FTC LegoGoa Axiom Engineering Notebook 2023

Table Of Contents
1. About Our Team

1.1 Meet The Team
1.2 Parent Instructors
2. Outreach
2.1 Why Outreach?
2.2 Our Outreach Activities
2.3 Newspaper Articles
3. Finance & Marketing

3.1 Business Plan
3.2 Revenue
3.3 Our Sponsors
4. Robot Game
4.1. CAD - Computer-aided Design
4.1.1 Our Journey through 3d Designing
4.1.2 3D Printing
4.1.3 Things We Made
4.1.3.1 Battery Holder
4.1.3.2 Claw
4.1.3.3 Spur Gear & Rack
4.1.3.4 Cone Holder
4.1.4 Other Things We Printed
1
Table Of Contents
4.2 Building
4.2.1 Starting Out
4.2.2 Building The Chassis
4.2.3 Attaching The Meccanum Wheels
4.2.4 Slider
4.2.5 Claw Arm
4.2.6 Gear Rack
4.2.7 Connections
4.2.8 Wiring
4.2.9 T
4.3 Programming
4.3.1 Manual Control Gamepad
4.3.2 Machine Learning
4.3.3 Encoders
5. Weekly Logs
5.1 Week 1 (7th-14th November 2022)
5.2 Week 2 (15th-22nd November 2022)
5.3 Week 3 (23rd-30th November 2022)
5.4 Week 4 (1st-7th December 2022)
5.5 Week 5 (8th-15th December 2022)
5.6 Week 6 (16th-23rd December 2022)
5.7 Week 7 (24th-31st December 2022)
5.8 Week 8 (1st-7th January 2023)
5.9 Week 9 (8th-15th January 2023)
5.10 Week 10 (16th-23rd January 2023)
5.11 Week 11 (24th-31st January 2023)
5.12 Week 12 (1st-7th February 2023)
5.13 Week 13 (8th-15th February 2023)
5.14 Week 14 (16th-23rd February 2023)
5.15 Week 15 (23rd-3rd March 2023)
2
Table Of Contents
6. Strategies
6.1 Strategy 1
6.2 Strategy 2
6.3 Strategy 3
6.4 Strategy 4
6.5 Strategy 5
7. Special Mentions
8. Hardships
9. Team Bonding & Fun Activities
3
Aaryan Gole
Programmer, Documentor & Fundraiser
I like to code in languages like Java
and Python. I also like programming in Arduino.
My Achievements:
Achieved 3rd Runner Up in UCMAS Abacus and Mental Arithmetic
International Competition 2015.
Completed E Office Course and secured 96% from Manipal Institute
of Computer Education.
Achieved 9th place in ATL Marathon 2021.
Completed 2 weeks IBM Internship.
Fun Facts:
I like to make different projects on coding & project.
Individual Goals:
I would like to improve my logical skills with the help of
programming. I want our team to build the best robot during this
season.
6
Aditya Pai
Documentor & Fundraiser
I like to code in languages like Java.
I am studying in Class 11th, Commerce Stream, Sharada
Mandir School, Goa.
My Achievements:
National level finalist in the cube sat competition organized by
NDRF on the occasion of Vikram Sarabhai Centenary year 2020.
Ranked 13 in All Goa Mathematics Competition 2019.
State-level top 3 French Olympiad 2020.
ICSE board scored 95% aggregate 2022.
Selected as Top 40 All Goa Fomento scholar 2018.
Fun Facts:
I like to play football and basketball. I enjoy cycling and travelling as
well.
Individual Goals:
I want to raise funds for our team for the FTC competition and
spread awareness about our team, FTC and STEM.
7
Aniket Bhatikar
Builder, Documentor & Fundraiser
I am 14 years old, studying in class 9th, Mushtifund
High School. I like developing games, apps etc.
My Achievements:
1st Prize at Taluka level Lantern designing competition using
Scratch programming organized by CARES GOA.
Trendsetter award awarded by CARES GOA.
Represented at SCI-FFI 2022 with the project, Smart Charging
System.
Project selected by State Level Western India Science Fair 2022-23
(4th place) and will represent Goa at Nehru Science Centre Mumbai
(Zonal Level).
2nd place in History of Goa Quiz contest.
1st place in Spark 2023. (Mathematics exhibition)
Fun Facts:
I like playing football and solving mathematics problems. Craft is a
hobby of mine.
.
Individual Goals:
I want to learn more about STEM subjects as much as possible. My
goal is to do my best to help my team to succeed.
8
Avneesh Dangi
Builder, Documentor & Strategist
I’m 13 years old. I like sports and video games. I study in
Sharada Mandir School Miramar Goa.
My Achievements:
I have received a black belt in karate.
I have swum across MandovI River.
I have won many trophies in chess.
I have won many medals in karate for state and nationals.
I have taken part and won in many IMO,IEO,NSO olympiads.
I have won in NSTE and UIMO olympiad too.
Fun Facts:
I can code in scratch and Kojo.
Individual Goals:
I want to learn and experience collaborating with others and
functioning as a team. I want to learn more about 3D designing ,
programming , building by applying real life physics concepts. I also
want our team to do better every year.
9
Dhruv Desai
Builder, Documenter & Fundraiser
I am 13 years old, in class 7th, Sharada Mandir School
Miramar Goa. My hobbies are playing chess and
learning about technology.
My Achievements:
2nd place in All Goa Vedic Mathematics Test.
Gold Medal in International Mathematics Olympiad 2021/2022.
Received proficiency in 2nd and 3rd grade.
Won many chess competitions in categories such as U-7, U-9, U-11.
Won first prize in GK quiz in school.
Fun Facts:
I am a jolly person.
I am always ready to learn something new.
Individual Goals:
The next time I will participate, I would like to be a part of the
programming team so I come to know more about programming
and increase my programming knowledge. I would also like to
improve my CAD skills so I construct better 3-d designs.
10
Parth Patil
I am very enthusiastic. I love coding and building
robots. I have built many robots. I have designed games
using different coding languages.
My Achievements:
I achieved Zonal Rank 4 in Maharashtra and Goa Zone in the SOF
INTERNATIONAL ENGLISH OLYMPIAD IN 2021- 22.
Fun Facts:
I like acting.
Make people laugh at serious situations.
Individual Goals:
I want learn more about coding and building part. I want my team to
win the competition every year in every robotic competition.
11
Sai Pranav Gandhi
Builder, Programmer, Documentation, 3D Expert,
Strategist & Fundraiser
I'm 13 year old and I am studying in
Sharada Mandir School, Miramar, Goa in Class 7th.
My Achievements:
Conducted multiple workshops on LEGO robotics.
Made presentations to kids on the topic ‘Learning from toys’, the
first one was at the age of 6.
Participating in Lego robotics competitions since 2018. won the
‘Most inspirational team award’ for First Lego League in 2019 and
was ranked one of the top national teams for World Robot Olympiad
in 2019.
Won the Regional level and National Level championship at the
MakeX robotics competition.
Won the top prize in the MakeInGoa competition in 2020 for
building a unique robot.
Won multiple awards at school level chess.
Won multiple awards for the academic olympiads.
Secured finalist’s top 5 positions at the MIT app Hackathon contest.
Secured 7th rank at the Annual Bebras Competition.
Fun Facts:
I like playing football and I can solve a 3x3 rubik's cube in 11
seconds. and I'm a pro at shooting rubberbands..
Individual Goals:
12 I want to be a better 3D designer and improve in 3D printing.
Samihan R. Pangam
I study in the 9th grade from Mushtifund. I like
programming. I know Arduino, Python, Scratch,
Javascript, HTML and CSS.
My Achievements:
Coding competition 2021 2nd in Tiswadi Taluka.
ATL Marathon 2021 our Auto Oxi model selected in the national
level 9th place.
Selected for 2 weeks of IBM internship.
Our Smart Speed Signages was selected for zonal level western
India science competition at Mumbai, we represented our school
over there.
Fun Facts:
I like to read books.
I like to do something amazing and new.
Individual Goals:
I want to write a better code in blocky FTC to improve my thinking
skills and ensure that my team doesn’t get any problem in the
season.
13
Shounak M. Hede
Builder, Documentor & Fundraiser
I have completed the basic and advanced courses in
Scratch programming, MIT App inventor and Python
programming. I have a keen interest in music and
passed the Level 2 examination at Trinity School of
Music, England for playing the Electronic Keyboard.
My Achievements:
Participated in World Robotic Olympiad (WRO) 2019, and our team
Roborex Goa stood 6th at the regional level.
Participated in WRO 2020x and ranked 40th internationally.
Participated in WRO, ranked 11th for India Nationals in Junior
Category 2021.
Won "Individual Best game Winner" for FIRC for Con Corona Game
using Scratch Programming.
Our team Roborex Goa won Team Champion Winner Award for MIT
app Inventor for developing App by name Kill Corona.
Fun Facts:
I am a humorous personality.
Individual Goals:
My vision is to develop an environment wherein robots assist
humans in various spheres. I will focus to build a competitive robot
by imbibing the knowledge and upgrading my skills.
14
Taksh Parekh
Documentor
I have a lot of interests in sports and academics. I study
in the Gera School.
My Achievements:
I have won many tournaments in sports such as cricket, football and
table tennis.
I have completed 3 years in acting and have achieved a diploma for
it.
I won a competition where we had to pitch an idea to investors and
raise funding for it.
I have come 2nd in the LogiQids competition.
Fun Facts:
I have experience in coding with JavaScript and Python. I play Table
Tennis and Soccer. I am soon going to start playing the Drums.
Individual Goals:
I want to learn how to be a good driver and I want to contribute to
the team. I want to improve my teamwork skills and this will help in
future collaboration too.
15
Vedant Abhyankar
Documentor
I am based in Delhi and am going to be remote working
for this project.
My Achievements:
As part of a team, awarded the third prize in the People’s Choice
Category of the global coding competition called MIT Appathon for
Good 2021/22.
Participated in competitions like the World Robotics Olympiad
(WRO) and reached the National Level round in WRO 2019.
My achievements were covered in an article in The TOI.
I run a YouTube Technology Channel called ‘Coders Destiny’.
Two of the Apps developed by me are featured on Google Playstore.
Selected as one of the top 24 debators in India at the Indian Schools
Debating Society National Camp
Fun Facts:
I really like legos and have participated in competitions like
RoboCup.
I love to play Table Tennis.
Individual Goals:
I want to contribute to the team as much as possible remotely as I
live in a different state. I want to fill in the gaps I have created in not
being with the team in person with helping the team in designing,
organization etc.
16
Venkatesh Dempo
Builder, Documentor, & Fundaiser
I am a 13 year old tech savvy enthusiast who loves to
explore especially in the field of robotics.
My Achievements:
Won the Google Code To Learn Contest 2022 for my app named
Tourism De Goa. Congratulated by famous politicians and
interviewed by Goan media channels, magazines and newspapers.
Secured top fifth position in the International MIT App Inventor
Hackathon Competition.
Won the MakeX Championship at nationals.
Selected as a finalist at the World Robotics Olympiad WRO.
Won numerous awards at school level in Spelling Bees, Essay
Writing & Chess.
Winning many app-designing competitions like FIRC etc.
Won the award for excellence in Media Tech given by Magazine
'Incredible Goa'.
Won the MakeInGoa competition.
Fun Facts:
I am trying to do things with my left hand.
I like photography and singing.
Individual Goals:
This year I want to focus much more on building and
documentation and maybe next year much on programming. Since
this is my first time I want to put in my full efforts.
17
Vighnesh Shetye
Programmer & Documentor
I am a student studying in class 9th. I like to learn and
explore various aspects of technology including
coding, robotics, IoT.
My Achievements:
2nd rank at Jigyasa international problem solving fair competition.
1st place in state-level Codeavour 2021.
3rd place in national level Tcs rural quiz.
1st place in smart school hackathon.
2nd place in the Indian technology and Science festival.
Fun Facts:
I also like quizzing which is my hobby.
I like new technologies.
Individual Goals:
I want to contribute to the team with my existing knowledge and
skills and also learn from my fellow teammates during the FTC
journey.
18
Viraj V. Marathe
ML, Programmer, Documentor, Strategist & Fundraiser
I am 12 years old, studying in 7th Std at DR. K.B.
Hedgewar Vidyamandir Karapur Tisk Sankhali.
My Achievements:
Smart India Hackathon 2022 -An App for a Dementia Patient and got
opportunity to interact with Hon’ble PM Narendra Modi Ji at
Ahmedabad.
NCRC 2022 by SP robotics - national level first prize in Junior
category. Prize of Rs 1 lakh.
Google Code to learn 2021- Finalist in top 5 at national level
MIT Appathon 2021/22- App featured in top 8 at international
level/Won 3rd place with Team Legogoa.
Moonshot hackathon- 1st prize in app development 2021.
IIT Guwahati- 1st prize in website development 2021.
SP robotics NCRC competition 2020 - place top 10 finalists.
Asier Computers- Robotics prize (state level) 2020.
Won the Regional level and National Level championship at the
MakeX robotics competition and came 2nd at international level.
Fun Facts:
I can solve a cube in under 30 seconds best being 17s.
Individual Goals:
I want to learn more regarding robotics and mechanical engineering
and also teach other people.
19
Akshaya Y. Dempo
Team Manager
Parent Of : Venkatesh Dempo
Aparna Gandhi
Programming Mentor
Parent Of : Sai Pranav Gandhi
Leena M. Hede
Team Manager
Parent Of : Shounak Hede
Saieesh Gandhi
Building Mentor
Parent Of : Sai Pranav Gandhi
21
First Community Outreach
4th December, 2022
Miramar, Goa
12 students reached.
Rs. 6000 Earned
The workshop started with a brief introduction of the trainers,

purpose of the workshop and FTC. A Power Point presentation
made the participants aware of the basics of coding. The
participants were then taught to create a robot using a Lego
EV3 kit and then program the robot to perform a specific task.
The aim of the workshops was to create awareness and
enthusiasm amongst young participants about the world of
Robotics and to give them hands-on experience in assembling
a robot and coding it. The participants displayed a keen interest
in learning and exploring new things. The workshops were well
appreciated by young participants and their parents. The team
members thanked the participants for supporting their
fundraising initiative for the FTC championship. We explained
to them the benefits of learning robotics. We taught them how
to give commands to the robots and make them perform
specific tasks.
25
Most Enthralling Workshop
8th December, 2022
Margao, Goa
Rs. 6000 Earned
A kind relative of a fellow member gave us his office hall for 3

hours, free of cost. Now we wanted to cover the entire Goa. So
why not have it in Margao? The aim of the workshops was to
create awareness about STEM in society. Youngsters and
Teenagers all came to this workshop. The youngsters were
fascinated by the roborun and enjoyed the different activities
such as making shapes, projecting colours etc. The students
were put to thinking on how to make the robot go in a square,
circle and other shapes. At last, the participants were made to
answer the quiz on the contents of the workshop. Small gifts
were given to the teams that won. We were delighted by the
positive response from the parents and children. They were
expecting us to conduct it again. Hence, we are planning to
conduct it once more .
26
First School Outreach
14th December, 2022
Vidhya Vruddhi School, Goa
Rs. 6000 Earned
We conducted this workshop in a school called Vidhya

Vruddhi school. The workshop was conducted to raise funds
for an FTC (First Tech Challenge) competition. A competition
for students between grades 7-12. We registered 12 students
aged 7 to 13 years charging them Rs 500 per head. In the
workshop, we taught them how to build a basic robot using
Lego Mindstorms Ev3. We also taught them the basics of
coding using software called Ev3 classroom. We first
introduced ourselves and informed them about the FTC
competition as a part of an outreach activity. We explained to
them the benefits of learning robotics. We taught them how to
give commands to the robots and make them perform specific
tasks. The students and teachers were keen on learning and
exploring new things. There were also activities and challenges
for the students to solve. The teachers were also keenly seeing
what was being taught. The students who were taught by us
taught the school teachers how to code a robot.
27
Discovering The World Of Robotics
19th December, 2022
LaPaz, Vasco , Goa
Rs. 6500 Earned
This workshop was very different from the usual ones. We

received a spot entry. The spot entry consisted of 26 year old
who was really enthusiastic about learning about coding. In the
workshop, we taught them how to build a basic robot using
Lego Mindstorms Ev3. We also taught them the basics of
coding using software called Ev3 classroom. We first
introduced ourselves and informed them about the FTC
competition as a part of an outreach activity. We explained to
them the benefits of learning robotics. We taught them how to
give commands to the robots and make them perform specific
tasks. The students were keen on learning and exploring new
things. There were also activities and challenges for the
students to solve.
28
Christmasy Outreach
22nd December, 2022
Saraswat College, Mapusa , Goa
Rs. 7500 Earned
We registered 15 students of age as we had got an

overwhelming response for our workshops and the parents
insisted us to enroll more students. The workshop was
conducted to raise funds for FTC (First Tech Challenge)
competition. We registered 15 students aged 7 to 13 years
charging them Rs 500 per head. In the workshop, we taught
them how to build a basic robot using Lego Mindstorms Ev3.
We also taught them the basics of coding using software called
Ev3 classroom. We first introduced ourselves and informed
them about the FTC competition as a part of an outreach
activity. We explained to them the benefits of learning robotics.
We taught them how to give commands to the robots and
make them perform specific tasks. The students were keen on
learning and exploring new things. There were also activities
and challenges for the students to solve.
29
Basic Electronics and Robotics (2-days)
27nd December, 2022
Mushtifund HIgh School, Cujira, Goa
8 students reached.
Rs. 4000 Earned
We conducted this workshop, especially for Mushtifund High

School students. Our fee was Rs.500 per student. A total of 6
students had registered. We taught them the basics of
electronics like LEDs, breadboards, Buzzers, motor drivers etc.
We also explained to them the working of various sensors like
Infrared sensors, Light dependent Register sensors, etc. After
learning, they built four robots (object follower, object
avoidance, Light follower and Light avoidance) and two
projects(touchless doorbell and Automatic hand Sanitizer)
under our guidance.
All students were very excited to learn and build the robots. We
also taught them how to overcome various errors in robotics
that most of us face.
30
Home Outreaches
24th-31st December, 2022/31st December/27th-29th January 2023
Panjim, Goa
6 students reached in total.
A few team mates conducted a workshop for 500 Rupees at a

fellow team members house. It was regarding a kit used for a
competition named MakeX.
A few other team mates conducted a python online workshop
for 1 student. It was priced for 499 Rupees. We taught him
basic python with turtle and how to create a calculator and a
timer. We also gave him an assignments. It was a 7 days
workshop.
During our 3 day workshop with Team Sigma Mumbai we
invited a few schools from Goa to create awareness about FTC.
Another school which attended our workshop was Mahalasa
Narayani School Verna.4 students along with thier school
computer teacher Mr Mayur Dalvi showed a lot of enthusiasm
in our workshop. They attended all 3 days without fail and
learnt a lot of things about coding and building during these 3
days . We were also successful in convincing them to
participate in the next years FTC season.
31
New Year Community Outreach (2-days)
31st December, 2022 & 1st January, 2023
Innovation Hub, Panjim, Goa
This session commenced by explaining what robots are, how

they function, and what sensors and motors are. We explained
how to code a Robot and also gave a brief introduction to FTC.
All the participants were split into 4 teams, each with 3
members, and they started building the basic EV3 Robot. We
helped the participants understand how Lego Mindstorm
works and helped them when they had issues assembling a
Robot. After building the Robot, we helped teams connect it to
the computer using Bluetooth and USB connection. Then we
explained to them how the coding software of Ev3 worked and
how to use it. For demonstration, we taught them how to write
a code to make the robot move forward and backwards. We
taught them how to make the robot turn in all angles and asked
them to code the Robot to traverse in a square. After trying a
few times, they eventually traversed in predetermined squares
and then rectangles.
32
New Year Community Outreach (2-days)
31st December, 2022 & 1st January, 2023
Innovation Hub, Panjim, Goa
We added sensors and medium motors to the assembled

Robots the next day. We asked them to code to move the claw
up and down and then to make it grab a block. After this, we
asked them to try making a traffic signal code wherein the
Robot would move when the colour sensor saw green and stop
when it sensed red. Most teams experienced a little trouble
coding the colour sensor but eventually succeeded. Once they
learnt how to use code, a colour sensor and motor movements,
we introduced a little complex “Line Follower” program. We
explained how a typical “Line Follower” code works and how
to use them. A few teams could successfully code the line
follower. However, a few teams required an additional
explanation.
33
Robo Mania
2nd January, 2023
Vidhya Prabhodini College, Porvorim, Goa
Rs. 6000 Earned
New Year begun with another outreach activity. Students from

another city of Goa were taught the basics of coding using a
software called Ev3 classroom. We first introduced ourselves
and informed them about the FTC to create awareness about
the competition. We explained them the benefits of learning
robotics. We taught them how to give commands to the robots
and make them perform specific tasks. The students were keen
in learning and exploring new things. There were also activities
and challenges for the students to solve. One of our team
parent contributed to get 2 underprivileged students who were
interested in attending the workshop.
34
School Outreach
7th January, 2023
Progress High School, Panjim, Goa
We conducted a workshop to create awareness about various

coding-robotics competitions held at the
international/national/state level. It was a 3-hour workshop. The
students from grade 5 to grade 10 attended the workshop. It
was conducted at Progress High School (Government School)
free of cost!
The students were very excited to attend. The team member
got a chance to clear up various doubts. They also had a fear of
learning robotics. After attending this workshop, this fear was
gone. The team motivated them to participate in the
Codeavour 2022 AI competition. This competition is free of
cost for Goa Board students of std 6th to 8th.
The team member also introduced them to other innovation-
based STEM competitions conducted by Atal Innovation
Mission and other government schemes. The team also
provided them with E-certificates. It was a wonderful
experience interacting with government school children.
35
Outreach For Underprivileged
21st February, 2023
Hamara School, Panjim, Goa
A few teammates organized a robotics workshop for 12

underprivileged students of Hamara School. The workshop
was from 4:00 pm to 6:30 pm. Hamara School is a daycare
centre for underprivileged children in Goa. The students had
never seen things like this in their life. They were surprised.
after they got to touch the robotics kit and its parts. The kids
were overjoyed to get hands-on experience to build and
program a robot. In the workshop, we gave them the Lego
Mindstorms Ev3 Kits. They built a basic robot using the
instructions given on the screen. First, we introduced ourselves
and informed them about the FTC competition as a part of an
outreach activity. The benefits of STEM and robotics were also
explained to them. In the end, the smiles on their face were
something that we never saw anytime.
36
Outreach For Specially-Abled
25th February, 2023
Sanjay School, Porvorim, Goa
Some of the team members of LegoGoa Axiom conducted a

workshop at Sanjay School for Special Education, Porvorim.
The experience was unique as the school for specially-abled
children. We taught them EV3 Lego robotics, the platform and
coding with the assistance of the teachers. It had the
construction of the Robot, learning about the components,
coding the Robot and testing the performance as per the
program. The teachers translated our talk through sign
language for students with hearing impairments. The
teammates also had taken special efforts in teaching other
students and were well supported by the teaching staff.
The workshop was great learning for us. Some students were
fast in grasping, while others displayed enthusiasm during the
workshop. The students were overwhelmed with joy at our
learning and their smiles brought happiness to all members.
The workshop was memorable to all of us as we successfully
spread awareness on Robotics and in return learnt that there
exist no barriers to learning if you believe in yourself.
37
Outreach At The Science Fiesta
25th February, 2023
Goa Science Centre, Miramar, Goa
Science Fiesta has been organised in collaboration with the

Department of Science Technology and Environment, Govt. of
Goa, from February 25 - 28, 2023. It is a part of the National
Science Day celebrations and leading Scientific and Research
institutions across the country participated in the event. Goa
Science Centre is one of the most prominent places in Goa.
During the event Team Axiom conducted an FTC awareness
session. A presentation with all the necessary details was
prepared. Quiz was conducted during the session and the
winners were given a hands-on experience with our robot. A
few parents seemed interested and asked questions. We
managed to outreach to a large number of people.
38
Outreach At The Science Fiesta
26th February, 2023
St. Bartholomew School, Chorao, Goa
70+ students reached.
Chorao is a quiet island in the Mandovi River. We reached there

by taking a ferry. It was indeed an amazing experience on the
ferry. First, we assembled all parts in the outdoor area. But since
the projector was not working we shifted inside. Most of the
team was present for this presentation. Team member
Venkatesh started with the outline for that day's presentation.
Team member Aniket told the people about our achievements
while Samihan gave a brief on FTC. The presentation was
followed by Shounak, Sai Pranav, and Aaryan telling about our
learnings and progress. Then Avneesh told us more about the
robot. Finally, we shifted outside again to give the demo of the
robot. This was a great experience for the team. The lights had
gone out hence we couldn't show the presentation. But we still
found solutions and managed to continue our presentation.
39
Rank Amount Perks
Showcase of sponsor info in pit display.

Presentation of our team and robot.
Company logo on team Robot.
Platinum 1,00,000+ Logo on our website.
Logo on team t-shirts in the upcoming
season.
Inclusion in our Engineering Portfolio.
Showcase of sponsor info in pit display.

Company logo featured on team bot.
Logo on our website.
Gold 50,000+
season.

Silver 25,000+
season.

Bronze 15,000+
43
Mar
25000
Nov
205000
Feb
198000
Jan Dec
55000 35000
600000
500000
400000
300000
200000
100000
0
Parent's Contribution Sponsorships Outreach
Government Of Goa
Location: Goa
Amount Sponsored: 1,98,000
Rank: Platinum
The Government of Goa is a state government created by the
Constitution of India and has the executive, legislative and judicial
authority of the state of Goa. It is headquartered in Panaji, the capital
city of Goa.
Dempo Group Of Companies

Location: Campal, Panjim, Goa
Amount Sponsored: 1,50,000
Rank: Platinum
The Dempo Business is the leading corporate group of Goa whose
modern-era business operations commenced in the year 1941.
46
Goa Glass Fiber
Location: Pb-218, Colbale, Colva, Goa
Amount Sponsored: 50,000
Rank: Gold
Goa Glass Fibre Ltd. utilises the unique and latest technology of
Oxy-Fuel Combustion for glass melting. The use of this technology
is instrumental in the saving of fuel and reduction of combustion
emissions to the atmosphere. Our commitment to manufacturing
standards, environment and safety has helped us achieve many
certifications.
Shubham Enterprises
Location: Shubham Enterprises, No.4, Shivaji Complex, Dada Vaidya
road, next to Hotel Manoshanti,
Panjim, Goa.
Rank: Silver
Shubham Enterprises is in the business of
supplying of printing equipments and also
in high quality printing.
47
Nanu Enterprises
Location: Nanu House, Varde Valaulikar
Road, P.O. Box 125, Margao, Goa 403601
Rank: SIlver
Nanu Engineers Private Limited provides
construction services. The Company also
carries out Electrical works such as
underground cabling, overhead lines, HT
towers, lighting high masts
Kanti Prasad Mittal Infra Pvt. Ltd.

Location: S165, Gupta Colony, Transport Nagar, Meerut - 250002,
Uttar Pradesh, India.
Rank: Silver
KPM Group has established itself as a profession organization being
managed by qualified techno crafts having vast experience in field
of a Electrical & Civil work for Power Substations. KPM group is an
EPC Contractor as well as manufacturer of High Voltage
Equipment’s, Solar Structure & Anchor Bolts
48
CloudSTRATS
Location: B-101 /1, Raheja Plaza, Lal Bahadur Shastri Rd,
Hiranandani Gardens, Panchkutir Ganesh Nagar, Ghatkopar West,
Mumbai, Maharashtra 400086
Rank: Silver
Cloudstrats is a global solutions, advisory and managed services
company. We help over 200 customers globally to innovate their
digital transformation journey with Automation, Analytics and AI
leveraging Cloud, Cybersecurity & DevSecOps technologies.
Headquartered in New York, we have presence in India, USA,
Canada, UAE and Europe. Driven by our core value of ‘Customer
Obsession’, our team of over 100 consultants improve Technology
Strategy, Information Security, Business Continuity and Process
Optimization with you. Cloudstrats believes in the Owner’s Mindset
and shares a common value among all.
Aravinda Electricals
Location: Arvind Electricals Infra Pvt. Ltd, No.56, BMS Plaza, 1st
Block, Banashankari 3rd stage, Bangalore-560085
Rank: SIlver
Aravinda Electricals Infra Private Limited is a Turnkey Govt Licensed
Electrical contractor and civil contractor undertaking turnkey
projects of Electrical Installations including Design, Engineering,
Supply, Installation, Testing & Commissioning for Transmission
Lines, Power & Distribution Transformer Centers, Electrification
49 work & substation works.
52
First, we used to have our parts printed externally by giving the
file to a different person and having them print it for us. We first
used resin printing as we thought it would be better. We soon
realised resin printing would be too expensive and the parts
would arrive slowly. We then shifted to FDM printing but still
got it done by someone else. There were still a few issues we
faced with this. If there was even one mistake in the design,
then it would be a failure and it would be too expensive to keep
printing parts. Eventually, we decided to buy a budget 3D
printer. Along with it we bought 1kg of ABS and PLA filament.
Now we could design many parts independently, print them
right in our work area, and get the details ready quickly. We
could easily modify parts and reprint them. We had to learn
about using the 3d printer before printing.
53
At first, we had trouble slicing 3D models after setting up our
printer, but we learned how to slice using recommended
settings in Cura. However, we faced several issues with the
printer, such as filament getting stuck or needing to adjust the
baby-step value. As we learned more, we could use advanced
slicing settings and even swapped out the nozzle for better
print quality. But then we ran out of PLA filament and switched
to ABS, causing more printing issues. We tried to fix the issues,
such as parts getting ripped off the bed, by putting tape on the
bed. However, we eventually ordered more PLA filament
because we couldn't figure out how to use ABS correctly.
54
To hold the battery to our robot, we needed a holder to store it
and help us attach it to the robot.
Version 1
After taking the battery measurements by scale, we started by
creating a sketch to be the base and then extruding the walls
and the base.
Then we made a slot for the wire of the battery to be able to

come out.
With the rough design of the battery holder down, we started

the refinement of the build and filleted down all the sharp
edges. However, if we were to re-design this part, we could
count this step as a mistake as we have learnt that it is better for
us to fillet the design at the very end since it becomes easier to
edit the part.
55
We needed the holes based on the goBILDA pattern to attach
the battery to our robot. So we took the step file of the 3-hole
plate from the goBILDA website. We made a slit on the side of
the battery holder according to its size and placed it in the slit.
We did the same for the other side and put our name on the
side of the battery holder.
While putting our name on the battery holder, we realised that

we couldn’t use a standard font as the inside of the letters
would fall out, so we installed a 3D font and used that to put
our name on the part.
56
We then put another plate on the bottom for maximum
connection points. To do this, we first cut the side of the
container to make it fit in the base and then, like before, made a
slit and put the plate there.
Thus the first version of our battery holder was completed, and
we sent it for printing.
57
Version 2
We realised that the battery holder was slightly wider than the
battery, so we had to make it smaller. We were not very
experienced with editing at this time, so we had many issues.
First, since we didn’t know about the timeline and how to use it
then, we used a highly complex method to make it smaller. If
we had to do it now, it would take barely 5 minutes since we
could use the timeline to modify the original sketch and then
modify the remaining features. But instead, at that time, we
tried extruding the walls. We had to delete all the fillets that we
made and then extruded the wall to match the bottom plate.
We had to take it back out and remove more of it to fit. Also, in
the previous model, the base plate had been too thin and
didn’t print, so we fixed that issue.
We also discovered that in our old design, the plate was

actually slightly extruding out in one place. We promptly fixed
this. And thus, the second model of our battery holder was
completed.
58
Version 3
We realised that the bottom plate of our design was pretty
messed up due to our inexperience.
To fix this, we remade the entire bottom and made it proper.
With this, our entire battery holder was completed, and we

could use it correctly in our robot and still use it to hold the
battery.
59
Version 1
To grab our cones we needed a claw for this we first took
inspiration from a design we found on the internet by another
team. We changed the claw to be better suited to our robot.
Their claw was also very complicated a hard to assemble. We
improved on this by changing the different parts of the robot to
make it easier to attach. Their claw also used a bearing we did
not have so we changed the mechanism of the claw to work
for our parts.
60
Version 2
In the original version of the claw, the servo would hit our cone
holder. So we redesigned it from scratch and also changed the
angles of the curves to better pick up the cones. We also
added holes in the claw where we could put elastic surgical
tubing for a better grip on the cone.
61
Version 1
We wanted our claw to be able to come out to grab the cones
from a distance. To do this, we used a slider to extend the claw.
We originally planned to use a thread and the standard
method to extend the slider. We realized, however, that it
would be too complicated to put two motors. So we instead
came up with the idea of using a gear rack and pinion to
extend it. First, we downloaded and modified a rack and pinion
mechanism from the internet. We made it to the sizes we
needed according to the goBILDA viper slider.
We then made the gear hole according to the REV shaft and
put holes in the gear rack to put screws to connect it to the
slider.
To allow a better connection to the slider, we set places for the

nuts to place the nut in the rack and then put the screw
through from the slider. Thus the first version of our gear rack
was completed.
62
In the subsequent few versions, we made minor changes, such
as adding four holes for the gear to connect better to the Rev
shaft. We also changed the gear rack style from standard to
herringbone. We also removed the holes since, in a
herringbone design, the gear would not move over the rack
properly if we added holes. We instead used 2 compound
glues to attach the gear rack.
63
Version 2
We wanted to increase the speed of the gear rack, but
doubling the size of the gear did not produce enough speed.
We decided to add a small gear between the gear and the gear
rack, and connect the large gear to the motor to further
increase the speed. However, we needed to create a mounting
plate to connect the motor and gears, which we designed
based on the measurements of the goBILDA U channel and
made precise holes for the core hex motor to fit.
Thus, the gear rack was fully complete.
64
We needed a properly designed holder for our cone so that we
could properly hold the cone, and it needed to be in such a
way that no matter how our claw dropped the cone, it would
still land upright in the cone holder.
Version 1
TTo make the base of the cone holder we took the
measurements of the cone and made a rough shape of the
cone holder. We made sure that near the top, the holder was a
lot wider than the cone so that it could receive the cone from
any angle. We added a little bump near the bottom to align the
cone into the holder properly. We also added an elongated
stick that could directly connect to our servo motor for us to
move the cone holder.
65
Version 2
The problem with this design was that the cone holder was a
bit too big and the cone could slip around inside it. So we
made the cone holder a bit smaller and changed the inner
bump from a round tip to a conical shape. We also removed the
connecting stick and instead burnt through holes for screws
near the top.
66
Version 3
Now we realised we needed an active locking mechanism
powered by a servo that would hold the cone in place so that
even when we made the cone holder upside down, the cone
would still remain in place and then we could navigate to the
junction and then release the cone. To do this, we first
considered having an arm near the outside of the cone holder
which would then push the cone inward. But after thinking for
a while, we came up with the genius idea of having the
positional bump be taller and then extending a mechanism
into the cone. We then had to think of what mechanism we
could use which would be so small but still be able to extend
properly. Our first idea was to use a gear rack and gear on the
inside which when spun would extend out and into the cone.
We thought that this was however too flimsy and the gear rack
would bend, and the cone would fall out. So we started
thinking of something else. Then we got the idea of using a
gear in the centre and two smaller wings on the side which
would extend out and block the cone.
67
We decided to go through with this design.
First, we needed to figure out a way to connect the servo to the

cone holder. To do this, we made a small plate near the bottom
to which we could attach the servo.
68
We made the inner part of the inside bump a shaft with teeth to
match the servo near the bottom.
We assembled the central gear onto the shaft, attached the

wings with pins, and created a cover at the top. We made sure
there was a hole through everything so we could attach a
screw to the servo. We also created a depression at the top to
avoid interference with the cone. To attach the cone holder to
the robot at an angle, we added an extension near the back.
69
Version 4
While using the locking mechanism for a while we realized that
the gears were breaking. We replaced the gears several times
but the small gears of the wings kept breaking. Thus we
realized that this mechanism was wrong and we couldn’t use it
with small and fragile gears. So we decided to revert to our old
design and started making that. We made the gear racks
according to the teeth of the gear and we made a small bump
on the gear rack to align it.
We then implemented this design and made other slight

modifications such as the connection point, the thickness, the
edges etc. They all are shown on the next page.
70
71
Design Versions
Cone Holder 42
Spur Gear and Rack 16
Claw Slider Axle Holder 9
Robot Chassis 5
Junction Insert 3
Servocalbeclip 1
Claw 13
Name Plates 2
Wheel Insert 1
Battery Holder 6
Print Versions 29
127
72
A few teammates started unboxing the kit on 6th December
2022. We removed the parts and kept them in a box. The
screws and Allen keys were kept separate. We also tried
figuring out how to make the base. We forgot to order some
motors, U-shaped channels, etc. So we had to order those
parts.
74
Version 1
First, the teammates connected 3 REV C Channels. Then it was
fixed using M3 screws. M3 is a three mm-sized screw. Soon we
realised that we had to make a goBILDA slider to fit the
mecanum wheels so that the robot could move sideways.
Hence we changed the entire chassis build to fit the mecanum
wheels, their respective gears and axles. We had to wait till the
second kit arrived. Till that time, the teammates tried making
the slider.
75
Version 2
Till this time, all the required stuff (gamepads, kits, DriverHub,
etc.) had arrived. We again gathered and started working. We
took 3 U-channels. 2 at the side and 1 in the middle. Two Quad-
block mounts were attached at either side of the middle U-
channel. Finally, all three were connected using M4 screws and
our chassis was 50% completed.
76
Version 3
We had invited Team Sigma 20890 to guide us in building the
robot. They told us to use a beam to support the chassis at the
front and the back to make the robot more stable. For this, we
used a C-channel. Some Make-X pieces were connected at
either slide of the C-Channel so we could attach them to the
end sides of the u channels. Finally, it was connected using
3mm screws.
77
Version 4
We realised that the robot was too long in terms of length. So
our coach took the robot to the metal cutting shop. Finally, the
extra metal on the front and the back ends were cut off. Those
metal plates were later connected to the middle U-Channel and
it was used as a base to mount the slider.
78
Version 5
Eventually, we ended up removing the gear rack which made
some of the supports of the chassis unnecessary. We could
have left the parts but they were heavy and slowed the robot
down a bit. We removed the heavy rev parts and added two
thinner and lighter parts. Their ends weren't matching with the
two main sides of the chassis so we attached one side each
and connected them with smaller parts. We also added two
handles like extensions to the sides of the chassis so that we
can carry it easily and our hands won't get hurt.
79
We didn’t directly attach the motors to the mecanum wheels.
We used a 90-degree gear, as mentioned in the manual. First,
the grub screws of the gears were loosened so the shaft would
go through them. Later they tightened again. We used two
gears, as shown in the picture below. There were a limited
amount of grub screws with us; multiple times, they loosened
and fell out of the robot. We realised that if this happened, we
wouldn’t have any more grub screws and couldn’t attach the
wheels to the motors tightly. Hence we used a medium-
strength thread locker to make sure that it would be less
probable that the grab screws would fall.
80
Version 1
We first used BWTlink sliders. They were supposed to be
better than GoBilda sliders as they were lighter and simpler.
We didn’t have the right screws for these sliders. To connect
these sliders, we needed flat-head thin M3 screws. We did not
have such screws, so we used tape to connect the different
sliders. We strung it normally, but the problem was that it went
slow because the sliders moved one by one. We realized that
we had to make all sliders extend simultaneously. Therefore,
some team members brainstormed but could not find a
solution. Hence, we learnt how to make a cascade system. We
found out that it needed multiple strings to make the slider
move simultaneously. Hence, we cut the long string into
smaller pieces. We faced many issues with the BWT sliders as
they were not properly attached due to the lack of screws. And
we couldn’t figure out how to attach the sliders properly to our
robot at an angle. We wanted to attach them at an angle as
that would make it possible for us to reach the high junction
without leaving the substation.
16 INCH
81
Version 2
Due to these issues, we got the goBILDA viper slider kit. We
used the 4-slider, 12-inch kit. While assembling them however
we faced an issue with stringing. We couldn’t figure out how to
use the cascade system in reverse. Since now the sliders were
at an angle gravity couldn’t pull them down we needed a
reverse cascade system to bring it back down. We tried a lot
and even read articles on it but just couldn’t figure out how to
use the cascade reverse system. So we, unfortunately, had to
revert to the linear stringing system.
82
Version 3
We realized that we didn’t need 4 sliders to reach the height of
the high junction. We also needed sliders for the horizontal
slider to extend the claw. We took off two of the sliders we also
added 2 springs to the top and the bottom of the slider. We
also changed the angle of the slider using a different rev part.
We also added a rev gear near the spool and motor so that we
can turn it by hand by holding the gear.
83
Version 4
Team Sigma told us that we didn't need two springs and that it
would be better for us to use 1 spring as then we could move
the slider by hand and it would make it less jerky. So instead of
using two springs, we used one spring with more tension. At
this time we didn’t put the string properly on the spring which
caused it to keep slipping off the spring. We had to learn how
to put the string properly. We also added one more slider as 2
sliders were barely enough to reach the high junction. The Rev
gear we had earlier attached to the spool was hitting the
ground junction and reducing the clearance of the robot. So
we replaced it with a gear print from earlier which we didn't
need anymore.
84
Version 5
While practicing driving, the cone holder got stuck at a
junction and we tried to free it, but accidentally snapped the
pulley string. In the past, we would have fixed the slider
mechanism by tying the same string and stretching the spring.
However, since we had recently ordered a new and stronger
string, we decided to replace it. Unfortunately, we had trouble
removing the spool because there wasn't enough space
between the end of the axle and the chassis, and there was a
gear in the way. Instead of disassembling everything, we
melted the gear to remove it. After fixing the slider and
restringing it, we discovered that the new string was too thick
and caused friction against another part of the slider. So we
replaced that part with a smaller one that could still function.
85
Version 1
A beam *(Make-X piece) was connected using M-3 screws on
the end of the chassis. A Servo Motor was mounted in the
centre of the beam. A 3-D printed claw was attached to a beam
that was attached to a servo. Also, a servo was placed in the
claw to grab and ungrab the claw.
*MakeX is a competition in which our team has participated.

Similar parts are used to build this robot as we used in MakeX
86
Version 2
Since we thought of using the racks, we had to remount them.
Now we had to use some spacers to hold the claw and its arm
at a small height. Two small plates were attached which were
used as stoppers. It was done to stop the claw arm which was
moving up and down, to drop the cone at the appropriate
angle.
87
Version 3
The claw wasn’t stable with one beam. So, we upgraded it with
2 beams attached to the claw on either side. The motor was
connected to both beams using the axle of the motor. Spacers
were used to hold the beams tightly. Some arrangement was
made using gobilda pieces to hold the beams.
88
Version 4
We also replaced the Core Hex motor (which moved the claw
up and down) with the Planetary gear motor. Now it was
running too fast. So, again it was replaced with an HD Hex
motor. Its RPM was 6000 which was too fast and would lead to
damage. We had to reduce it by using gears; 5:1, 5:1 and 4:1.
Now it reduced to 60 RPM. Also, the beam (Make-X part) was
replaced with a C-Channel to hold the motor which was heavy
as compared to the servo motor.
89
Version 5
As the gear racks were removed, we had to update the claw
holder. Two square plates were attached to the end of the
Chassis. The claw arm was attached with the help of the
spacers. A bracket was used to protect the HD-Hex motor.
90
We wanted to make something to move the claw forward so
that it can pick up the cone without entering the substation
during the autonomous period. We thought of this when
thinking about the autonomous period. After brainstorming,
we first thought of using a scissor mechanism. So the
teammates started thinking about how we can use it. It was too
complicated to design and print it. So our mentor told us not to
use it and use gear racks and move it forward by rotating the
gears
91
Version 1
We started by removing two sliders from our main slider and
attaching them to the top of the side panels of our chassis.
Soon we got 3D-printed gear racks and attached them to the
sliders. We attached them to the sliders by tape as the gear
racks and the holes in the sliders were not matching. Two
gears were 3-D printed on either side, and a core hex motor
helped to move the gear racks. A rod was used to hold both
kits. For attaching a rod, two stands were made stoppers were
placed on either side of a stand and on the motor to keep it
fixed. This version could have improved many things. While
some team members were programming, the rack was tough
to reset to its original position. Also, it was moving very slowly;
hence, it delayed in dropping a cone.
92
Version 2
We had to remove one of the goBILDA sliders for our vertical
slider. So we replaced the lost slider with a BMT link slider from
earlier. We figured out a screw to attach the slider to the U-
channel. One of the stands broke. Also, the gear design
needed to be corrected, as it resulted in the braking of the gear
racks. They were re-designed. We wanted our robot ready so
that Team Sigma could understand and give us tips. So the
racks and gears were redesigned.
93
Version 3
The normal racks were replaced with a Herringbone design to
move faster. These Herringbone design racks and gears were
3-D printed. Now it was moving a little faster. Also, the design
of the stands was replaced, they were made triangular.
94
Version 4
We didn’t get the appropriate speed that was required. It
needed an update so that the speed becomes faster. Therefore
the size of the gears was redesigned. Now their diameter was 3
inches. Also to make it stable, one more gear was used at the
end of a rack to hold it. The core-hex motor was replaced with
the planetary gear motor. Now it was running at the
appropriate speed that we need.
95
Now, we found that after picking the claw, the slider arm could
reach the pole. The racks were not used at all. We could also
pick the cone and drop it without the use of the gear racks
during the manual period. So we thought of deleting it from
the robot.
96
We first thought of using the Control Hub to run the chassis
and the Expansion Hub to move the slider. While doing the
actual robot, the chassis motors were connected to Expansion
Hub. Encoders were used to get the exact position of the 4
motors.
The connections of the encoders of the motors are as follows:

Top Right Motor to Pin 0
Top Left Motor to Pin 1
Back Right Motor to Pin 3
Back Left Motor to Pin 4
The power cables for the motors are connected to the

Expansion Hub. The claw, cone holder, and cone cup motors
are all connected to the Expansion Hub, while the slider and
claw arm motors are connected to the Control Hub. Previously,
the gear rack motor was connected to the Control Hub. The
Control Hub and Expansion Hub are connected using a USB
Cable. Additionally, a camera is connected to a USB port on the
Control Hub for autonomous periods.
97
The wires were messy and too long, so some were cut short.
The encoders kept getting disconnected, so they were fixed
with glue. The wires for the slider, claw, and claw arm were
covered with wire sleeves, but the slider sleeve kept getting
stuck, so it was mounted with a beam. The extra wiring for the
wheels was placed under the C-Channel and packed with a
plate attached to the claw. A REV Battery powers the robot and
a switch was mounted on the side of the slider using a plate. A
potentiometer was connected to the Analog pin of the Control
Hub to get the angle of the slider arm servo.
98
While the drivers were practising for the manual control period,
we found that the cone was getting stuck within the robot and
we couldn't pick another cone according to the Power play
rules (one cone should be picked at a time). Therefore we
brainstormed and found a solution. First we used a corrugated
plastic sheets. We draw the design and cut it off. With the help
of tapes, we stuck it. This part was looking ugly. So, we
decided to give it an upgrade by using acrylic sheets. First, we
mounted 2 small L-Channels on the side of the handles on
either sides. It was mounted to hold the filters. then 2
rectangles were cut-off from the sheet and they were mounted
on those sliders with the help of nuts and bolts. A custom
shaped filter was mounted with the help of tape and glue at
the front.
99
We first coded the initialising program for the motor movement
of the robot using joysticks. Without any function, it was like a
mess. Then we decided to use functions in our code to make
the code much more accessible, more reliable and more
understandable.
We gave the variables

to perform a certain
function such as:
TRP-Top Right Motor
TLP-Top Left Motor
BLP-Back Left Motor
BRP-Back Right
Motor.
101
The first code is of the main
function and the second one
is of the auto function. Then
we used the joystick buttons
to move everything from
taking the cone and placing it
in the high junction. We used
condition statements to check
whether the gamepads'
buttons are clicked. We
decided to use:
‘X' button for picking and

dropping the cone in the
Low Junction.
'Y' button for picking and
Medium Junction.
'B' button for picking and
High junction.
We tried it for many days

because there were a lot of
problems. We needed to
change the values, again and
again, because we didn’t
know the main cause behind
the fluctuating values.
102
We now learnt that if the battery gets low, the speed of the
motor gets low too. So, we couldn’t rely on time. Then we used
in-built motor encoders instead of time, but couldn’t neglect
time because we need a delay before every function. If we
didn’t add a delay then the robot might have itself damaged.
But still, we were not using time for moving the motors and
only using it for the delay so there was no problem. Also, the
gamepad was facing issues because we were using all the
movements on the same gamepad.
103
During the Sigma team meetup, they suggested programming
separate buttons for each function. This would allow us to use
the dropping arm to properly place the cone if it wasn't placed
correctly in the holder. Initially, we reduced the workload to
one gamepad and split the functions equally between both
gamepads. The Sigma team also taught us how to program the
encoders. While the movement code remained the same, they
advised us to change the code for picking up and placing
cones in the junction. They assigned the second controller as
the function controller and the first as the movement controller.
In the second controller, we programmed the functions for
grabbing and placing cones.
104
We added Zero Power Behavior for the brake.
Driver 1 and Driver 2 functions in the main code . Code in

Driver 1 is as same as earlier but was only to the Driver 1
function
105
Code in Driver 2
106
Function to call when the “X” is pressed in the gamepad.
Which will bring the claw
Code in the claw_up function
Function to call when the “B” is pressed on the gamepad.

Which will bring the claw down.
The code in the claw_down function
107
Function to call when the “X” is pressed in the gamepad.
Which will bring the claw
Code in the claw_up function
Function to call when the “B” is pressed on the gamepad.

Which will bring the claw down.
The code in the claw_down function
108
Function to call when the “A” is pressed in the gamepad.
Which will grab the cone.
Function to call when the “A” is pressed in the gamepad.

Which will grab the cone.
Function to call when the “Y” is pressed in the gamepad.

Which will release the cone from the claw
The code in the claw_release function
109 102
Function to call when the “DpadUp” is pressed on the
gamepad. Which will take the slider up to the maximum height
(We are targeting only high and low junctions)
Function to call when the “DpadDown” is pressed in the

gamepad. Which will take the slider down
Function to call when the “DpadLeft” is pressed in the

gamepad. Which will take the dropping arm up and the cone
will fall into the junction.
110
The code in the drop_up function.
Function to call when the “DpadRight” is pressed in the

gamepad. Which will take the dropping arm down.
The code in the drop_down function
111
‘A’ for Grabbing Cone.
'Y’ for Releasing Cone.
‘X’ for Claw Up.
‘B’ for Claw Down.
‘DpadUp’ for Slider Up.

‘DpadDown’ for Slider Down.
‘DpadLeft’ for Dropping Arm Up.
‘DpadRight’ for Dropping Arm Down.
But first, we made different functions for driver 1 which is

gamepad 1 and for driver 2 which is gamepad 2 for making the
code more understandable. Then we called the function in the
main code.
112
After that, we were doing the manual practice but the claw was
not properly placing the cone in the cone holder (bucket for
holding the cone). After a few days of working on the robot, the
Claw Servo got jammed because of too much pressure
applied. We realised that the servo was overused even if the
claw closed. This caused the servo to jam. We replaced the
servo.
We replaced the Claw Hand Servo with a Core Hex Motor and
programmed it, but the inbuilt encoder of the Core Hex Motor
was not accurate and kept changing values. We tried using a
potentiometer, but even its values kept changing, so we
replaced it with a Bore Encoder which worked properly.
However, the Slider motor overheated due to overuse, similar
to the Claw's servo.
113
After a few days, the team decided to change the hardware.
We Added a locking system in the Cone Holder (which was
controlled by the servo) so that it can hold the cone once the
slider is extended.
‘X’ for holding the cone

‘B’ for releasing cone
Auto-locking code when dropping arm is going up.
Auto unlocking code when dropping arm is going down.
114
Auto-locking code with dropping arm up when the slider is
going up.
Auto-locking code with dropping arm up when the slider is

going down.
We added an auto-locking system so that when the slider goes

up the locking system locks the cone and when the slider
comes down the locking system unlocks the cone and falls in
the junction. While changing the mechanism, the build team
rewired everything. The wires were wrongly attached, so the
robot was not sliding properly. Without realising changing the
whole code. After we realised the problem, we changed
everything to normal. The wires were rewired, and we spent
nearly three hours figuring out the problem and we fixed it. We
calibrated each motor properly and it worked.
115
Machine Learning
The FIRST Tech Challenge Machine Learning toolchain (FTC-
ML) allows us to create custom TensorFlow models for the
game challenge. Machine Learning can use them to detect the
signal sleeve and other game elements incorporated in the
autonomous code using Vuforia.
When we first tried ML, we trained the model on a cube for

testing.
116
It could have been more accurate, seeing we had prepared it
for 200 steps to save on the minutes used.
After this, we trained on the red cones for 200 degrees; Our first
strategy was to position our robot according to the cones in
the autonomous period.
A block in ML gives us the angle to the cone from the robot;

negative means the cones are to the robot’s left, and positive
means the cones are to the robot’s right.
Our strategy was positioning the robot in the center and then
moving towards the cones.
To move towards the cone, we were going to use the

“regonitionHeight” block.
117
We figured out where the robot needed to be to catch the
cone correctly.
But this didn't work as we realized the “regonitionHeight”

block distance values are not proportional.
Our code also used to get stuck in loops since we didn’t know
back then how to use while loops in blocks correctly.
After this, we realized we didn’t need ML to position the robot

to the cones. Instead, we needed it to recognize the signal
sleeve for parking.
We started working on an entirely different strategy. We

decided to try parking with the help of the custom-designed
sleeve, as it would give us 20 specific points shortly.
Then we will start increasing the complexity of the robot.
118
So we began by designing the signal sleeve, and came up with
a design.
We then trained the first sleeve model,
119 112
But there was a big issue, The model wasn’t working!
We tested it on the example code we can get on the

programming page while creating a new op Mode.
After debugging hours, we realized we did not label a few

hundred frames.
So we re-trained the model with all of the videos fully tagged.
120
We printed our signal sleeves on poor-quality paper, but then
our mentor suggested printing them on vinyl for better quality.
After printing six copies on vinyl, we realized that we needed to

retrain our model because the vinyl had a different finish,
making it challenging for TensorFlow to detect it with our
previous model.
We trained the model in the afternoon, but in the evening, it

stopped working due to the glossy, shiny finish of the vinyl
causing detection issues in certain lighting conditions.
We decided to shift back to paper sleeves since they

responded better to different lighting conditions.
The code we made is displayed on the next page.
121
122
123
We first were going only to use seconds bases programming.
But we quickly realized this was not going to work out.
So our first strategy was to use external encoders.
But this was hard for us since we would either not have a part
or the part needed to be the correct size.
So we decided to use internal encoders for the movement of

the robot.
All codes are displayed on the next page.
To start it we stop and reset the encoders of the movement

motors,
Then we set the target position to 1075 * tiles.
Then we set it to Run to Position. The logic for running the

motor is if the current position isn't in 10 to 15 ticks of the
current position then it runs the motors but if it is it stops the
motors.
Similarly, we have used this logic for moving backwards

forwards and sideways.
For turning we were first just going to use the encoder like we
are for moving, But we quickly realized this wouldn't work
since the robot would be too fast and would overshoot.
So we used the gyro of the IMU
124
125
7th-14th November, 2022
Team Legogoa has officially
commenced its preparations to
participate in the Worlds largest
Robotics competition FIRST Tech
Challenge India under the banner
of FIRST Tech Challenge. The
team is named as Legogoa Axi0m
and has 15 students from all over
Goa. We started off with formal
introduction of all the team
members and their parents
followed by presentations by
team members on what FTC
means to them. The item on
agenda for this week on raising
sponsorships to fund the team
activities.Various roles were
assigned to each parent of the
team members. The first
successful meeting was
concluded with snacks and
photo sessions.
127
15th-22nd November, 2022
During this period, we mainly
focused on skill-building. Team
Sigma was teaching us CAD
(Computer aided designing)
using an app called OnShape. We
learnt the importance of CAD,
and we also came to know how
we will use it in the competition.
We were given various CAD
assignments so that we could
improve our CAD skills. In CAD,
we learnt to use multiple parts
such as Fillet, Chamfer, Sweep,
Loft, Revolve, Extrude, etc. We
were also introduced to the Rev
website during our training, and
we learned more about the parts
of FTC and its uses. We were also
involved in making our team's
logo for the FTC competition.
There were almost 20 logos
designed by our team members.
We were also involved in
developing the website for
fundraising purposes. Many
could learn more about FTC and
its fundamental importance
through the website.
128
23rd-30th November, 2022
We were focusing on the type of
programming to be used: Block-
based or text-based. Since we are
a Rookie team, our coach
approached Block-based. During
these days, we were learning how
to use Onshape-Computer Aided
Designing. During this period,
many were practising CAD by
making various designs. Also, we
all sent our details(achievements,
bio, etc.). During these days, we
were also finalising our Team
logo. We were trying to create a
simple logo with very few
elements, a deep meaning, and
signifies something about Goa
and the club Lego Goa. The team
members created 20+ logos.
129
1st-7th December, 2022
Finally the kit arrived in the first
week of December. We enjoyed
unboxing the kit and had alot of
fun. We also learnt FTC sim. FTC
sim introduced us to some
fundamental programming
challenges and helped us
understand the robot's
movement. We got a basic idea of
how the robot would move using
the FTC sim. We were also
introduced to the colour sensor
section in the FTC sim. Our
website also went live during this
period. We were also tasked with
submitting the certification on
Onshape. Everybody was also
charged with presenting so that
our mentors got to know how
much we understood about FTC.
We also got a few funds for the
competition and planned on
starting outreach activities. We
also conducted a workshop on
4th December and we managed
to raise Rupees 6000 through the
workshop.
130
8th-15th December, 2022
We finally started working on our
documentation and also the
build. Team members built the
1st version of the slider. We
started to attach all of the slider
parts with a string. (Thread) After
this, we realized that how the
threading was done, made the
sliders come one after the other.
This made it slow. We wanted all
sliders to move together to make
it faster. So the team members
tried using physics to understand
the concepts of pulleys. After
brainstorming they came up with
the idea of threading which made
all the sliders go up together.
Then a few members got
together and started building and
threading. Our first version was
made of Rev Parts. Team
members also worked on the
daily presentations. We made
high progress in building and
raised money through our
outreach this week.
131
16th-23rd December, 2022
Brainstorming - is the only word
this week could be described in.
Our coach told us that we have to
strategise on how to hold our
cones. A few team members
immediately started the work on
designs. Some notable ideas
include an arcade toy grabber
claw or a diamond shaped claw.
Most of these ideas were given
keeping in mind that the cone
would easily fit in them. We
celebrated a robotic-themed
birthday of our team member
Shounak. Our team coach
Saieesh Sir introduced us to
GitHub and we had our first
training session with Shri Anay
Kamat. GitHub is a platform
where a team can collaborate on
website development and it
keeps a record of contributions
and changes made. During the
session, we built a small website
using HTML and learned the
basics of GitHub. We were also
made aware of the different
awards that could be won by us
this season. We understood the
importance of documentation.
Grateful to the guidance of an
external instructor.
132
24th-31st December, 2022
FTC Team LegoGoa Axiom was
the first customer for a 3D
printing lab and requested the
lab to 3D print a claw for their
robot. The lab staff explained the
3D printing process to the team
and they learned about the
advantages of 3D printing, such
as reducing the number of molds
needed to make a part and
decreasing fabrication time. The
team was also able to introduce
the concept of FIRST to the lab
staff and Shri Rohan Khaunte
Honorable Minister of IT for the
State of Goa presented the team
with the 3D printed part. Team
Sigma 20580 declared the results
of a claw design competiton that
was hosted by them a week back.
We had a major outreach
planned for the new year ie. on
31st Of December. It was at the
Innovation Hub, Goa Science
Centre. We were busy in
preparations for that. We also
created an instagram page to
promote the activities that we do
and also to show our progress.
133
1st-7th January, 2023
New Year Began with the second
day of the workshop at
Innovation Hub. We started to
design our website using a tool
called Github. We also started
working on the robot's
programming, such as the robot's
controller, and on the manual
code for the gamepad. Another
workshop was conducted on 2nd
January for fundraising purposes
and one to create awareness of
various national and international
competitions. The robot-building
process had already begun, and
the main parts of the robot, such
as the claw, were already 3D
printed. We also started working
on the slider and the pulleys. The
robot was being built bit by bit.
During this week, a mentor of
RoboFunLab RFL Mumbai
guided us on the domain of
documentation that included the
engineering notebook and
portfolio.
134
8th-15th January, 2023
Our GitHub website and robot
build was upto mark. The camera
was helpful as it could score
points by detecting the cones
through the machine learning
programme. Now we started
working more on programming
and focused on improving our
autonomous navigation and
machine learning. After the
testing the robot, we started
working on our strategy for
scoring points and posting daily
blogs on the GitHub website.
Although many challenges were
faced while building the robot,
and solutions to them were found
easily by us. The week ended
with a photoshoot of all the team
members.
135
16th-23nd January, 2023
CAD and FTC sim were mainly
revised and practised during this
week. The build team watched
videos of the FTC robot so that
we could learn more about robot
building and implement the ideas
in our robot. We were focused on
the build, did various things such
as tightening the tyres and
working on the claw, and worked
on the design to fix the distance
between the cone and junction
problem. Many of us were also
learning about programming and
watching videos on machine
learning and autonomous
navigation. We were working on
the encoders as we weren't using
odometry. We even worked on
the engineering notebook.
136
24th-31st January, 2023
Our 3D printer arrived during this
week. Apart from that
preparations were on to welcome
Team SIgma to Goa. They
assisted us as we were a rookie
team and they were a veteran
team. A 3-day workshop
conducted by Team SIgma gave
us useful tips about FTC. They
helped us with the robot build
and solved our problems with
programming, documentation,
field setup, and the game
element. The most remarkable
advice they gave was on scoring
points and strategy-making. At
night we had a scrumpcious
dinner with them. There were
also team bonding sessions
conducted by Ms Karuna
Satardekar. It was an honour
having Shri Rohan Khaunte IT
Minister Goa concluding
ceremony. We were greatful that
he posted on his social media
channels about our workshops.
This workshop was covered by
Goa's leading newspapers.
137
1st-7th February, 2023
We followed team sigma's advice
on our robot. We learnt a bit
about scouting. We wrote blogs
on the 3-day workshop and
posted them on our website. We
rebuilt the robot based on the
suggestions of Team sigma to
remove the shortcomings
pointed out by them. We also
changed the claw hand servo to a
core hex motor because of
weight and trained the ML model.
We also learnt a bit of scouting.
We focused on the engineering
notebook and also made a lot of
progress on the engineering
notebook because of Team
sigma's advice.
138
8th-15th February 2023
The programming team did many
things, such as coding the
autonomous cycle of picking and
dropping the cones and also
manual gamepad programming.
A potentiometer was also added
to the claw hand for more
accuracy via the encoder values.
The slider motor overheated
once, and we realised that our
code was putting too much
pressure on the motor causing it
to overheat. The servo motor of
the claw hands broke as the gear
teeth inside the motor were
smashed. We then studied what
caused it.The reason that the
code tried to close the claw more
than physically possible leading
to motor overload everytime it
was used. During this week our
game elements arrived after a
long wait.
139
16th-23rd February 2023
The claw more than physically
possible leading to motor
overload everytime it was used.
During this week our game
elements arrived after a long
wait. Some of the team members
conducted another workshop for
the underprivileged at Hamara
School, Goa. Thus creating
awarenesss about robotics and
coding to the weaker sections of
the society.
140
24th February-3rd March, 2023
It was the last week of the FTC
season 2022-23 preparations. We
concluded our outreach sessions
by hosting a robotics workshop
for the specially-abled kids. That
same afternoon we also
participated in the science fiesta
at the Goa Science Center and
gave a demonstration on our
escapade through FTC. The next
day the team geared up to go to
Chorao Island for our final
outreach. It was a fun journey as
we had to cross the River
Mandovi to reach there. We
convinced a few school students
to form a team for the next FTC
season. The last week was a real
roller coaster ride for our team as
our slider broke, and we had to fix
it. The ML team had also given
their efforts to finish the Signal
Sleeve Detection Model. As we
completed the robot build, the
building team focused more on After contacting
documentation. A minor issue REV support we
was faced every time we tried to resurrect
practised, so we had to fix them. the robot, but that
Another disaster we faced at the failed. So we tried
end of this week was that our REV to ask for help, and
Control Hub Failed. luckily we ordered
a new REV hub.
141
Strategy Number 1
NOTE : All are under BLUE
Going to the Terminal at the end as scoring cones or owning a junction is
much more effective. If the other team starts trying to make a junction, we
immediately get their area's ground junction. However, if they get one of
their junctions, we take the other one to block.
143
Strategy Number 2
First, one of the robots places a cone on their circuit junction to block
them. Then we split the role of Capturing High-Junctions between the
two of us teams, and we go for one high junction while the other team
goes for the other high junction. Then as soon as the game ends, we cap
both Junctions left for the opponent with a beacon. It means they can't
use the junctions near them while we can. While doing this, our partner
team will split from us and go for capping medium and low junctions to
earn points while we focus on the same high junction.
144
Strategy Number 3
At the start of the manual stage, TeamPlacer will go for high-blue and use
quick placing strategies to secure many cones. Meanwhile, TeamSpeed
zips around the arena and conquers mid and low stations for points. They
will also dominate the ground station near red. Once the end game starts,
Team Speed will place both beacons on High-Red, High-Up, or High-
Down.
145
Strategy Number 3
At the start of the manual stage, TeamPlacer will go for high-blue and use
quick placing strategies to secure many cones. Meanwhile, TeamSpeed
zips around the arena and conquers mid and low stations for points. They
will also dominate the ground station near red. Once the end game starts,
Team Speed will place both beacons on High-Red, High-Up, or High-
Down.
146
Strategy Number 4
The two teams in our alliance will be divided into Team A & Team B, Team
B is the faster team that can zip around the area fast. Team A is the slower
team that can place cones faster. Once the manual starts Team B will
immediately go to claim g-t-l to block Red’s Circuit. Team A will get g-b-l
to start our circle. From here the First Stage of the mission will begin.
Stage Circuit. For Stage, Circuit Team B has to claim G-t-r, l-uu-r, g-u-m,
and H-U.Meanwhile Team A will claim g-b-l, l-mb-l, M-b-l, H-L and M-t-
l.Once this is completed The main stage starts.
During this stage, Team B will zip around capturing all Middle low, and
high junctions for ownership. Team A will focus on getting H-l and spam
cones on it. Then comes the stage Endgame: During this stage, Team B
will retake all junctions lost in the circuit and Team A will place both
beacons on High Junctions.
High Junction (h) if left high junction

then called high left, (h-l)
Medium Junction (m) if

right then called medium
right (m-r)
Low Junction
has the same
naming trick.
147
1.Dr. Pramod Sawant
Honourable Chief Minister of Goa Shri Pramod Sawant has been a
beacon in India for STEM education as he has launched the CARES
scheme to teach computational and Design Thinking for students of Goa.
He has also supported our team by providing sponsorship amount of Rs
2.00 lakhs.
2. Shri Rohan Khaunte
Honourable Minister for IT, Govt of Goa has provided continuous support
to the team. We were the first customer for the newly inaugurated
Additive Manufacturing unit set up by the Dept of Information
Technology to help startups and Shri Khaunte personally handed over
the 3D printed claw to us. He also was the Chief Guest for the 3 day FTC
workshop conducted by us and encouraged us with his support and kind
words.
3. Ashwin Shah
Ashwin sir has been a pillar for our team since its inception and also of
team Legogoa for the past many years. He has provided advice to help us
bridge the gap in knowledge for a rookie team. He has provided coaching
for the team in terms of 3D design, robot strategy, documentation etc via
Team Sigma
4. Nilesh Shah
As a veteran of FLL/ FTC/FRC competitions in Goa, Shri Nilesh Shah
conducted sessions for the team explaining the finer points of FTC on
how we conduct effective outreach activities. He explained on How the
team judging happens during the competition etc and what are the finer
points that judges look into. He has been very instrumental in the
formation of the FTC team in Goa and his constant encouragement helps
us keep the momentum.
5. Deepak Mandrekar
Deepak is from Goa but based in New Jersey. His FTC team Outer Galaxy
18241 were the first to introduce FTC in Goa when they conducted a
demo session in Aug 2022. Since then he and his team have been
supporting our team with advice on robot parts, game strategy etc
149
6. Tom Hensley
The dictum of FTC is Gracious Professionalism and Coorpertition and
Tom follows it the hilt when he shared his teams expansion hub. When
we put out a request on facebook that as a rookie team we were looking
for expansion hub, Tom responded on behalf of FTC team 7506 and 8866
and shipped us the hub free of cost
7. Nida Sayed & Bharati Pawaskar
As reporters of Times of India and The Goan newspaper, they have
provided fantastic coverage for the team activities thus aiding in the
outreach activities of the team.
8. Pramod Maurya
He is a Scientist at the National Institute of Oceanography and builds
Underwater Robots. He has provided guidance to the team on mission
solve and electrical parts of the robot.
9. Anay Kamat
Anay Kamat is a consultant at Equal Experts in Pune and is an expert on
Free and Open source software. For the purpose of effective collaboration
he conducted a session on how to collaborate as team by using GITHUB.
He explained how github pages can be used to create website hosting
and most importantly how every member can write blogs and create web
pages using github. His session laid the foundation for the team to create
the team website on www.legogoa.in. The team members now write their
respective blog posts and commit to github pages.
10. Ryan Vaz
Ryan sir’s company 3D infinity has provided support for our team in terms
of providing 3d prints free of cost.
11. Archit Borkar
He is the founder of Minibuild3D and has printed multiple parts for the
team robot. He has also provided invaluable help in terms of repair of our
own 3D print and advice on how to use the 3D printer.
150
12. Human Courier
We acknowledge the efforts of Shri Veeranjaneyulu Doppalapudi, Shri
Vishant Shirodkar, Shankar Karpe and Vianca Verma for carrying FTC
parts from USA to India on behalf of the team.
13. Workshops
We thank the following people for giving us space to outreach and
conduct workshops : Guru Pawaskar, Santosh Naik Raikar, Rukmi & Uday
Dangui and Milind Subedar.
151
Import of Components from USA and Clearance from
Customs & Excise Department, Government of India:
Several components had to be imported from the USA for the fabrication
of the Robot. Any item imported from foreign into requires clearance from
the Customs & Excise Department, Government of India. The clearance is
a process by itself, and the imported items are released for usage only
after the complete satisfaction of the C&E Department. The releasing of
the components imported by Team LegoGoa Axion was a challenge in
itself, and the Government officials at the C&E had to convince the usage
of these components in India besides completing all formalities for the
release of the components. Imported parts include :
153
Conducting of Awareness Workshop programmes as
part of the Outreach programmes:
Goa is one of the smallest states in India with limited avenues to conduct
activities related to Outreach programmes. Conducting such workshops
was a challenge for the team due to the limited resource availability. As
the knowledge was limited amongst the students in the state of Goa,
Team LegoGoa Axion decided to carry out workshops across the State.
The activity would require publicity, venue and other resources,
participation, etc. Team LegoGoa Axiom successfully conducted such
workshops across major towns in the State of Goa besides in several
schools mostly in the Rural part of the State. The students were thrilled
with the workshop as it provided a briefing about the programming of the
Robot, live demonstrations and hands-on experiences. The team also
conducted workshops in the schools for specially-abled students and
underprivileged students.
154
Problems with Building and Coding
The Team faced numerous challenges while building and coding the
Robot. The Team had members located across the State of Goa. Each
member or group of members were assigned separate tasks. There
needed to exist perfect coordination among all the members for the
proper execution of the project. It was also needed that the team
members met frequently for building the Robot. All challenges faced by
the team members were resolved to the best of the knowledge of all the
participants sometimes with the help of the mentors or information
available online.
155
Control Hub Failure
The Control Hub failure just few days before the competition was the
major challenge faced by the Team LegoGoa Axiom. The team spent over
12 hours trying to debug the issue including connecting to Rev support
and following their instructions to reset the control the hub OS to rule out
software issues. It was finally concluded that the issue was with the
Control hub hardware. Shipping a new Control hub from USA would be
time consuming. Considering all the efforts put by the team and the
limited timeline available for shipping of the hub, the Team mentor made
an appeal to FTC India community to invoke Gracious Professionalism to
help out with ideas, advice or spare control hub to enable the team to
participate. The team finally arranged for the Control Hub by purchasing
the same from a vendor from Pune associated with FTC.
156
Conducted By Ms. Karuna Satardekar
Ms. Karuna Satardekar is an associate professor at GVMs Dr Dada Vaidya
College of Education Ponda Goa. She conduct workshops for in-service
teachers, students, NGO and self-help groups on different topics of life
skills. She is certified trainer of Junior Chamber International (India) and
helped Team Legogoa Axiom by conducting “Team Bonding Session”.
She helped us to know more about each other. She planned many great
games and taught us to play them.
158
In this game, we had to form two teams and each team had to stand in
line. Everyone had to be blindfolded except the last person at the end of
the each line who is the team leader. There were some bottles kept on the
floor. There is a bag kept at the starting point in which you need to put
maximum bottles. The two teams discuss and plan their strategy. The
team leader controls his team. We had code words like “Push” means go
forward, “Pull” means go backwards and “Shake” means the first person
has to bend and pick the bottle. The team which puts the maximum
bottles in the bag which is kept at the starting point wins.
159
The second game is where Mrs. Karuna Satardekar divided us into
two teams and formed two circles. She gave each team a sheet of
paper with brain teasers. We had to discuss together and find the
answers of the brain teasers. The team with the most correct
answers wins.
Then Mrs. Karuna Satardekar formed two lines and announced
numbers. Each number had a specific action to perform. She said
some number and when each number was spoken we have to do a
specific action like: Number 1: Give a high five Number 2: Scream
Legogoa Number 3: Turn around
160
STORMING
#MONKEY AKA Brainstormin
g
Having fun is primary at

Team Legogoa meetups
and we had celebrations
by cutting of a cake by the
birthday boy Shounak. We
had a twist with the cake
cutting as shounak used a
slider with a knife to cut
the robot themed cake.
ECEMBER
#18th D
161
BLE DECKER
#DOU Programming
Measuring the diameter of

french fries. After an hour
or so of practice we have a
break where we get to eat
delicious food such as
french fries or popcorn.
One of the parents made a
funny meme out of this.
AK .TIME
#ITS.BR3
162
#XBOX
ing On
Sincerely Practic
This was one of our first

Team Bonding activities
where we played
charades. A boy from the
colony also came to play.
Surprisingly he guessed
most of them correctly.
Chits were pulled out of a
bowl and everyboody was
intrigued in guessing the
word correctly.
#CHARADES
163

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FTC LegoGoa Axiom Engineering Notebook 2023

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FTC LegoGoa Axiom Engineering Notebook 2023

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Table Of Contents

1. About Our Team

3. Finance & Marketing

9. Team Bonding & Fun Activities

The workshop started with a brief introduction of the trainers,

A kind relative of a fellow member gave us his office hall for 3

We conducted this workshop in a school called Vidhya

This workshop was very different from the usual ones. We

We registered 15 students of age as we had got an

We conducted this workshop, especially for Mushtifund High

A few team mates conducted a workshop for 500 Rupees at a

This session commenced by explaining what robots are, how

We added sensors and medium motors to the assembled

New Year begun with another outreach activity. Students from

We conducted a workshop to create awareness about various

A few teammates organized a robotics workshop for 12

Some of the team members of LegoGoa Axiom conducted a

Science Fiesta has been organised in collaboration with the

Chorao is a quiet island in the Mandovi River. We reached there

Showcase of sponsor info in pit display.

Showcase of sponsor info in pit display.

Logo on our website.

Logo on our website.

Dempo Group Of Companies

Kanti Prasad Mittal Infra Pvt. Ltd.

Then we made a slot for the wire of the battery to be able to

With the rough design of the battery holder down, we started

While putting our name on the battery holder, we realised that

We also discovered that in our old design, the plate was

To fix this, we remade the entire bottom and made it proper.

With this, our entire battery holder was completed, and we

To allow a better connection to the slider, we set places for the

Thus, the gear rack was fully complete.

First, we needed to figure out a way to connect the servo to the

We assembled the central gear onto the shaft, attached the

We then implemented this design and made other slight

*MakeX is a competition in which our team has participated.

The connections of the encoders of the motors are as follows:

The power cables for the motors are connected to the

We gave the variables

TRP-Top Right Motor

TLP-Top Left Motor

BLP-Back Left Motor

‘X' button for picking and

We tried it for many days

Driver 1 and Driver 2 functions in the main code . Code in

Code in the claw_up function

Function to call when the “B” is pressed on the gamepad.

The code in the claw_down function

Code in the claw_up function

Function to call when the “B” is pressed on the gamepad.

The code in the claw_down function

Function to call when the “A” is pressed in the gamepad.

Function to call when the “Y” is pressed in the gamepad.

The code in the claw_release function

Function to call when the “DpadDown” is pressed in the

Function to call when the “DpadLeft” is pressed in the

Function to call when the “DpadRight” is pressed in the

The code in the drop_down function