our robot browns out mid match and the driver station beeps, where do we start

When the robot experiences a loss of control, referred to as a disconnect, and the Driver Station beeps, troubleshooting should begin by checking for common causes of disconnects. A disconnect occurs when the robot cannot be controlled from the gamepad for any reason .

Most disconnects are caused by improper wiring, so wire stress relief is encouraged . Other potential causes include:

A loose cable
An error in code
WiFi disconnects
An ESD (electrostatic discharge) shock to the electronics

The Driver Station (DS) is the device and software used by the drive team to interact with the robot, configure settings, start/stop OpModes, use gamepads, and receive telemetry . It can be a REV Robotics Driver Hub or an Android phone . The Robot Controller (RC) is the device and software on the robot that controls it, which can be a REV Robotics Control Hub or an Android phone connected to an Expansion Hub .

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Sources6

Driver Station Guide

Game Manual 0·CC BY-NC 4.0

The Driver Station (DS) is the way drivers interact with the robot. Through it, you configure settings, configure hardware, start and stop OpModes, use gamepads, and receive telemetry data from the robot. There are two main different choices for a Driver Station: the REV Robotics Driver Hub and an Android phone.

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Know Your Lingo > Robot Components

Game Manual 0·CC BY-NC 4.0

DC Motor Open-loop RS-555 series 12 volt motors used to power mechanisms. Max of 8. Servo Closed-loop servo-motors used for precise movement. Controlled by PWM signals. Max of 12. Drivetrain (DT) Mechanism responsible for the movement of the robot. Intake Mechanism responsible for picking up game elements from the field by using rotational motion. Claw Mechanism responsible for picking up game elements by grasping. Linear Extension/Slide Mechanism responsible for extending parts beyond the starting configuration of the robot in a linear fashion. Arm Mechanism responsible for extending the reach of the robot through rotational motion or multi-axis movement. REV Expansion Hub Hardware controller for the robot, connected to Robot Controller phone. Controls 4 motor and encoders, 6 servos, and various sensors via digital, analog, and I2C ports. Maximum of 2 hubs. REV Control Hub Integrated Expansion Hub + Robot Controller phone. It serves many of the same purposes as the Expansion Hub but eliminates the need for a Robot Controller phone. 1 Expansion Hub may be used along side 1 Control Hub. Driver Station (DS) Android phone connected to the gamepad controller. Drivers interact with the DS phone to start/stop robot. Robot Controller Android phone connected to the Expansion Hub. Connects to DS phone via WiFi-Direct. Gamepad Controller An Xbox or PS4 style controller which the driver uses to control the robot during driver-control period. Maximum of 2.

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Software Glossary

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Disconnect — A disconnect (DC) is when, for any reason, the robot is not able to be controlled from the gamepad. This can happen for many reasons - static buildup on the robot, a loose cable, or an error in code.

Generally, most DCs are caused by improper wiring, so wire stress relief is encouraged for all teams (USB Retention Mount). They can also be caused by WiFi disconnects, or an ESD (electrostatic discharge) shock to the electronics.

Driver Station — The Driver Station (DS) refers to both the software and device that is used by the drive team and connects to the gamepad(s). The device can either be one of the Android phones specified in Game Manual Part 1 or a REV Robotics Driver Hub.

Robot Controller — The Robot Controller (RC) refers to both the software and device that is on the robot that controls it. This can either be a REV Robotics Control Hub or one of the Android phones specified in Game Manual Part 1 connected to an Expansion Hub via a Micro USB cable.

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Design Strategy > Competition Tips and Mistakes > Neglecting driver practice Constant driver training

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Important: A persistent problem with new teams is neglecting driver practice. Drive practice is to be done throughout the season, not the week before competition.

No matter how good your robot is, the robot is only 50% of the equation. The driver(s) are the other 50% which determine the success of the team as a whole. Even if your robot is the best in the world, an inferior robot with a competent drive team more than likely will beat your robot with a poor drive team. By April's world championships, most top teams have run hundreds of practice matches.

This gives some obvious advantages compared to a team with lesser practice.

#. The driver(s) are totally familiar with handling the robot in every situation. #. The robot is proven to be reliable enough to survive hours of operation. #. The immense data that teams gather from test runs are used to optimize every element of the robot.

Driver practice not only familiarizes the driver(s) with the robot and serves as a test of robot reliability, it also simulates in-game conditions. Learning to push the limits of your robot should be done during practice, not at a competition. This way, drivers will become more comfortable driving under stress and pressure. Teams with intensive driver practice will purposely make things more difficult (such as placing a disabled robot in the middle of the field or unplugging a drivetrain motor).

While this may seem extreme, it is really just a form of preparedness. If your driver doesn't know how to react, then you need more drive practice.

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Driver Station Guide > REV Driver Hub

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The REV Robotics Driver Hub is effectively an Android phone with built in USB ports. It is purpose built for FTC®, and has several advantages over traditional Android phones.

Full sized USB ports do not require flimsy On The Go (micro-USB connector to USB-A port) cables
Charges from USB-C including fast charging Power Delivery modes
Larger screen than many Android phones
Case is more robust then a standard Android phone

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Design Strategy > Competition Tips and Mistakes > Fully driver-controlled driving Partially automated tasks

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Important: Autonomous should not be limited to only the autonomous mode. Automating simple tasks can be a real time-saver and efficiency boost to teams.

#. Automating tasks can save time and reduce the need for driver multi-tasking. Drivers should always be controlling the robot with as few button presses as possible. For example, automatically stopping the intake mechanism when game elements have been collected saves a button press. #. Autonomously operating some mechanisms has the advantage of eliminating driver error and relieves stress. For example, if a lift has to extend to exactly 30 inches, a motor with an encoder can complete that with 100% accuracy at full speed, compared to a human driver's minor error.

Note: Autonomous functions should be able to be overridden by manual input in case something goes wrong (e.g. encoder is unplugged, a part breaks, etc.) to prevent damage to the robot and to be compliant with game rules.

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