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FIRST® Robotics Competition (FRC®)
Control System 1997-1999
Prior to 2000 the control system used for the FIRST Robotics Competition (FRC) was loaned to teams and had to be returned
at the end of each season. The 1997-1999 systems could be borrowed from FIRST after the season with a security deposit of $1500
giving rise to the first off-season competitions.
This system was a custom design/build by FIRST and upon return from the teams at the end of the season the units were
refurbished by FIRST technicians for reuse each season.
Control System Components
The control system was essentially a radio controlled car and had three major components:- Transmitter - It held the driver controls
- Receiver - This was the RC-style robot controller
- Motorola RNet radio modems - an actual transmitter & a receiver connected to the two components above
![<i>FIRST</i> 1997-1999 Robot Controller](sm_1999ControlSystemBlockDiagram.jpg)
FIRST 1997 Control System Manual
FIRST 1998 Control System Manual
Receiver (Robot Controller)
![<i>FIRST</i> 1997-1999 Robot Controller](sm_1999-RobotReceiver.jpg)
![<i>FIRST</i> 1997-1999 Robot Receiver Diagram](sm_1999ReceiverDiagram.jpg)
These were the first FRC programmable robot controllers and were built around a Parallax Basic Stamp 2 microprocessor.
The programming language was pBasic.
- 8 PWM outputs
- 8 relay outputs
- 16 switch + 2 analog inputs via Sensor Port
- 16 transmitter switch inputs via RNet radio modem
- 8 transmitter analog inputs via RNet radio modem
- Two switch selectable programs - default and user
- RXSLAVE.BS2 - FIRST 1997-1999 Basic Stamp 2 Program
Transmitter (Driver Controls)
![<i>FIRST</i> 1997-1999 Operator Interface](sm_1999-OperatorTransmitter.jpg)
![<i>FIRST</i> 1997-1999 Operator Interface](sm_1999TransmitterDiagram.jpg)
The layout provided connections for:
- Two (2) joystick gameport connections used with CH Flightsticks
- A radio modem/tether port
- Sixteen (16) switch inputs via Auxiliary Input port
- Two (2) analog inputs via Auxiliary Input port
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