for both Wheels 4 or 6, treads tend to be low traction If 6 wheels, offset center wheels down slightly, better for turns Wheels more stable if axles supported on both sides Larger diameter wheels make for better step climbing Consider traction of wheels, tires Omni wheels great for turning, bad for traction

30 Sample Vex chassis configurations

Building Vex robots chassis design Drive-train configuration 2 or 4 motor drive 2, 4 or 6 wheel drive Gearing for torque or speed, as well as power transmission

31 Building Vex robots chassis design Drive-train configuration 2 or 4 motor drive 2, 4 or 6 wheel drive Gearing for torque or speed, as well as power transmission Sprockets & chains for torque or speed, as well as power transmission Example: 6 wheel, 4 motor drive with gearing to raise torque and distribute power to each wheel

32 Vex robot Johnny 2005

33 Vex robots prototypes

34 Vex robot The Thirteenth Warrior 2006

35 Vex robots - prototypes

36 Vex robots - prototypes

37 Vex robot The Thirteenth Warrior

38 Building Vex robots manipulators So far, challenges have involved manipulating balls Of various sizes (usually, larger is worth more) To various heights (usually, higher is worth more) Also, lifting robot to bar ( hanging ) Critical issues all interrelated Center of Gravity (COG) Moment arm Length and height of reach Load capacity

39 Building Vex robots manipulators Pivoting arms Multiple stages of gearing? Counter-weights? Tension (rubber bands)? Lifts Extension (slide/telescope) Scissors Grippers (grabbing or gathering) Plows/scoops Conveyor belts (treads) Grasping mechanism

40 Building Vex robots manipulators Team 3668

41 Building Vex robots manipulators

42 Use of Vex sensors Optical Shaft Encoder (rotation sensor) Useful for distance traveled, angle of turn No direction indication Line following kit Three IR light sensor/emitters and mounting plate Use to follow a line Bump & Limit switches Indicate impact with a surface by contact Ultrasonic Range sensor Indicates range to surface without contact Multiples on field at same time can conflict

Tools we use for Vex robots Wrenches and combination wrenches, vise grips Bondhus

to 15, rather than just square to the bolt.

(99-4-R) Nutdriver 3/16" (99-6BK), Nutdriver 11/32" (99-11) Slotted screwdriver 1/8"

43 Tools we use for Vex robots Wrenches and combination wrenches, vise grips Bondhus ball hex driver L-wrenches () 7 pc, 5/64-3/16, ball heads allow angle entry up to 15, rather than just square to the bolt. Xcelite series 99 pieces: Regular handle (99-1), stubby (99-3), ratcheting tee (99-4-R) Nutdriver 3/16" (99-6BK), Nutdriver 11/32" (99-11) Slotted screwdriver 1/8" (99-125), 3/16" (99-811) Phillips screwdriver #0 (99-820), #1 (99-821) Allen 5/64" (99-22), 3/32" (99-23) Driver 4" extension (99-X5)

44 Tools we use for Vex robots Cutters and shapers Hacksaws (regular & mini) Aviation shears (straight) Files (flat, for smoothing cut edges) Reamer (for enlarging holes) Electric hand drill, drill bits & driver bits Electric sander & sandpaper Electric jigsaw & blades Misc. Tape Measure Steel ruler Vises

45 Programming your FVC robot Two FVC-approved tools to use easyc 2 from Intelitek Flowchart/code block environment over C, simplified coding MPLAB & C18 compiler from Microchip Traditional C coding environment Most of the FVC community uses easyc Intelitek provides support Internet forum - Tech support presence at FVC competitions Seminars at FVC events

46 easyc 2 from Intelitek Program with drag & Drop simplicity Flowchart-style appearance with blocks and lines Equivalent C code shown real-time Library functions provide for quick access to sensors, motors etc Easy to use user-defined (custom) functions Supports decisions, variables and math operations Simple presentation, showing only what you need Built-in downloader, click and GO Terminal window for debug messages Automatic syntax checking to reduce errors Context-sensitive help for greater clarity Full documentation and Mentor s guide provided

47 easyc 2 from Intelitek

48 FIRST team recruiting flow New team members age age resources FLL FVC FRC

49 Competitions: FLL vs. FVC Focus 4 th -8 th grades Focus 9 th -12 th grades 4x8 competition table, small scale 12x12 competition field, medium scale Only 1 robot on field 4 robots on field at once The Project is a major focus The Engineering Notebook is a major focus Fall season Fall-spring season Tournaments in schools, inexpensive Tournaments in mixed venues, moderate cost Many awards Comparatively few awards

50 Organizing an FVC team School-based teams Most common affiliation Support varies from great to poor Organization-sponsored Good balance between support and independence SYRA Sharon Youth Robotics Association Independent Single teams without affiliation Often issues due to lack of support No environment is better than the people that are involved!

51 Organizing an FVC team Getting your message out there Local newspaper coverage of recruiting meeting(s) Posters at high traffic spots in town School announcements Word-of-mouth Ongoing Local newspaper coverage of events Website Networking Fund-raising events

52 FVC team budgeting Step up from FLL costs, substantially less than FRC Initial equipment is substantial Most equipment can be reused each year Some metals replacement Sponsorship is desirable Issue for organizations without non-profit incorporation Facilities - 12x12 field is sizable Travel expenses (out-of-state competitions) Food budget!

53 $1100+ for equipment, $575+ annual recurring expenses Initial costs to field an FVC team FVC team registration Tournament registration (each) Basic Vex kit Extra remote & receiver 2 battery/charger sets More motors and cables Sensors Wheels, chains, treads, gears Extra metals and hardware Safety glasses easyc programming kit $ 275 (annual) $ 300 (maximum) $ 300 $ 130 $ 100 $ 50 plus $ 100 plus $ 100 plus $ 100 plus $ 25 plus $ 100 Travel, Food, Misc...

54 Build the team! Field trips and outings AAAI conference, MIT competition Yankee Steam-up, PawSox game Shared activities Movies, network parties, school functions, charity run Volunteer! Feed them! My most appreciated role on the team is Cook You can not over-indulge teenagers when it comes to food!

55 Some resources for FVC team FIRST - FIRST Forum - forums.usfirst.org/forumdisplay.php?f=26 NEMO - VexLabs - VexForum - Intelitek - Chief Delphi forum - Sharon Youth Robotics Association -

56 The FIRST Vex Challenge Competition is what ties the program together Motivation! Failure of robotics kits in the retail marketplace For Inspiration and Recognition of Science and Technology Our opportunity is to help move this program forward! Promote the program at every opportunity! Make the benefits available to every interested high school student! And... encourage them to be interested!

Designing for FTC with TETRIX Hints and Tips

Designing for FTC with TETRIX Hints and Tips Presented by: Team Unlimited, FTC0001 ftc0001.org We acknowledge the efforts and copyrights of FIRST, LEGO Education and LEGO with regards to the contents of