Revision 1: 7/11/2023 Page | 1
2023-2024 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, it 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
Number
Description
Picture / Diagram
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.
REV Robotics
Competition Kit
Please see the
Competition Kit
Parts List for full
details of items
included in this kit.
The following parts are LEGAL for the 2023-2024 FIRST Tech Challenge
Revision 1: 7/12/2023 Page | 2
Part
Number
Description
Picture / Diagram
W40384
TETRIX
®
Prime
Starter Set
EXCEPT the items
listed under the
ILLEGAL Parts
List
• Motorola Moto
G4 Play
• Motorola Moto
G5
• Motorola G5
Plus
• Motorola Moto
E4
• Motorola Moto
E5 Play
REV-31-
1153
REV Expansion
Hub
REV-31-
1595
REV Control Hub
The following parts are LEGAL for the 2023-2024 FIRST Tech Challenge
Revision 1: 7/12/2023 Page | 3
Part
Number
Description
Picture / Diagram
REV-31-
1596
REV Driver Hub
(Not to be used for
robot construction)
REV-11-
1144
REV servo Power
Module
REV-31-
1230
REV SPARK Mini
Motor Controller
Mini USB to OTG
(On-The-Go) Cable
OTG Adapter
REV-31-
1389
Logic Level
Converter
The following parts are LEGAL for the 2023-2024 FIRST Tech Challenge
Revision 1: 7/12/2023 Page | 4
Part
Number
Description
Picture / Diagram
REV-35-
1173
FTC Cable
Conversion Kit
Logitech F310
Gaming Controller
(Not to be used for
robot construction)
Xbox 360
Controller for
Windows
(Not to be used for
robot construction)
Etpark Wired
Controller for PS4
(Not to be used for
robot construction)
Sony DualShock 4
Wireless Controller
for PS4
(Not to be used for
robot construction)
Sony Dualsense
Wireless Controller
for PS5 (Not to be
used for robot
construction)
Quadstick game
controller in Xbox
360 emulation
mode
The following parts are LEGAL for the 2023-2024 FIRST Tech Challenge
Revision 1: 7/12/2023 Page | 5
Part
Number
Description
Picture / Diagram
AndyMark
®
parts
EXCEPT those
listed in the
ILLEGAL section
www.andymark.c om/ftc
NeverRest Series
Robot Parts
All part
numbers
TETRIX
®
DC
Motors
All part
numbers
Modern
Robotics/MATRIX
12V DC Motors
All part
numbers
AndyMark
®
NeveRest Motor
Series + encoder
cables
All part
numbers
REV Robotics HD
Hex Motor
The following parts are LEGAL for the 2023-2024 FIRST Tech Challenge
Revision 1: 7/12/2023 Page | 6
Part
Number
Description
Picture / Diagram
All part
numbers
REV Robotics Core
Hex Motor
TETRIX
W39129
MATRIX
50-0030
REV
REV-31-
1387
AndyMark
am-4969
Power Switches
W39197
W39177
TETRIX
®
Servo
TETRIX
®
Continuous Turn
Servo
(Total combined
limit of 12 per
robot)
W39375
W39900
W39901
TETRIX
®
Worm
Gear Box
TETRIX
®
10:1
Worm Gear Pack
TETRIX
®
20:1
Worm Gear Pack
The following parts are LEGAL for the 2023-2024 FIRST Tech Challenge
Revision 1: 7/12/2023 Page | 7
Part
Number
Description
Picture / Diagram
W39300
W39282
TETRIX
®
Rack and
Pinion Linear Slide
Pack
TETRIX
®
All-
Terrain Tire
W39904
W39380
W39383
W39594
TETRIX
®
HS-
755HB Quarter-
Scale Servo Motor
with Horn
TETRIX
®
Quarter-
Scale Servo Front
Mount Bracket
TETRIX
®
Quarter-
Scale Servo Frame
Mounting Bracket
TETRIX
®
Quarter-
Scale Pivot Arm
with Bearing Pack
276-2177
VEX EDR 393
Motor (counted as
a servo)
Please see rule
<RE11> for allowed
configuration
W39830
W39057
TETRIX
®
NiMh
Battery Pack
Charger (not to be
used for robot
construction)
12V Rechargeable
NiMh
Battery Pack
(Exactly 1 allowed)
14-0014
Modern Robotics
12V Rechargeable
NiMh
Battery Pack
(Exactly 1 allowed)
The following parts are LEGAL for the 2023-2024 FIRST Tech Challenge
Revision 1: 7/12/2023 Page | 8
Part
Number
Description
Picture / Diagram
REV-31-
1302
12v Slim Battery
(Exactly 1 allowed)
REV-31-
1269
Resistive
Grounding Strap
REV-31-
1385
Anderson
Powerpole to XT30
Adapter
REV-31-
2010-PK4
Digital LED
Indicator
Non-Metallic Cable
Ties
The following parts are LEGAL for the 2023-2024 FIRST Tech Challenge
Revision 1: 7/12/2023 Page | 9
Part
Number
Description
Picture / Diagram
W39074
W39075
W39076
W39077
W39379
W39378
W39377
TETRIX
®
Tubes (80
mm)
TETRIX
®
Tubes
(145 mm)
TETRIX
®
Tubes
(220 mm)
TETRIX
®
Tube
Clamps
TETRIX
®
Tubing
Coupler
TETRIX
®
Tubing
Corner Block
TETRIX
®
Tubing
Anchor Block
W39193
TETRIX
®
Tube
Plugs
W38007
W38008
TETRIX
®
Bevel
Gears & Delrin
Bearings
W39173
W39171
W39169
W39165
TETRIX
®
Chain
with Links
TETRIX
®
32 tooth
Sprocket Pack
TETRIX
®
24 tooth
Sprocket Pack
TETRIX
®
16 tooth
Sprocket Pack
W35871
TETRIX
®
250mm
Axel
#25 Chain Half-
Lengths
#35 Chain Half-
Lengths
The following parts are LEGAL for the 2023-2024 FIRST Tech Challenge
Revision 1: 7/12/2023 Page | 10
Part
Number
Description
Picture / Diagram
W39020
TETRIX
®
Servo
Horn
W36465
TETRIX
®
Thermal
Fuse for DC Motor
Protection
W20821
Permatex Super
Lube
Note: Any type of
COTS lubricant is
allowed.
(Only to reduce
friction with the
Robot. Lubricants
are not allowed to
contaminate the
playing field or
other robots).
Plastic Sheet
Any non-reinforced polymer-based plastic sheet material (e.g. polycarbonate, PVC, acrylic,
ABS, Teflon, PETG, etc.) See <RM01>.
Any metal or plastic
flat sheet
Both materials may
be used on the
robot.
No limit to size or
quantity.
See <RM01>.
Any metal or plastic
extruded shapes
The following parts are LEGAL for the 2023-2024 FIRST Tech Challenge
Revision 1: 7/12/2023 Page | 11
Part
Number
Description
Picture / Diagram
Rope, any
size/length
Non-Slip Pad
No size constraint
Universal Security
Clips
45-2018
Modern Robotics
Color Sensor
REV-31-
1537
REV Color Sensor
REV-31-
1425
REV Touch Sensor
REV-31-
1505
REV 2m Distance
Sensor
The following parts are LEGAL for the 2023-2024 FIRST Tech Challenge
Revision 1: 7/12/2023 Page | 12
Part
Number
Description
Picture / Diagram
Vision Camera
(Examples include
Logitech C270 HD,
Logitech C920 HD
PRO, and Microsoft
Lifecam HD-3000)
Vision Sensor
(Examples include
PixyCam and
HuskyLens, OAK-1
Lite)
Non-Motorized
Turntables and
Lazy Susans
Examples:
PVC, CPVC, or
ABS flexible or rigid
piping (of any
schedule),
Commercial PVC
couplings (i.e.
Tee’s, elbows,
couplings, caps,
etc.) are allowed.
Use only for gluing
PVC. Use of PVC
cements and
cleaners may or
may not be allowed
in the pits at
competitions based
on site-specific
rules or
requirements.
The following parts are LEGAL for the 2023-2024 FIRST Tech Challenge
Revision 1: 7/12/2023 Page | 13
Part
Number
Description
Picture / Diagram
Mechanical
Fasteners
Compatible nuts,
bolts, screws, etc.
Loctite
®
Or similar thread-
locking product
Plastic/Epoxy Glue
or Cement
Rubber Bands
Any size and
quantity
Surgical Tubing
No size or length
limit
PWM Extension
cable
Either purchased or
fabricated by the
team
Threaded Rod
All-thread & lead-
screw
The following parts are LEGAL for the 2023-2024 FIRST Tech Challenge
Revision 1: 7/12/2023 Page | 14
Part
Number
Description
Picture / Diagram
Power Distribution
Panel/Splitter
This is an example.
Similar parts are
allowed.
Anderson
Powerpole
connectors
Linear Slides
The following parts are LEGAL for the 2023-2024 FIRST Tech Challenge
Revision 1: 7/12/2023 Page | 15
Part
Number
Description
Picture / Diagram
Telescoping Rods
Linear Actuator
Wago Connector
Series 222 Lever-
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.
The following parts are LEGAL for the 2023-2024 FIRST Tech Challenge
Revision 1: 7/12/2023 Page | 16
Part
Number
Description
Picture / Diagram
Individual
components of a
legal wheel
assembly can be
used on the robot.
Tank Tread
T-Slot Aluminum
Extruded aluminum
pieces from various
manufacturers such
as 80-20,
McMaster-Carr,
Macron, etc.
All fasteners and
compatible
hardware are
allowed
MISC
(No Images
Available)
• 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
The following parts are LEGAL for the 2023-2024 FIRST Tech Challenge
Revision 1: 7/12/2023 Page | 17
Part
Number
Description
Picture / Diagram
• Plastic Coated Wire Rope
• Electrical wire
• Aluminum or Nylon/Plastic Pop Rivets
• Magnets
• Washers
• Light Sources per rule <RE13>
COTS Parts
(No Images
Available)
<RM01>,
<RM02>
Teams may use additional materials and COTS (Commercial Off The Shelf) components to
construct their robots subject to the following restrictions:
• All raw materials are allowed provided they are readily available to all teams from
standard distributors (for example, McMaster-Carr, Home Depot, Grainger, AndyMark
®
,
etc.).
• All post-processed materials are allowed provided they are readily available to the
majority of teams from standard distributers (for example, McMaster-Carr, Home Depot,
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
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. Exceptions to this rule are:
o COTS drive chassis (for example, AndyMark TileRunner, REV Mecanum
Drivetrain Kit, TETRIX Flex-Build Robot Chassis, etc.) are allowed provided none
of the individual parts violate any other rules.
o Dead-wheel Odometry Kit – a combination of an encoder, a free-spinning
omnidirectional wheel, an optional tensioner, and an enclosure used to accurately
measure the wheel’s rotation.
o Holonomic wheels (omni or mechanum)
• Raw materials, and COTS may be modified (for example, drilled, cut, painted, etc.)
provided no other rules are violated.
Revision 1:7/12/2023 Page | 18
Part
Number
Description
Picture / Diagram
AUL3025
Modern Robotics
Core Legacy
Module
AUA3030
Modern Robotics
Core Device
Interface Module
AUM3020
Modern Robotics
Core Motor
Controller
AUP3010
Modern Robotics
Core Power
Distribution
Module
AUS3015
Modern Robotics
Core Servo
Controller
W991445
W991444
HiTechnic Servo
Controller
HiTechnic DC
Motor Controller
Revision 1:7/12/2023 Page | 19
Part
Number
Description
Picture / Diagram
Legacy Sensors
(LEGO and NXT)
Microprocessors
such as Raspberry
Pi or Arduino
W34243 or
W36117
TETRIX
®
R/C
Controller
W35496
TETRIX
®
R/C
Receiver
W34244
TETRIX
T
®
DC
Motor Speed
Controller
W991458
Infrared Electronic
Ball
W739136
TETRIX
®
Battery
Holder
Revision 1:7/12/2023 Page | 20
Part
Number
Description
Picture / Diagram
W37291
TETRIX
®
Wireless
Camera Kit
W37799
W37663
TETRIX
®
Autonomous
Mounting Deck
TETRIX R/C
Mounting Deck
W40234
TETRIX
®
Prime
Gripper Arm Kit
W44609
TETRIX
®
MAX
Gripper Arm Kit
W40235
<RE03>
TETRIX
®
Prime 6
V NiMH Battery
Pack
LEGO
®
#
W778881 &
W778878
LEGO
®
Power
Function Battery
Packs
Revision 1:7/12/2023 Page | 21
Part
Number
Description
Picture / Diagram
AndyMark
®
AM-2256
4-inch HiGrip
Wheel
Rough top Tread
LEGO
®
EV3 or
LEGO
®
NXT
NSX2020
HiTechnic Sensor
Multiplexer
W778882
W979670
W978883
XL Power
Function Motor
E Power Function
Motor
M Power Function
Motor
NPT1050
HiTechnic
Prototype Board -
Solderable
Revision 1:7/12/2023 Page | 22
Part
Number
Description
Picture / Diagram
NPT1055
HiTechnic
Prototype Board -
Solderless
SPR2010
HiTechnic Super
Prototype Board
