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White Papers

 

Gaining Control of Your Robot
Digital Filter for Joysticks (4K)
Here is a document by veteran Mike Gray from GM Powertrain.  It is a first-order low-pass digital filter, to help prevent wheel slip and violent maneuvers.
One Joystick Tank Drive (10K)
How to program your Robot Controller to use one joystick to control two motors.
Button Control of a PWM Channel (7K)
There can be more to a button than just ON/OFF! With a simple software change, a buttons can control your speed controllers.
More Than Two Joysticks using a Y-cable (13K)
Maximize Your Analog Channels! You can legally build a Y-Cable with kit parts that will allow up to four joysticks. Also included is a source for ordering more joysticks.
Improving Joystick Control for Driving (11K)
This paper explains how to adjust the control system to maximize the useful travel on the pilot’s joystick(s).

One Joystick Axis, Two Functions! (7K)
Check out this clever way of using a Joystick to control two different motors with the same axis, at different times.

 

First Team Tips
Quick Start Guide (18K)
This document is a guide to aid FIRST teams in their design and prototyping process. Think of it as an extension of your kit. You don’t want to find yourself waiting to order parts tomorrow when you have a problem to solve tonight!
Example Schedule (5K)    Also in .XLS format (81K)
Looking for a place to start. Here is a typical schedule. We developed and improved this over 6 years of competing in FIRST.

 

FIRST Robot Technical Info
Improving Drive Train Efficiency (15K)
Here is a method to follow to determine the efficiency of a drive train and some tips on how to improve it.
Actual Current Measurements of FIRST Robots (15K)
Knowing how much current your drive train draws is critical to good performance. Included are several types of robots under various conditions.

Speed Controller Comparison Charts (26K)
Motors can draw large amounts of current with over 300A surges. This chart compares the Victor 883 to a typical RC speed controller designed for toy cars. Data includes temperature, thermal shock, and surge current supplied to the motor.

 

Information from FIRST Teams

FIRST Handbook (204K)
Here is a document by veteran David Asano from Bell Atlantic.  In it, he covers everything form brainstorming to travel arrangements.