2020-2021 Legal and Illegal Parts List

How To Use This Document:

The Legal and Illegal Parts List is intended to provide visuals of the most common legal and illegal
parts. This document is to serve as a guide, however is NOT an all-inclusive list. teams and
volunteers should be sure to read all of the robot build rules in the Game Manual Part 1, and should
always reference the Game Q&A forum for additional build rule clarifications.
Part
Description Picture / Diagram
Number

TETRIX® FIRST®
Tech Challenge
Competition Kit
(Some components
may not be shown
in this illustration)

Please see the

Competition Kit
Parts List for full
details of items
included in this kit.

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 The following parts are LEGAL for the 2020-2021 FIRST Tech Challenge

REV Robotics
Competition Kit

Please see the

Competition Kit
Parts List for full
details of items
included in this kit.

MATRIX Base Set

MATRIX Resource
Set

TETRIX® Prime
Starter Set
EXCEPT the items
listed under the
W40384
ILLEGAL Parts
List

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 The following parts are LEGAL for the 2020-2021 FIRST Tech Challenge

• Motorola Moto
G 2nd
Generation
• Motorola Moto
G 3rd
Generation
• Motorola Moto
G4 Play
• Motorola Moto
G5
• Motorola G5
Plus
• Motorola Moto
E4
• Motorola Moto
E5 Play

REV-31- REV Expansion

1153 Hub

REV-31-
REV Control Hub
1595

REV-11- REV servo Power

1144 Module

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 The following parts are LEGAL for the 2020-2021 FIRST Tech Challenge

REV-31- REV SPARK Mini

1230 Motor Controller

Mini USB to OTG

(On-The-Go) Cable

OTG Adapter

REV-31- Logic Level

1389 Converter

REV-35- FTC Cable

1173 Conversion Kit

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 The following parts are LEGAL for the 2020-2021 FIRST Tech Challenge

Logitech F310
Gaming Controller
(Not to be used for
robot construction)

Xbox 360
Controller for
Windows
(Not to be used for
robot construction)

PS4 Wired
Controller (Not to
be used for robot
construction)

AndyMark® parts
www.andym EXCEPT those
ark.com/ftc listed in the
ILLEGAL section
NeverRest Series Robot Parts

All part TETRIX® DC

numbers Motors

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 The following parts are LEGAL for the 2020-2021 FIRST Tech Challenge

Modern
All part
Robotics/MATRIX
numbers
12V DC Motors

AndyMark®
All part NeveRest Motor
numbers Series + encoder
cables

All part REV Robotics HD

numbers Hex Motor

All part REV Robotics Core

numbers Hex Motor

TETRIX
W39129

MATRIX
Power Switches
50-0030

REV
REV-31-
1387

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 The following parts are LEGAL for the 2020-2021 FIRST Tech Challenge

TETRIX® Servo
TETRIX®
W39197 (*) Continuous Turn
W39177 (*) Servo
(Total combined
limit of 12 per
robot)

TETRIX® Worm
Gear Box
W39375
TETRIX®10:1
W39900
Worm Gear Pack
W39901
TETRIX® 20:1
Worm Gear Pack

TETRIX® Rack and

W39300 Pinion Linear Slide
W39282 Pack
TETRIX® All-
Terrain Tire

(*) For MATRIX Motor/Servo Controllers, currently only MATRIX servos are compatible/allowed.
TETRIX® HS-
755HB Quarter-
Scale Servo Motor
with Horn
W39904
TETRIX® Quarter-
Scale Servo Front
W39380
Mount Bracket
TETRIX® Quarter-
W39383
Scale Servo Frame
W39594
Mounting Bracket
TETRIX® Quarter-
Scale Pivot Arm
with Bearing Pack

VEX EDR 393

Motor (counted as
a servo)
276-2177
Please see rule
<RE11> for allowed
configuration

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 The following parts are LEGAL for the 2020-2021 FIRST Tech Challenge

TETRIX® NiMh
Battery Pack
Charger (not to be
W39830 used for robot
W39057 construction)
12V Rechargeable
NiMh
Battery Pack
(Exactly 1 allowed)

Modern Robotics
12V Rechargeable
14-0014 NiMh
Battery Pack
(Exactly 1 allowed)

REV-31-
1302 12v Slim Battery

REV-31- Resistive
1269 Grounding Strap

Anderson Power
REV-31-
Pole to XT30
1385
Adapter

Non-Metallic Cable
Ties

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 The following parts are LEGAL for the 2020-2021 FIRST Tech Challenge

TETRIX® Tubes (80

mm)
TETRIX® Tubes
(145 mm)
W39074
TETRIX® Tubes
W39075
(220 mm)
W39076
TETRIX® Tube
W39077
Clamps
W39379
TETRIX® Tubing
W39378
Coupler
W39377
TETRIX® Tubing
Corner Block
TETRIX® Tubing
Anchor Block

W39193 TETRIX® Tube

Plugs

TETRIX® Bevel
W38007
Gears & Delrin
W38008
Bearings

TETRIX® Chain
with Links
W39173 TETRIX® 32 tooth
W39171 Sprocket Pack
W39169 TETRIX® 24 tooth
W39165 Sprocket Pack
TETRIX® 16 tooth
Sprocket Pack

TETRIX® 250mm
W35871
Axel

#25 Chain Half-

Lengths
#35 Chain Half-
Lengths

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 The following parts are LEGAL for the 2020-2021 FIRST Tech Challenge

TETRIX® Servo
W39020 Horn

TETRIX® Thermal
Fuse for DC Motor
W36465
Protection

Permatex Super
Lube
Note: Any type of
COTS lubricant is
allowed.
(Only to reduce
W20821
friction with the
Robot. Lubricants
are not allowed to
contaminate the
playing field or
other robots).
Any non-reinforced polymer-based plastic sheet material (e.g. polycarbonate, PVC, acrylic,
Plastic Sheet
ABS, Teflon, PETG, etc.) See <RM01>.

Both materials may

Any metal or be used on the
plastic flat robot.
sheet No limit to size or
quantity.
See <RM01>.

Any metal or
plastic
extruded
shapes

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 The following parts are LEGAL for the 2020-2021 FIRST Tech Challenge

Rope, any
Rope size/length

Non-Slip Pad No size constraint

Universal Security
Clips

Modern Robotics
45-2018
Color Sensor

REV-31-
REV Color Sensor
1537

REV-31-
REV Touch Sensor
1425

REV-31- REV 2m Distance

1505 Sensor

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 The following parts are LEGAL for the 2020-2021 FIRST Tech Challenge

UVC Compatible
Camera

Examples:
Non-
Motorized
Turntables
and Lazy
Susans

PVC, CPVC, or
ABS flexible or rigid
PVC
piping (of any
Refer to
schedule),
Game
Commercial PVC
Manual
couplings (i.e.
Rules See
Tee’s, elbows,
<R05> m.
couplings, caps,
etc.) are allowed.
Use only for gluing
PVC. Use of PVC
cements and
cleaners may or
PVC cement may not be allowed
and cleaner in the pits at
tournaments based
on site-specific
rules or
requirements.

Mechanical Compatible nuts,

Fasteners bolts, screws, etc.

Or similar thread-
Loctite®
locking product

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 The following parts are LEGAL for the 2020-2021 FIRST Tech Challenge

Plastic/Epoxy Glue
or Cement

Rubber Any size and

Bands quantity

Surgical No size or length

Tubing limit

Sample, color may vary

PWM Either purchased or

Extension fabricated by the
cable team

Threaded All-thread & lead-

Rod screw

Power This is an example.

Distribution Similar parts are
Panel/Splitter allowed.

Anderson
Powerpole
connectors

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 The following parts are LEGAL for the 2020-2021 FIRST Tech Challenge

Linear Slides

Telescoping
Rods

Linear Actuator

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 The following parts are LEGAL for the 2020-2021 FIRST Tech Challenge

Wago Series 222 Lever-

Connector Nuts

Timing Belts any

size and pitch

Gears of any size

and pitch

Sprockets of any
size and pitch

Pulleys

Springs of any type

used in a safe
manner (Rules
<RM01>, <RM02>

Wheels of any type,

and the
manufacturer
provided wheel hub
used to mount the
wheel to an axle
EXCEPT
AndyMark® AM-
2256.
Individual
components of a
legal wheel
assembly can be
used on the robot.

Tank Tread

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 The following parts are LEGAL for the 2020-2021 FIRST Tech Challenge

Extruded aluminum
pieces from various
manufacturers such
as 80-20,
T-Slot McMaster-Carr,
Aluminum Macron, etc.
All fasteners and
compatible
hardware are
allowed

• Material strictly used for Light Sensor color filter.

• Hook and loop - Velcro, 3M Dual Lock. (May not be used as tape).
• Electrical Tape and Heat Shrink tubing for electrical insulation only
MISC • Plastic Coated Wire Rope
(No Images • Electrical wire
Available) • Aluminum or Nylon/Plastic Pop Rivets
• Magnets
• Washers
• Light Sources per rule <RE13>
Teams may use additional materials and COTS (Commercial Off The Shelf) components to
construct their robots subject to the following restrictions:
COTS Parts • All raw materials are allowed provided they are readily available to all teams from
(No Images standard distributors (e.g. McMaster-Carr, Home Depot, Grainger, AndyMark®, etc.).
Available) • All post-processed materials are allowed provided they are readily available to the
<RM01>, majority of teams from standard distributers (e.g. McMaster-Carr, Home Depot,
<RM02> AndyMark®, etc.).
• COTS parts and assemblies may only have a maximum of a single degree of freedom. It
is the intent of FIRST that teams design and build their devices to achieve the game

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 The following parts are LEGAL for the 2020-2021 FIRST Tech Challenge

challenge. Assemblies of COTS components, such as linear slides, and gearboxes are
allowed while a pre-fabricated gripper assembly designed to grab the game elements is
not. Holonomic wheels (omni or mechanum) are exempt from the one degree of freedom
limitation.
• Raw materials, and COTS may be modified (e.g. drilled, cut, painted, etc.) provided no
other rules are violated.

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 Part
Description Picture / Diagram
Number

Modern Robotics
AUL3025 Core Legacy
Module

Modern Robotics
AUA3030 Core Device
Interface Module

Modern Robotics
AUM3020 Core Motor
Controller

Modern Robotics
Core Power
AUP3010
Distribution
Module

Modern Robotics
AUS3015 Core Servo
Controller

HiTechnic Servo
Controller
W991445 (*)
HiTechnic DC
W991444
Motor Controller

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 Part
Description Picture / Diagram
Number

Legacy Sensors
(LEGO and NXT)

Microprocessors
such as Raspberry
Pi or Arduino

W34243 or TETRIX® R/C

W36117 Controller

TETRIX® R/C
W35496 Receiver

TETRIXT® DC
W34244 Motor Speed
Controller

Infrared Electronic
W991458
Ball

TETRIX® Battery
W739136 Holder

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 Part
Description Picture / Diagram
Number

TETRIX® Wireless
W37291
Camera Kit

TETRIX®
Autonomous
W37799
Mounting Deck
TETRIX R/C
W37663
Mounting Deck

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 Part
Description Picture / Diagram
Number

W40234 TETRIX® Prime

Gripper Arm Kit

TETRIX® MAX
W44609
Gripper Arm Kit

TETRIX® Prime 6
W40235 V NiMH Battery
<RE03>b.i. Pack

LEGO® # LEGO® Power

W778881 & Function Battery
W778878 Packs

AndyMark® 4 inch HiGrip

AM-2256 Wheel

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 Part
Description Picture / Diagram
Number

Rough top Tread

LEGO® EV3 or
LEGO® NXT

NSX2020 HiTechnic Sensor

Multiplexer

XL Power
Function Motor
W778882
E Power Function
W979670
Motor
W978883
M Power Function
Motor

HiTechnic
NPT1050
Prototype Board -
Solderable

HiTechnic
NPT1055
Prototype Board -
Solderless

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 Part
Description Picture / Diagram
Number

SPR2010 HiTechnic Super

Prototype Board

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