Full Decode Robot
Complete robot build for the Decode season. Drivetrain, intake, scoring mechanism, and packaging — all integrated. Reference build for end-to-end FTC integration.
Before you start
Don't start with parts — start with strategyWhat's your fastest cycle path? Which game elements do you score, in what order, and where on the field? Your strategy determines mechanism choices, not the reverse.. Decide what game elements you score and at what rate before committing to mechanisms.
1Lock down the strategic spec
Write a 1-page document: what you score, where you score, your average cycle time, and your endgame target. Every mechanism choice has to ladder up to one of these.
If a mechanism doesn't directly serve the spec, it's scope creep — cut it.
2Build the drive base
Start from the parallel-plate drive tutorial. Pick wheel type based on whether you expect defense (mecanum if no, traction or swerve if yes).
Drive base first, alwaysThe drive base is the foundation — every mechanism mounts to it, electronics route through it, and weight balances around it. Finalize the chassis before designing on top of it. — packaging depends on it being fixed.
3Add the intake and transfer
Active intake (from that tutorial) feeds into a transfer that conveys pieces to the scoring mechanism. The transfer is usually a small belt or a chute — invisible in match play but the most common cause of jams.
Make the transfer accessible — pit crew has to clear jams between matches.
4Integrate the scoring mechanism
Whether it's a shooter, an arm, or a slide-lift, this is where your strategy turns into points. Bolt it onto the drive base with as few new structural members as possible — use existing extrusions where you can.
Run a full match in Onshape's Play view: intake → transfer → scoring → reset. Cycle time is kingAverage cycle in CAD = average cycle in matches if you're realistic. If your CAD cycle is 5s and your match cycle is 10s, find the friction point — it's usually transfer or reset..
5Endgame mechanism
Add whatever your strategy calls for — a hang, a launch, a deploy. Reuse the swingarm PTO from that tutorial if you need an extra motor.
Make endgame fail-safe. If it works 80% of the time it's worse than not having it — opponents counted on your points.
6Full robot integration check
Final review: weigh it (must be under FTC weight limit), size it (must fit the 18" cube at start), and route the wiring through the chassis with strain reliefs.
Drive it virtually through a full match in Onshape — every transition, every motor at the same time, every game-piece interaction.
A full robot is the integral of every mechanism tutorial above. The hard part isn't any one subsystem — it's packaging all of them in the 18-inch cube and keeping them from interfering with each other.