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checkpoint
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bovlb committed Oct 8, 2024
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2 changes: 1 addition & 1 deletion _includes/ic.html
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{% assign rules = include.rules | split: "," %}{% if include.sub %}>* ✅{% else %}> ✅{% endif %} **{{ include.title }}** — {{ include.content }} {% for rule in rules %}{% if forloop.first != true %}, {% endif %}{% include rule.html rule=rule year=include.year %}{% endfor %}{% if include.extra %} & {{ include.extra }}{% endif %}
{% assign rules = include.rules | split: "," %}{% if include.sub %}>* ✅{% else %}> ✅{% endif %}{% if include.title %} **{{ include.title }}**{% endif %}{% if include.title && include.content %} -{% endif %} {{ include.content }}{% if include.rules || include.extra %} — {% endif %} {% for rule in rules %}{% if forloop.first != true %}, {% endif %}{% include rule.html rule=rule year=include.year %}{% endfor %}{% if include.extra %} & {{ include.extra }}{% endif %}
6 changes: 1 addition & 5 deletions commands/best-practices.md
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Expand Up @@ -209,18 +209,14 @@ m_shooter.isShooting

### Binding Triggers to Commands

<a href="triggers.png"><img alt="How button triggers work" src="triggers.png" style="width: 30%; float: right;"/></a>
<a href="command-bindings.png"><img alt="How trigger bindings work" src="command-bindings.png" style="width: 50%; float: right;"/></a>

To bind a command to a trigger, simply use a method like `onTrue`, `whileTrue` or `toggleOnTrue`.
`onTrue` is good for instant commands that do something and immediately stop.
`whileTrue` is good for commands that should keep executing so long as the condition is true.
`toggleOnTrue` is usually only used with driver buttons, so they can enable and disable some mode.


This diagram shows the six binding methods and when the command is triggered.
In this diagram, "Press" means that the trigger goes from false to true (a rising edge) as if the user had pressed a button;
"Release" means that the trigger goes from true to false (a falling edge) as if the user had released a button.

<div style="clear:both" />

### Combining commands
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76 changes: 36 additions & 40 deletions inspection/2024.md
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Expand Up @@ -68,7 +68,7 @@ The inspector will likely perform a "lift test" where they gently apply about 25

Remember that any mounting hardware that is attached to the bumpers or which is removable should be within 7½" of the floor.
## Mechanical
{% include ic.html year="2024" title="No Sharp Edges or Protrusions that are a hazard for participants, ROBOTS, ARENA, or FIELD." content="" rules="R202" %}
{% include ic.html year="2024" title="No Sharp Edges or Protrusions that are a hazard for participants, ROBOTS, ARENA, or FIELD." rules="R202" %}

The inspector will usually run their hand over the robot, looking for sharp edges, especially any that face outwards.

Expand Down Expand Up @@ -102,18 +102,17 @@ Primarily the inspector will be looking for April Tags and bright lights.
{% include ic.html year="2024" title="End Game" content="GAME PIECES can be removed from ROBOT and ROBOT from FIELD without power." rules="R204" %}
{% include ic.html year="2024" title="STAGE Chain" content="ROBOT not designed to reduce working length of field chain (e.g. create slack or twist chain)" rules="R106" %}

##Electrical
{% include ic.html year="2024" title="End Game" content="GAME PIECES can be removed from ROBOT and ROBOT from FIELD without power." rules="R204" %}
{% include ic.html year="2024" title="STAGE Chain" content="ROBOT not designed to reduce working length of field chain (e.g. create slack or twist chain)" rules="R106" %}

{% include ic.html year="2024" title="" content="" rules="" %}
{% include ic.html year="2024" title="" content="" rules="" %}
## Electrical

> ✅ **Components> ✅ ** – None may be modified, except for motor mounting and output shaft, motor wires may be trimmed, window motor locking pins may be removed, and certain devices may be repaired with parts identical to the originals. PDP/PDH fuses may be replaced with identical fuses only. Servos may be modified per manufacturer’s instructions. <R503, R710>
{% include ic.html title="Components" content="None may be modified, except for motor mounting and output shaft, motor wires may be trimmed, window motor locking pins may be removed, and certain devices may be repaired with parts identical to the originals. PDP/PDH fuses may be replaced with identical fuses only. Servos may be modified per manufacturer’s instructions." rules="R503,R710" %}

The inspector will likely ask you to describe any changes you have made.

{% include ic.html year="2024" title="" content="" rules="" %}
{% include ic.html year="2024" title="" content="" rules="" %}
> ✅ **Battery** - A single 12 volt, 17-18.2 Ah ROBOT battery, securely fastened inside ROBOT. <R601, R605, R606>

{% include ic.html title="Battery" content="A single 12 volt, 17-18.2 Ah ROBOT battery, securely fastened inside ROBOT." rules="R601,R605,R606" %}

The inspector will expect you to secure the battery in the robot and may attempt to lift it out. Tape and/or zip ties are not usually considered to be acceptable ways to secure the battery.

Expand All @@ -124,34 +123,26 @@ If you have applied labels to your battery, the inspector may advise you not to

{% include rule.html rule="R604" year="2024" %} (Charge batteries at a safe rate) prohibits the use of fast-chargers at events.

{% include ic.html year="2024" title="" content="" rules="" %}
{% include ic.html year="2024" title="" content="" rules="" %}
> ✅ **Other Batteries** – Integral to COTS computing device or camera or COTS USB < 100Wh (20,000mAh at 5V) and 5 Amp max output per port used for COTS computing device and accessories only. Small batteries for CMOS/RTC are OK. <R602>
> ✅ **PDP/PDH Visibility** –The single PDP/PDH, and PDP/PDH breakers must be easily visible for inspection. <R613 >
{% include ic.html title="Other Batteries" content="Integral to COTS computing device or camera or COTS USB < 100Wh (20,000mAh at 5V) and 5 Amp max output per port used for COTS computing device and accessories only. Small batteries for CMOS/RTC are OK." rules="R602" %}
{% include ic.html title="PDP/PDH Visibility" content="The single PDP/PDH, and PDP/PDH breakers must be easily visible for inspection." rules="R613" %}

If your PDP/PDH is on the underside of the robot, you will be asked to invert it for inspection. The inspector may have to switch back and forth between top and bottom.

If your PDP/PDH is behind a panel, you will probably be asked to remove it for inspection.

If the PDP/PDH is hard to examine, this will likely cause delay in inspection.

{% include ic.html year="2024" title="" content="" rules="" %}
{% include ic.html year="2024" title="" content="" rules="" %}
> ✅ **Main Breaker Accessibility** – The single 120A main breaker must be readily accessible with labeling preferred. <R612>
{% include ic.html title="Main Breaker Accessibility" content="The single 120A main breaker must be readily accessible with labeling preferred." rules="R612" %}

The main breaker should be easy to find and accessible without putting your hand through a moving mechanism. It is not necessary that it be exposed to the possibility of accidental operation by other robots.

The inspector will also check that your main breaker is fully insulated (R607). The two power terminals should not have exposed metal.

{% include ic.html year="2024" title="" content="" rules="" %}
{% include ic.html year="2024" title="" content="" rules="" %}
> ✅ **Allowable PD Breakers** - Only VB3-A, MX5-A, MX5-L Series Snap-Action breakers or REV Robotics ATO (40A or lower) may be inserted in the PDP/PDH <R619>
{% include ic.html year="2024" title="lAlowable PD Breakers" content="Only VB3-A, MX5-A, MX5-L Series Snap-Action breakers or REV Robotics ATO (40A or lower) may be inserted in the PDP/PDH" rules="R619" %}

If you run out of the colored breakers that come with the PDH, remember you may also use the smaller black breakers from the PDP.

{% include ic.html year="2024" title="" content="" rules="" %}
{% include ic.html year="2024" title="" content="" rules="" %}
> ✅ **ROBOT Radio** – A single OpenMesh OM5P-AN or OM5P-AC radio powered via a VRM +12 volt, 2 amp output or REV RPM. The VRM/RPM must connect to the dedicated +12 volt output on the PDP/PDH. Radio LEDs are easily visible. <R616,R702, R707, R708>
{% include ic.html year="2024" title="ROBOT Radio" content="A single OpenMesh OM5P-AN or OM5P-AC radio powered via a VRM +12 volt, 2 amp output or REV RPM. The VRM/RPM must connect to the dedicated +12 volt output on the PDP/PDH. Radio LEDs are easily visible" rules="R616,R702,R707,R708" %}

You must use either a VRM or an RPM to power the radio (R616).

Expand All @@ -165,23 +156,17 @@ The VRM or RPM should be connected to either:
* PDP: The dedicated terminals (marked in green) on the PDP using at least 18 AWG wire
* PDH: Any of the non-switchable channels (20–22) (not marked red) on the PDH with a 10A (red) fuse, using at least 22 AWG wire.

{% include ic.html year="2024" title="" content="" rules="" %}
{% include ic.html year="2024" title="" content="" rules="" %}
{% include ic.html year="2024" title="CAN BUS" content="The roboRIO and PDP/PDH must be connected via CAN wiring even if no other CAN devices are used." rules="R716" %}
{% include ic.html year="2024" title="roboRIO Power" content="Only the roboRIO must be connected to dedicated power terminals on PDP/PDH." rules="R615" %}

> ✅ **CAN BUS** – The roboRIO and PDP/PDH must be connected via CAN wiring even if no other CAN devices are used. <R716>
This is simply a check that the wires are in place, not usually a functional check.
> ✅ **roboRIO Power** – Only the roboRIO must be connected to dedicated power terminals on PDP/PDH. <R615>
With a PDP, this means the dedicated terminals (marked in blue) with an associated 10A (red) fuse.
With a PDH, this means any of the non-switchable channels (20–22) with an associated 10A (red) fuse.

{% include ic.html year="2024" title="" content="" rules="" %}
{% include ic.html year="2024" title="" content="" rules="" %}

> ✅ **Wire Size Minimum and Breaker Size** - obey the wiring size conventions.
>* ✅ All wire from battery to main breaker to PDP/PDH must be min 6 AWG (7 SWG or 16mm2) wire <R609 & Fig.8-9> .
>* ✅ 40 amp breakers must have min 12 AWG (13 SWG or 4 mm2) wire connected <R622>
>* ✅ 30 amp breakers must have min 14 AWG (16 SWG or 2.5 mm2) wire connected <R622>
>* ✅ 20 amp breakers must have min 18 AWG (18 SWG or 1 mm2) wire connected <R622>
{% include ic.html year="2024" title="Wire Size Minimum and Breaker Size" content="obey the wiring size conventions." %}
{% include ic.html year="2024" sub=true content="All wire from battery to main breaker to PDP/PDH must be min 6 AWG (7 SWG or 16mm2) wire" rules="R609" extra="Fig.8-9" %}
{% include ic.html year="2024" sub=true content="40 amp breakers must have min 12 AWG (13 SWG or 4 mm2) wire connected" rules="R622" %}
{% include ic.html year="2024" sub=true content="30 amp breakers must have min 14 AWG (16 SWG or 2.5 mm2) wire connected" rules="R622" %}
{% include ic.html year="2024" sub=true content="20 amp breakers must have min 18 AWG (18 SWG or 1 mm2) wire connected" rules="R622" %}

The breaker/fuse protects the wire, not the other way around.

Expand All @@ -196,16 +181,27 @@ Looking at PDH fuses, you should expect to see two reds (radio and roboRIO) in t

The REV Mini Power Module (MPM) is not directly addressed in the rules, but manufacturer specs indicate it should be connected to a 40A breaker and fitted with 15A (blue) or lower fuses. The MPM cannot be used to power either the radio (directly or indirectly) or the roboRIO. It does not provide regulated power.

{% include ic.html year="2024" title="" content="" rules="" %}
{% include ic.html year="2024" title="" content="" rules="" %}

> ✅ **Wire Colors** – All power wire must be color coded - red, yellow, white, brown, or black w/stripe for +24, +12, +5 VDC supply (positive) wires and black or blue for
common (negative) for supply return wires except original wire by manufacturer <R624>
{% include ic.html year="2024" title="Wire Colors" content="All power wire must be color coded - red, yellow, white, brown, or black w/stripe for +24, +12, +5 VDC supply (positive) wires and black or blue for common (negative) for supply return wires except original wire by manufacturer" rules="R624" %}

Separated zip wire often presents as striped (e.g. red stripe on black) but this is legal.
> ✅ **Copper Wire Only** – All wire used on ROBOT must be copper wire. (Signal wire excluded) <R622>

{% include ic.html year="2024" title="Copper Wire Only" content="All wire used on ROBOT must be copper wire. (Signal wire excluded)" rules="R622" %}

Watch out for any wire marked "CCA" (copper coated aluminum) as this is not legal.

{% include ic.html year="2024" title="" content="" rules="" %}
{% include ic.html year="2024" title="" content="" rules="" %}
{% include ic.html year="2024" title="" content="" rules="" %}
{% include ic.html year="2024" title="" content="" rules="" %}
{% include ic.html year="2024" title="" content="" rules="" %}
{% include ic.html year="2024" title="" content="" rules="" %}
{% include ic.html year="2024" title="" content="" rules="" %}
{% include ic.html year="2024" title="" content="" rules="" %}
{% include ic.html year="2024" title="" content="" rules="" %}
{% include ic.html year="2024" title="" content="" rules="" %}
{% include ic.html year="2024" title="" content="" rules="" %}
{% include ic.html year="2024" title="" content="" rules="" %}

> ✅ **1 Wire per WAGO** - Only 1 wire may be inserted in each WAGO terminal. Splices and/or terminal blocks, may be used to distribute power to multiple branch circuits but all wires in the splice are subject to the wire size rules <R618>
> ✅ **Motors** – Only motors listed per Table 8-1, there may be no more than four (4) propulsion motors <R501 & R502>
> ✅ **Actuators** – Electrical solenoid actuators or electromagnets, less than 50 watts @12V continuous duty <R501 & Table 8-1>
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