This is shorter version of the engineering notebook highlighting the important points of teams achievements and learning in FTC.

2. About Us
LegoGoa Axi0m 22588
Hi! We are team 22588 and we are the first
team from Goa This is our first time in FTC.
Our team consists of 14 students from
different parts of Goa and one is based in
Delhi. We have participated and won many
robotics competitions. We have also
conducted many outreach activities to
students from various sections of our
society.
The vision of our team is to create awareness
about STEM to all students. That is why our
tagline is 'Engineering The Future.'

3. Our Robot
LegoGoa Axi0m 22588
GoBILDA Mecanum Wheels
GoBILDA Chassis
3D Printed Cone Grabber
Coning Arm
3D Printed Cone Holder
VIper Slider Kit
Parts Used To Make This Robot:
Our robot has approx. 72 versions out of that here are some of the main versions.
We didn't have multiple robots. To improve our robot we made multiple changes
like replacing wheel gear designs and using 3D printed parts.
Current Version
Evolution Of Our Robot

4. LegoGoa Axi0m 22588
Season TImeline
November
We started this journey in November.
We learnt CAD Skills and also raised
sponsorships.
December
In December we carried out our major
outreach activities. We also learnt
programming and made a good amount
of progress in the build. We also
participated in a grabber making
challenge by Team 20890.
January
In this month we focused more on the
build and programming. We also
bought a 3D printer. The veteran team
20890 had come to help us refine our
build and code.
February
This month was the end of outreaches
and we completed the build mostly.
(removing the gear racks.) We also
made the locking mechanism for the
cone holder. March
We refined and debugged the code and
started serious practice for robot
controlling. We also printed our
manuals and practiced the
presentation. We were now ready to hit
the road.

5. LegoGoa Axi0m 22588
Robot Mechanisms
Chassis
In the first version, the team connected 3 REV C
Channels with M3 screws. We later changed the
chassis build to fit mecanum wheels and had to
wait for a kit to arrive. In the second version, we
connected 3 U-channels with M4 screws and
attached quad-block mounts on either side of
the middle U-channel. In the third version, Team
Sigma 20890 advised us to use a C-channel with
Make-X pieces for support. In the fourth version,
the coach took the robot to a metal cutting shop
to remove extra metal and the plates were later
used as a base for the slider. In the final version,
we removed heavy parts and added lighter
ones, attached handles for easy carrying, and
removed a gear rack that made some chassis
supports unnecessary.
Slider
Initially, we tried heavy kitchen drawer slides
as sliders but found them too heavy. We learnt
to create a cascade system to make all sliders
move simultaneously, but attaching them at
an angle was problematic. We tried goBILDA
viper slider kit, but had difficulty stringing due
to the sliders being at an angle. We returned
to a linear stringing system. Team Sigma
suggested using one spring with more tension
and adding another slider. During driver
practice, the string snapped, and we replaced
it with a stronger string.

6. Robot Mechanisms
Claw
We 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.
LegoGoa Axi0m 22588
Mecanum Wheels
We used a 90-degree
bevel gears to connect
the motors to the
mecanum wheels. As
the grub screws fell out
multiple times, we used
a medium-strength
thread locker to secure
the grub screws and
ensure that the wheels
were tightly attached to
the motors. Mecanum
wheels allow us for
quick navigation around
the field.
Wiring
The messy and lengthy
wires were trimmed.
Wire sleeves were used
to organize slider, claw,
and claw arm wires, with
a beam added to
prevent wire sleeves
from getting stuck. Extra
wheel wiring was placed
under the middle C-
Channel. A REV Battery
powers the robot, with a
switch connected to the
Control Hub mounted
on the slider side with a
plate.
Claw Arm
The claw arm was built
by attaching two beams
to the chassis and
putting a Servo Motor in
the middle. The Core
Hex motor was replaced
with an HD Hex motor
due to speed issues, &
the beam was replaced
with a C-Channel for
support. Finally, two
square plates were
added to the chassis
end, and the claw arm
was attached with
spacers & a bracket for
protection.

7. Design Process (Cone Holder)
LegoGoa Axi0m 22588
To 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.
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.
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.

8. Programming
LegoGoa Axi0m 22588
We selected this strategy because we thought
that parking is very easy and gives us guaranteed
20 points. Later we tried adding extra cones to
increase our points.
We used tensorflow to train the custom designed
signal sleeve. We store the signal sleeve number
in a variable. We drop the preloaded cone into the
high junction and then pick one cone from the
stack and drop it in the high junction. Then we
read the variable and park according to it as near
as possible to the substation so that we can
continue during the manual period easily.
PID : Proportional-Integral-Derivative
We used the PID algorithm to position the robot at a desired angle for picking
(90°) the cone and dropping it (135°) in the high junction during the autonomous
period. The IMU sensor values are used to estimate the robot's current position.

9. Scores
Day 1 Day 2 Day 3
150
100
50
0
Top 8 Scores AutoN TeleOP EndGame
147 40 74 33
143 40 71 32
130 40 70 20
125 40 65 20
100 40 40 20
90 40 30 20
70 30 28 12
60 30 18 12
Scoring Strategy
Game Statistics
LegoGoa Axi0m 22588
We cycle really well during our
matches. We also have a cone lock
system that prevents our cones from
falling and our scoring accuracy also
increases. In Autonomous period we
score two cones in the high junctions
and we do parking based on the
custom signal sleeves number. In the
Manual period. During the end-game
we score 2 cones in a medium
junction near our sub-station. Then
we go to a vacant high junction and
cap our beacon.

10. Overall Outreach
LegoGoa Axi0m 22588
Outreaches Students Reached
We divided our outreach activities into 2 categories. FIrst is to create awareness
by reaching to maximum number of people and second is intensive training
sessions to a smaller group of students. It helped us to create a stronger
community by building relationships within the team and with other teams. It
provided valuable opportunities for the team members to develop critical skills like
communication, leadership, and teamwork. Finally, outreach activities helped our
team gain recognition and build a positive reputation in the community.
Hours Volunteered
16
16 400
400 1800
1800
Students
Demos Media Media
300+
300+ 10+
10+ 5L+
5L+
News Articles Impressions/Reach
Lakhs
WE BECAME THE TALK OF THE TOWN!

11. Biggest Outreach @Science Fiesta, Goa Science Centre
LegoGoa Axi0m 22588
Science Fiesta organized by Goa Science Center is a part of the National Science
Day celebrations and leading Scientific and Research institutions across the
country participated in the event. During the event Team Axiom conducted an
FTC awareness session. A presentation with all the necessary details was
prepared. A 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.
People Reached
Hours Spent By
Team
250+
250+ 8+
8+

12. Outreach 2 & 3
LegoGoa Axi0m 22588
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. Here we faced technical
challenges like audio failures and power
cuts. 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.
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. We
helped the participants understand how
Lego Mindstorm works and helped them
when they had issues assembling a Robot.
After building the Robot, we explained
how the Ev3 works and how to use it. For
demonstration, we taught them how to
code the Robot to move forward and
backwards. We showed them how to take
turns and asked them to code the Robot to
traverse in a square. After trying a few
times, they eventually traversed in
predetermined squares and rectangles.
People Reached
70+
70+
Hours Spent
400
400

13. Outreach 4 & 5
LegoGoa Axi0m 22588
We conducted a workshop to create
awareness about various coding-robotics
competitions held at the
international/national/state level. The
students of grade 5 to grade 10 from
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 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 students were
overwhelmed with joy at our learning and
their smiles brought happiness to all
members.
People Reached
100+
100+
Hours Spent
11
11

14. Outreach 42000
Sponsorships 513000
Fees Collected in total 322000
Total Earning 877000
Team Sigma Meetup 21300
Accommodation Advance 29040
Photoshoot 4000
Kits & Hubs 437120
Registration 56640
Miscellaneous 177000
Total Spent 853906
FInance & Marketing
LegoGoa Axi0m 22588
Income
Expenditure
Sponsors