So were we in the 2023-2024 year. Thanks to Rowan at REV Robotics, we learned our robot was likely suffering from effects of  ESD (electrostatic discharge). Last year's game had plastic poles (junctions) that were ungrounded, which generated a large amount of static electricity around the field. We learned this can be a problem during any season. 

What is ESD, and Why Does It Matter?

Electrostatic Discharge (ESD) occurs when a sudden flow of electricity jumps between two objects with different electrical charges. In the FIRST Tech Challenge (FTC), ESD can cause major issues by interfering with electronics, leading to robot disconnects, sensor malfunctions, or even permanent damage to components. FTC teams like us, often experience ESD when driving on foam tiles, which generate static as wheels and mechanisms rub against them. Luckily, we've learned some helpful ESD techniques!

To keep your robot running smoothly, here are 12 essential ways to protect your robot from ESD-related failures:

1. Use Anti-Static Spray

Spraying the competition field tiles and your robot wheels with an approved anti-static spray reduces static buildup. We like Staticide.

2. Ground Your Robot’s Frame

Connecting the metal parts of your robot to a common ground can help dissipate static electricity safely rather than allowing it to discharge through electronics. Use a grounding strap (the only FTC approved one is this one from REV: https://www.revrobotics.com/rev-31-1269/ )

 Safely ground your robot's metal frame with this Resistive Grounding Strap. This strap has a built in 470Ω resistor to prevent high-current discharges while still minimizing the difference in charge between the robot electronics and the frame.

Simply plug the XT30 end of the grounding strap into a free XT30 port on your robot and attach the ring-terminal end to a metal part of your frame using a nut and bolt.

3. Add Ferrite Chokes/Beads to Cables

Ferrite chokes/beads help suppress high-frequency noise caused by ESD. Adding them to power and data cables can prevent ESD from disrupting signal transmission. The best spot is about 2in away from the source. Try these: https://a.co/d/flxW0pr

4. Shield Wires and Electronics

Using shielded cables and wrapping exposed wires in electrical tape can protect sensitive electronics from sudden electrostatic shocks. Do not use damaged wires or connections.

5. Secure Connections with Strain Relief

Loose or poorly connected wires are more susceptible to ESD interference. Use zip ties and strain relief techniques to keep wiring secure. 

6. Use Static-Dissipative Wheels

Some wheel materials generate more static than others. Look for rubber or conductive wheels that help minimize ESD buildup as your robot moves. We like and use these Studica mecanum wheels: https://www.studica.co/mecanum-wheels See them in action here: https://www.youtube.com/watch?v=4mL9hktmXj4

7. Avoid Long, Unshielded Wire Runs

Long wires act as antennas for electrical noise, including ESD. Keep wiring short, twisted where possible, and routed away from high-voltage sources. Use cable covers when possible. Also, avoid using any wires that may come close to the ground. Here are some of our favorites: https://a.co/d/fVJuiSa, https://a.co/d/bBvUjRi, https://a.co/d/4et7VZN. 

8. Properly Mount and Ground the Control Hub and Expansion Hub

Ensure that your REV Control Hub and Expansion Hub are properly mounted and grounded to avoid ESD-induced resets. Plastic parts can build up static charges. Mount electronics on wood or carbon fiber parts when possible to reduce static accumulation. Keep the hubs separated from the frame.

9. Regularly Inspect and Maintain Wiring

Check for loose connectors, damaged insulation, or frayed wires, as these weak points can make your robot more vulnerable to ESD-related failures. Include this as part of a daily or weekly robot inspection.

10. Touch the Robot to the Mat Before Use

Touch the robot to the mat and metal field perimieter before turning on.

11. Use the Optimal Port(s)

If using a USB port on a control hub, use the 3.0 port instead of the 2.0 port. (The 2.0 port is on the same channel as the WiFi of the hub, which is susceptible to interference. Try not to use this port if possible).

12. Use a Fully-Charged Battery

Make sure your battery is fully charged. If your battery is old and losing charge quickly, it is more susceptible to ESD interference.

Resources

Here are some great resources we have learned from. Check them out for more info!

• http://www.mechanicalparadox.org/

• http://files.andymark.com/PDFs/FTC_RobotsAnd_ESD_Presentation.pdf

• https://github.com/ftctechnh/ftc_app/wiki/Managing-Electrostatic-Discharge-Effects