Xa irobhothi ye-FTC isuka ime ngequbuliso, inqamuke kwi-Driver Station, okanye i-REV Control Hub yayo iziqalise ngokutsha phakathi komdlalo, umbane ozinzileyo uqhele ukuba ngunobangela. Iithayile zefoam ye-EVA eziqhelekileyo ezingama-5/8-eentshi ezisetyenziswa kumabala e-FIRST Tech Challenge zizithinteli zombane. Njengoko amavili erabha angashiyi mikrwelo eqengqeleka esolula kwezi thayile, isakhelo sirhwebesha amawaka eevolti zombane ozinzileyo. Ngomzuzu izixhobo zakho zesinyithi zokuthatha, ingalo, okanye isakhelo zichukumisa umda wentsimbi okanye enye irobhothi, loo mbane uphuma ngendlela enokuxhathisa okuncinci — udla ngokutsibela ungene ngqo kwiintambo zeenzwa ezingakhuselwanga, kwiikhebhile ze-motor encoder, okanye kwisekethe engaphakathi ye-Control Hub.

Umba weHighveld: kutheni iindawo zaseMzantsi Afrika zibethwa ngakumbi

Ukuqokelelana kombane ozinzileyo kulawulwa ngokuthe ngqo ngumswakama olinganiselweyo womoya. Kwiindawo ezisemanxwemeni ezifana neKapa okanye eThekwini, umswakama awuqheli ukwehla ude ufike kumgangatho ovumela ukuba i-Electrostatic Discharge (ESD) eyingozi iqokelelane ingathintelwanga, kuba ubumanzi obusemoyeni bunceda ekuhlakazeni umbane osemphezulu. Iindawo ezingaphakathi elizweni — ingakumbi iiholo zemidlalo neeholo zeentlanganiso zezikolo eRhawutini nakwiFree State ebusika nakwiimidlalo eyomileyo yasentwasahlobo — zidla ngokubona umswakama wangaphakathi usihla ungaphantsi kwe-20%.

Kwezi meko zomileyo, zeendawo eziphakamileyo, isiphumo se-triboelectric phakathi kwamavili enziwe ngezinto zokwenziwa (njengamavili athambileyo, amacandelo aprintwe nge-TPU, okanye ii-roller zesilikoni) nefoam ye-EVA enamaseli avaliweyo senza umsebenzi we-Van de Graaff generator yomgangatho womzi-mveliso. Ukuba iqela lakho liyile laza lavavanya iinkqubo zalo ezizimeleyo kumgangatho wolwandle okanye kwigumbi elinomswakama, izixhobo zakho zombane zinokusebenza ngokugqibeleleyo eworkshop kodwa ziphinde-phinde zime ekunxibelelaneni ebaleni lomdlalo.

Indlela i-ESD eyikhubaza ngayo i-REV Control Hub

I-REV Control Hub ne-Expansion Hub zisebenzisa iibhasi zonxibelelwano zangaphakathi (I2C, RS485, USB) ukulawula iimoto, ii-servo, kunye neenzwa. Xa i-ESD ibetha:

• Ukutshixeka kwebhasi ye-I2C: Iinzwa zombala ze-REV neenzwa zomgama zisebenza kwilojiki ye-3.3V. Ukunyuka okukhawulezayo kombane kwikhebhile ye-I2C engakhuselwanga konakalisa umgca wewotshi okanye wedatha, kushiye ibhasi ye-I2C ye-Control Hub itshixekile ngendlela engalungisekiyo, into emisa yonke irobhothi de ucime umbane uze uwuvule kwakhona.
• Ukunqamka kwe-USB: Ukuba usebenzisa ifowuni yangaphandle okanye iiwebcam ze-USB, ipini yomhlaba yesixhumanisi se-USB idla ngokufunxa loo mbane, into enyanzela i-Linux kernel esekwi-Hub ukuba iqalise ngokutsha isilawuli sayo se-USB.
• Ukuziqalisa ngokutsha kwee-encoder zokukhanya nezomazibuthe: Iintambo ezinde ze-encoder ezihamba ecaleni kwe-aluminiyam yesakhelo zisebenza njengee-antenna zeempulse ze-electromagnetic ezisasazwayo, zonakalise idatha yendawo okanye zitshise ii-diode ezikhusela i-digital input.

Iindlela zokunciphisa ezivumelekileyo emithethweni yomdlalo

Imithetho ishiya indlela emxinwa kodwa esebenzayo: unokuyibopha irobhothi kuyo ngokwayo uze wahlule izixhobo zakho zombane, kodwa akuvumelekanga konke ukubopha irobhothi kwibala lomdlalo. Icandelo 12.6 le-Competition Manual livumela ukudibanisa okunye kuphela komhlaba — istrap esichaselayo esamkelweyo phakathi komhlaba wenkqubo yolawulo nesakhelo seROBHOTHI — kwaye lithintela ngokucacileyo nalaliphi na icandelo okanye umatshini oyilelwe ukuzisa eso sakhelo emhlabeni ngebala. Zonke iindlela ezingezantsi zihlala ngaphakathi kwaloo mgca.

1. Istrap esichaselayo esamkelweyo sokuzisa umhlaba (isakhelo ukuya kwizixhobo zombane — ungaze usise ebaleni)

Ekuphela kwendlela yokuzisa umhlaba evunyelwe yi-FIRST ihamba ngaphakathi erobhothini: istrap esichaselayo esamkelweyo esibopha umhlaba wenkqubo yolawulo kwisakhelo seROBHOTHI, ukuze isakhelo nezixhobo zombane zibe kwinqanaba elinye lombane endaweni yokuba zitsibelane ngekhebhile yenzwa. Umthetho R605 kwincwadi yesikhokelo ye-BIOBUZZ ka-2026-2027 (lo mthetho unye wawungu-R611 kwi-DECODE ka-2025-2026) ubalula amacandelo asemthethweni kuphela:

• I-AndyMark Resistive Grounding Strap — am-4648a
• I-REV Resistive Grounding Strap — REV-31-1269
• I-Swyft Grounding Cable — SR-Ground-01

Elinye icala kufuneka lihlale kwicandelo elipheleleyo le-COTS elinesixhumanisi se-XT30 (i-REV Control Hub, ibhloko ye-XT30 yokusasaza umbane, okanye i-adaptha ye-Powerpole ukuya kwi-XT30); elinye kufuneka libhoxelwe ngqo kwisakhelo ngesixhumi esichaselayo sestrap. I-anodising sisithinteli sombane, ngoko krwela okanye ufayilishe indawo yokuchukumisa phambi kokuba uqinise isixhumi sekhonkco, kwaye khumbula ukuba iikhamera, ii-LED strip kunye neminye i-encoder zifika zineendlu zesinyithi ezisemhlabeni ekufuneka zihlale zahlukene nesakhelo.

Musa ukuzisa irobhothi emhlabeni ngebala lomdlalo. Itsheyini erhuqwayo eqhuba umbane, ulukhozo lobhedu okanye umtya ochasa umbane ozinzileyo orhuqwa ukusuka esakhelweni usiya kwiithayile zefoam awukho emthethweni, kwaye bekungenjalo kumaxesha amaninzi omdlalo. U-R605.C ucacile: “akukho MACANDELO EROBHOTHI okanye IMATSHINI eyilelwe ukuzisa isakhelo seROBHOTHI emhlabeni ngokombane ngeBALA.” Abahloli bayakujonga oku, kwaye isisombululo kukukhupha umbane usise kwisakhelo sakho, hayi ebaleni.

2. Ukuzisa umhlaba kwisakhelo ngendawo enye

Qinisekisa ukuba onke amacandelo esakhelo (iinkqubo zokutyibiliza, iiplate zokuthatha, imijelo ye-drivetrain) anokuqhubeka kombane okungaphazamisekiyo, isinyithi sichukumisa isinyithi. I-aluminiyam ene-anodising ayiwuqhubi umbane emphezulu; ukuba iiplate ezimbini zidityaniswa kungaqhawulwanga umaleko we-anodising, elinye icandelo linokuba nombane owahlukileyo kwesinye isakhelo, uze ukhutshelwe kwizixhobo zakho zombane xa zichukumisana. Sebenzisa iiwasha ezineenkwenkwezi okanye ukhwephule i-anodising ejikeleze iibholithi zamalungu abalulekileyo esakhelo.

3. Ukwahlula nokubeka izixhobo zombane

Ungaze uxhome i-REV Control Hub ngqo kwi-aluminiyam enganyangwanga ngaphandle komthintelo wombane. Xhoma i-Hub kwiibhrakethi ze-PETG eziprintwe nge-3D, kwiplate ye-polycarbonate, okanye kwiistandoff zenayiloni. Oku kuqinisekisa ukuba nokuphi na ukubetha kwe-ESD kwisakhelo akungeni ngqo kwibhokisi ye-aluminiyam ye-hub nakumaleko womhlaba we-PCB engaphakathi.

4. Ii-ferrite choke nokucwangciswa kweekhebhile

Songela iikhebhile ezinde zeenzwa, zeewebcam nezee-servo kwii-ferrite choke ezicofekayo kufuphi kangangoko kwii-port ze-Control Hub. Ii-ferrite choke zicinezela ukunyuka kombane kwi-frequency ephezulu okuyimpawu yokutsiba kwe-ESD. Gcina iintambo zesignali zihamba embindini werobhothi, zikhuselwe ngaphakathi kwe-aluminiyam ye-U-channel, endaweni yokuba zihambe zibhencekile kwimida yangaphandle apho kukho ukuchukumisana nezinto zebala.

Uluhlu lokuhlola phambi komdlalo kwiindawo ezomileyo

Amaqela akhuphisana ngaphakathi elizweni kufuneka afake ukulwa nombane ozinzileyo kwinkqubo yawo yasepitini:

• Buza umququzeleli womsitho ukuba ngaba iithayile zinyangiwe na. Isikhokelo se-ESD se-FIRST ngokwayo sicebisa ukuba iindawo zemisitho zinyange ibala ngesipreyi esichasa umbane ozinzileyo esifana ne-ACL Heavy Duty Staticide — eso sisigqibo somququzeleli, hayi eseqela. Musa ukusebenzisa iisipreyi, izithambisi okanye iijeli kumavili akho: u-R201 udwelisa izinto ezingamanzi neejeli njengomngcipheko wokungcolisa, kwaye nantoni na etyibilikela kwiithayile ingxaki yomsitho wonke, ayisiyoyakho kuphela.
• Yenza ukuba amalungu eqela achukumise umda wokubiyela ukuze akhuphe umbane phambi kokuba abambe irobhothi ngexesha lokulungiswa kwebala.
• Hlola zonke iziqhagamshelo zeekhebhile ezicofekayo ukuqinisekisa ukuba iipini zocingo ezize aziveli emoyeni ovulekileyo.

Ukufumana i-hardware eqinisekisiweyo, ii-module ze-REV zokutshintsha, kunye namacandelo alungele ukhuphiswano, funda isikhokelo sobuchwepheshe se-FTC se-Sheen Robotics okanye uodole iikhebhile zomgangatho wokhuphiswano ngqo kwivenkile ye-Sheen Robotics.

Ulungiso, 29 Agasti 2026: inguqulelo yangaphambili yeli nqaku ibidwelise istrap sokukhupha umbane esirhuqwa ukusuka kwisakhelo serobhothi ukuya kwiithayile zefoam njengendlela evumelekileyo emithethweni yomdlalo. Ayivumelekanga — u-R605.C uyakuthintela ukuzisa isakhelo seROBHOTHI emhlabeni ngeBALA — kwaye eso candelo sibhalwe ngokutsha sajolisa kwistrap esichaselayo esamkelweyo esisuka esakhelweni sisiya kwizixhobo zombane. Sibulela umfundi owakuphawulayo.