2025 Game Overview
CHAPTER 4
Game Overview�Field Marking and Drawings
5.0 Arena
4.0 Game Overview - REEFSCAPES
4.0 Game Overview - REEFSCAPES
5.2 Areas, Zones, & Markings - Figure 5-4 Areas, markings, and zones
2025 Field Layout and Marking - FE-2025
2025 Field Layout and Marking
2025 Field Layout and Marking
2025 Field Layout and Marking - April Tag Coordinates
2025 Field Layout and Marking - April Tag
2025 Field Layout and Marking
CHAPTER 5
5.1 - 5.3
5.0 Arena
5.0 Arena
The ARENA includes all elements of the game infrastructure that are required to play REEFSCAPESM presented by Haas: the FIELD, SCORING ELEMENTS, queue area, team media area, designated TECHNICIAN area, and all equipment needed for FIELD control, ROBOT control, and scorekeeping
The ARENA is modular and assembled, used, disassembled, and shipped many times during the competition season. It undergoes wear and tear. The ARENA is designed to withstand rigorous play and frequent shipping. Every effort is made to ensure that ARENAS are consistent from event to event. However, ARENAS are assembled in different venues by different event staff and some small variations occur. For details regarding assembly tolerances, please refer to the 2025 ARENA Layout and Marking Diagram. Successful teams will design ROBOTS that are insensitive to these variations.
Illustrations included in this section are for a general visual understanding of the REEFSCAPE ARENA, and dimensions included in the manual are nominal. Please refer to the official drawings for exact dimensions, tolerances, and construction details. The official drawings, CAD models, and drawings for low-cost versions of important elements of the REEFSCAPE FIELD are posted on the REEFSCAPE Playing FIELD web page on the FIRST website.
5.1 Field - Figure 5-2 FIELD boundary in pink
The FIELD is populated with and surrounded by the following elements:
1 REEF per ALLIANCE,
1 PROCESSOR per ALLIANCE,
2 CORAL STATIONS per ALLIANCE, and
1 BARGE which consists of 3 CAGES and 1 NET for each ALLIANCE.
Each FIELD for REEFSCAPE is an approximately 26 ft. 5 in. (~805 cm) by 57 ft. 6⅞ in. (~1 755 cm) carpeted area bounded by inward facing surfaces of the ALLIANCE WALLS, CORAL STATIONS, PROCESSORS and PROCESSOR openings, and guardrails.
5.1 Field (Const.) - Figure 5-3 Gate locations
5.2 Areas, Zones, & Markings - Figure 5-4 Areas, markings, and zones
5.2 Areas, Zones, & Markings (Cont.)
5.2 Areas, Zones, & Markings (Cont.)
5.3 Reef - Figure 5-5 REEF
A REEF is 1 of 2 5 ft. 5 ½ in. (~166 cm) hexagonal structures with BRANCHES that extend from each side where CORAL are scored. Each ALLIANCE has a dedicated REEF centered between each guardrail and located 12 ft. away from the ALLIANCE WALL. Each REEF has 4 levels to score on Level 1 (L1), Level 2 (L2), Level 3 (L3), and Level 4 (L4).
5.3 Reef (Cont.) - Figure 5-6: Scoring Level Locations (L1-L4)
The base of each REEF has a trough (L1) into which ROBOTS can score CORAL. The trough includes the angled and vertical surfaces, as well as the top of the front edge as shown in Figure 5-7. The front edge of the trough is 1 ft. 6 in. (~46 cm) off the carpet.
5.3 Reef (Cont.) - Figure 5-7: Trough Surfaces
5.3 Reef (Cont.)
5.3 Reef (Cont.) - Figure 5-8: Reef Scoring Location Tracking
CHAPTER 5.4 - 5.6�GAME OVERVIEW
5.4 Barge Figure 5-9
The BARGE is a 29 ft. 2 in. (889 cm) wide, 3 ft. 8 in. (~112 cm) deep, and 8 ft. 5 in.
The BARGE has three segments of lights on each side of the truss which indicate progression toward and completion of the Coopertition Bonus and the final 20 seconds in the match.
5.4 Barge
The BARGE is a 29 ft. 2 in. (889 cm) wide, 3 ft. 8 in. (~112 cm) deep, and 8 ft. 5 in. (~257 cm) tall structure that spans the center of the FIELD. It is made of truss structure supported by legs just outside the guardrail. The BARGE includes 6 CAGES, a red and blue NET, and all structure supporting CAGES and NETS. The horizontal truss structure is 5 ft. 2 in. (~157 cm) above the carpet and is supported in the center of the FIELD by vertical truss and supporting materials. The BARGE has three CAGE locations on each side located 3 ft. 5½ in., 7 ft. ⅜ in., 10 ft. 7⅜ in. (~105 cm, ~214 cm, ~324 cm) from mid field to the center of the CAGE.
The BARGE has three segments of lights on each side of the truss which indicate progression toward and completion of the Coopertition Bonus and the final 20 seconds in the match. One segment will light up each time an ALGAE is scored in the PROCESSOR. Once each alliance has scored two ALGAE all six segments will illuminate. The lights will flash to indicate that there are 20 seconds left in the match.
5.4.1 Cage
7 3/8 in. wide
2ft. tall
Shallow Cage
Deep Cage
5.4.1 CAGE
5.4.2 Anchor Surfaces and Net
Net
5.4.2 NET
5.5 Processor
A PROCESSOR is a goal into which an ALLIANCE scores ALGAE. There is 1 PROCESSOR per ALLIANCE. The PROCESSOR is integrated into the guardrail near the ALLIANCE’S REEF ZONE and adjacent to the opponent’s PROCESSOR AREA.
5.5 Processor
A PROCESSOR is a goal into which an ALLIANCE scores ALGAE. There is 1 PROCESSOR per ALLIANCE. The PROCESSOR is integrated into the guardrail near the ALLIANCE’S REEF ZONE and adjacent to the opponent’s PROCESSOR AREA. Each PROCESSOR has a rectangular opening through which ROBOTS score ALGAE which is 2 ft. 4 in. wide (~71 cm), 1 ft. 8 in. tall (~51 cm), and 7 in. (~18 cm) from the carpet.
Once an ALGAE passes through the PROCESSOR, it rolls past a scoring sensor array and into the opponent’s PROCESSOR AREA. To keep the PROCESSOR clear for scoring, the HUMAN PLAYER can shift scored ALGAE on top of the PROCESSOR where there are designated ALGAE holders.
5.6 Alliance Wall
5.6.1 Driver Stations
5.6.1 Driver Station (cont.)
Each DRIVER STATION contains the following elements for DRIVE TEAMS:
− 1 Ethernet cable: attaches to the Ethernet port of the OPERATOR CONSOLE and provides connectivity to the FIELD Management System (FMS)
− 1 120VAC NEMA 5-15R power outlet (i.e. standard US outlet): located on each DRIVER STATION shelf and protected by its own 2-Amp circuit breaker. It can be used to power the OPERATOR CONSOLE. DRIVE TEAMS are responsible for monitoring their power consumption as a tripped breaker in the outlet does not constitute an ARENA FAULT.
− 1 Emergency Stop (E-Stop) button: located on the left side of the DRIVER STATION shelf and is used to deactivate a ROBOT in an emergency
− 1 Autonomous Stop (A-Stop) button: located on the right side of the DRIVER STATION shelf and is used to DISABLE a ROBOT during AUTO
− 1 team sign: located at the top of each DRIVER STATION. The FIELD facing side of the sign displays the team number in the ALLIANCE color. The ALLIANCE AREA side of the sign displays the following information in red:
O Pre-MATCH: team number and ROBOT connection state
O During the MATCH:
▪ remaining MATCH period time,
▪ MATCH scores, and
▪ progress towards the CORAL RP threshold (n/a during the Playoff Tournament).
− 1 timer (in DRIVER STATION 2 only): displays the official time remaining in the MATCH period on the FIELD-facing side (in white) and a more detailed breakdown of CORAL scored on each level of the REEF on the TEAM-facing side. (in red).
5.6.1 Driver Station Timer
1 timer (in DRIVER STATION 2 only): displays the official time remaining in the MATCH period on the FIELD-facing side (in white) and a more detailed breakdown of CORAL scored on each level of the REEF on the TEAM-facing side. (in red).
5.6.2 Coral Station
5.6.2 Coral Station (cont.)
A CORAL STATION is an assembly through which HUMAN PLAYERS feed CORAL into the FIELD. There are 4 CORAL STATIONS, 1 in each corner of the FIELD connecting the guardrail to the ALLIANCE WALL. Each CORAL STATION has a 6 ft. 4 in. wide by 7 in. tall (~193 cm wide by ~18 cm tall) opening through which CORAL passes to the FIELD; the bottom of the opening is 3 ft. 1½ in. (~95 cm) from the carpet. A 55° sloped tunnel, called the CHUTE, leads to the opening in the CORAL STATION.
CHAPTER 5.7-5.9 �
5.7 SCORING ELEMENTS
SCORING ELEMENTS are items that teams use to score additional points. There are 2 types of SCORING ELEMENTS used in REEFSCAPE: CORAL and ALGAE.
5.7.1 CORAL
A CORAL is a 11 ⅞ in. long (~30 cm) piece of 4 in. diameter Schedule 40 Cellular (Foam) Core PVC pipe. CORAL has a 4-in. (~102 mm) inside diameter and a 4½-in. (~11 cm) outside diameter.
CORAL is available for purchase from AndyMark, am-5601 or can be cut from longer lengths of 4 in. diameter Schedule 40 Cellular (Foam) Core PVC pipe.
(Prior to kickoff, CORAL was known as “Game Piece 1” and not available for pre-order prior to the season)
5.7.1 CORAL Cont.
CORAL in the KOP and at events has a weight of between 1.1-1.8 lbs. (~0.5-0.8 kg) and has text marking along the length of the pipe that may vary in color.
(Teams should be aware that CORAL and PVC pipe from different sources may have variances in color, markings, and weight).
CORAL undergoes wear and tear during a competition. Generally, a CORAL that still appears to look approximately like a CORAL is considered a CORAL for the purposes of rule evaluation and scoring, whether damaged or not. Small chunks of a CORAL are not considered a CORAL.
(The edge of the CORAL may be rough or sharp. Teams should use caution when handling CORAL.)
5.7.2 ALGAE
Each ALGAE is a 16 in. (41 cm) ±½ in. (~12 mm) diameter rubber playground ball. The ball is custom made for FIRST by Baden Sports and sold by AndyMark am-5602.
(Prior to kickoff, ALGAE was known as “Game Piece 2” and was available for pre-order prior to the season.)
5.7.2 ALGAE Cont.
At events, ALGAE will be inflated using a sizing gauge so that the diameter measures between 15.5 in. (~39 cm) and 16.5 in. (~42 cm)
The tolerances to which ALGAE are manufactured allow for variances in diameter, wall thickness, weight distribution and overall weight. They may not always be uniformly spherical, roll straight, or bounce as expected.
5.8 AprilTags
AprilTags are 8⅛ in. (~21 cm) square targets located above CAGES, PROCESSORS, CORAL STATIONS and on REEFS. There are 22 unique markers on the FIELD, positioned as shown in Figure 5-21 (Next Slide).
5.8 Figure 5-21 April Tag Locations
5.8 Figure 5-22 AprilTag Sizing
All markers are from the 36h11 tag family, IDs 1-22. All AprilTags are mounted to and centered on a 10½ in. (~27 cm) square polycarbonate panel. Each marker has an identifying text label. If AprilTags experience wear and marking during MATCHES, they are repaired with gaffers tape.
5.8 Figure 5-23 Coral Station AprilTags
.
CORAL STATION AprilTags (IDs 1, 2, 12, and 13) are mounted to the CORAL STATION.
The bottom of each tag’s panel is 4 ft. 5¼ in. (~135 cm) above the carpet and centered on the CORAL STATION.
5.8 Figure 5-24 Processor AprilTags
.
PROCESSOR AprilTag panels (IDs 3 and 16) are 3 ft. 9⅞ in. (~117 cm) above the carpet and centered horizontally above the opening in the PROCESSOR WALL.
5.8 Figure 5-25 Reef AprilTags
.
REEF AprilTag plates (IDs 6-11 and 17-22) are 6⅞ in. (~17 cm) above the carpet and centered horizontally on each of the faces REEF.
5.8 Figure 5-26 Barge AprilTags
.
BARGE AprilTag plates (IDs 4, 5, 14, 15) are 5 ft. 9 in. (~178 cm) above the carpet, approximately centered above the middle CAGE, and angled 30° from vertical.
For further marker locating information please refer to the 2025 ARENA Layout and Marking Diagram. Printable versions of the markers are available on the 2025 Playing FIELD webpage.
5.9 The FIELD Management System
.
The FIELD Management System (FMS) is all the electronics responsible for sensing and controlling the FIRST Robotics Competition FIELD. The FMS encompasses all FIELD electronics, including computers, REFEREE touchscreens, the wireless access point, sensors, stack lights, A-Stops and E-Stops, etc.
When a DRIVE TEAM connects the Ethernet cable from their assigned DRIVER STATION to their OPERATOR CONSOLE, the Driver Station Software on the OPERATOR CONSOLE computer communicates with FMS. Once connected, the open ports available are described in Table 8-5
Note that ROBOT code cannot be deployed while connected to the FMS. Additional information about the FMS may be found in the FMS Whitepaper.
5.9 The FIELD Management System Cont.
.
The FMS alerts participants to milestones in the MATCH using audio cues detailed in Table 5-1. Please note that audio cues are intended as a courtesy to participants and not intended as official MATCH markers. If there is a discrepancy between an audio cue and the FIELD timers, the FIELD timers are the authority.
5.10 FIELD STAFF
FIELD STAFF are responsible for making sure the MATCHES are cycled through efficiently, fairly, safely, and with a spirit of cooperation, Gracious Professionalism, and generosity of spirit. FIELD STAFF roles are filled by volunteers from the community who prepare for the event with thorough training and certification. There are 3 FIELD-side key volunteer roles with whom teams should be familiar and are encouraged to use as resources to make their event experience valuable (in whatever way the team defines “valuable”).
−Head REFEREE – trains, directs, and supervises REFEREES. They oversee all scoring processes and procedures in collaboration with the FIRST Technical Advisor (FTA). They interact with STUDENTS, volunteers, and contracted/FIRST staff. The Head REFEREE is positioned between the FIELD and the scoring table and wears a yellow shirt. The Head REFEREE has final authority for decisions regarding MATCH scores, penalties, and YELLOW and RED CARD assignments. For additional details, please refer to the Head REFEREE role description.
−FIRST Technical Advisor (FTA) - ensures events run smoothly, safely, and in accordance with FIRST requirements. The FTA collaborates with FIRST staff, event staff, and other event volunteers in many different areas at events. The FTA is the liaison between FIRST HQ and the event for all things related to the FIELD, ROBOTS, and game, acts as a team advocate for all teams competing at the event and is a major point of escalation and conflict resolution for the event. For additional details, please refer to the FTA role description.
−FIELD Supervisor - directs activity on the FIELD to ensure efficient execution of the MATCHES, pacing of the event, and smooth flow of MATCH play. FIELD Supervisors are responsible for ensuring the FIELD is intact and lead FIELD Reset teams, who are responsible for resetting the FIELD after each MATCH in preparation for the subsequent MATCH. For additional details, please refer to the FIELD Supervisor role description
CHAPTER 6
6.1 - 6.2
6.1 Match Overview
In REEFSCAPE, 2 ALLIANCES (an ALLIANCE is a cooperative of up to 4 FIRST Robotics Competition teams) play MATCHES, set up and implemented per the details described below.
6.1 Match Overview
MATCHES run on 7–10-minute cycles, which consist of pre-MATCH setup, the 2-minute and 30-second MATCH, and the post-MATCH reset.
During the MATCH, ROBOTS collect CORAL and score on their REEF. ROBOTS also collect ALGAE and score in their PROCESSOR or NET. HUMAN PLAYERS can score ALGAE in their NET once it has been passed to them via their opponent’s PROCESSOR.
ROBOTS conclude the MATCH PARKING in their BARGE ZONE or suspending from a CAGE.
6.2 Drive Team
A DRIVE TEAM is a set of up to 5 people from the same FIRST Robotics Competition team responsible for team performance for a specific MATCH. There are 4 specific roles on a DRIVE TEAM which ALLIANCES can use to assist ROBOTS with REEFSCAPE, and no more than 1 member of the DRIVE TEAM may be a non-STUDENT.
The intent of the definition of DRIVE TEAM and DRIVE TEAM related rules is that, barring extenuating circumstances, the DRIVE TEAM consists of people who arrived at the event affiliated with that team and are responsible for their team’s and ROBOT’S performance at the event (this means a person may be affiliated
Section 6 Game Details V0 42 of 160
with more than 1 team). The intent is not to allow teams to “adopt” members of other teams for strategic advantage for the loaning team, borrowing team, and/or their ALLIANCE (e.g. an ALLIANCE CAPTAIN believes 1 of their DRIVERS has more experience than a DRIVER on their first pick, and the teams agree the first pick team will “adopt” that DRIVER and make them a member of their DRIVE TEAM for Playoffs). The definition isn’t stricter for 2 main reasons. First, to avoid additional bureaucratic burden on teams and event volunteers (e.g. requiring that teams submit official rosters that Queuing must check before allowing a DRIVE TEAM into the ARENA). Second, to provide space for exceptional circumstances that give teams the opportunity to display Gracious Professionalism (e.g. a bus is delayed, a COACH has no DRIVERS, and their pit neighbors agree to help by loaning DRIVERS as temporary members of the team until their bus arrives).
6.2 Drive Team
CHAPTER 6.3
6.3 Setup
Before each MATCH begins, FIELD STAFF stage SCORING ELEMENTS as described in section 6.3.4 SCORING ELEMENTS. DRIVE TEAMS stage their ROBOTS (as described in section 6.3.3 ROBOTS) and OPERATOR CONSOLES (as described in section 6.3.2 OPERATOR CONSOLES). Then, DRIVE TEAMS take their places as described in section 6.3.1 DRIVE TEAMS.
6.3.1 Drive Teams
DRIVE TEAMS prepare for a MATCH by staging in the appropriate areas, according to their role on the DRIVE TEAM, and by identifying themselves accordingly. DRIVE TEAM starting conditions are listed below, and a DRIVE TEAM obstructing or delaying any of the conditions is at risk of violating G301.
6.3.2 Operator Consoles
DRIVE TEAMS set up their OPERATOR CONSOLE as soon as the DRIVE TEAM from the previous MATCH has cleared the area. OPERATOR CONSOLES must be compliant with all relevant rules, specifically those in section 8.9 OPERATOR CONSOLE. The OPERATOR CONSOLE is plugged into the team’s assigned DRIVER STATION, as indicated on the team sign. Any control devices worn or held by their HUMAN PLAYERS and/or DRIVERS during the MATCH must be disconnected from or set on or beside the OPERATOR CONSOLE before the MATCH can begin. A DRIVE TEAM obstructing or delaying OPERATOR CONSOLE setup is at risk of violating G301.
For the purposes of FIRST Robotics Competition, any device connected to the OPERATOR CONSOLE is considered a control device because REFEREES are not expected to differentiate between devices that can or cannot control the ROBOT.
6.3.3 Robots
DRIVE TEAMS stage their ROBOT in accordance with G303. A DRIVE TEAM obstructing or delaying ROBOT setup requirements is at risk of violating G301.
If order of placement matters to either or both ALLIANCES, the ALLIANCE notifies the Head REFEREE during setup for that MATCH, and the Head REFEREE instructs ALLIANCES to alternate placement of ROBOTS. In a Qualification MATCH, REFEREE instructions are that ROBOTS are placed in the following order:
In an intra-Division Playoff MATCH, the same pattern is applied, but instead of blue ALLIANCE placing last, the higher seeded ALLIANCE (regardless of color) places last. For inter-Division Playoff MATCHES, the ALLIANCE that places last is determined by a (real or virtual) coin flip facilitated by the Head REFEREE where a “heads” result invites the red ALLIANCE to place last.
FIELD STAFF may ask teams to indicate their intended location and are not required to wait for a team to stage their ROBOT in its exact location before moving to the next team.
6.3.4 Field Elements
Before each MATCH begins, FIELD STAFF stage SCORING ELEMENTS.
Figure 6-2 CORAL MARK locations and SCORING ELEMENT staging positions
6.3.4.2 Algae
18 ALGAE are staged for each MATCH as follows (reference Figure 6-2):
Figure 6-3 Staging positions for ALGAE on a REEF
6.3.5 Cages
Each team can choose the height of the CAGE closest to their driver station. By default, all CAGES are left in the state from the last match. At the start of each day, all CAGES are set as deep CAGES. If a team would like to alter the CAGE height they must alert the FIELD STAFF during reset. Each team informs FIELD STAFF of their preference for their corresponding CAGE height.
Figure 6-4 CAGE positions corresponding to DRIVER STATIONS
CHAPTER 6.4 - 6.5 �
6.4 MATCH Phases
The first phase of each MATCH is 15 seconds long and called the Autonomous Period (AUTO). During AUTO, ROBOTS operate without any DRIVE TEAM control or input. ROBOTS attempt to leave their ROBOT STARTING LINE, score SCORING ELEMENTS, and retrieve SCORING ELEMENTS. There is a 3-second delay between AUTO and TELEOP for scoring purposes as described in section 6.5 Scoring.
The second phase of each MATCH is the remaining 2 minutes and 15 seconds (2:15) and called the Teleoperated Period (TELEOP). During TELEOP, DRIVERS remotely operate ROBOTS to retrieve and score SCORING ELEMENTS and climb their CAGES.
6.5 Scoring
ALLIANCES are rewarded for accomplishing various actions throughout a MATCH, including LEAVING their ROBOT STARTING LINE, scoring CORAL on their REEF, scoring ALGAE in their PROCESSOR and NET, climbing CAGES, and winning or tying MATCHES.
Rewards are granted either via MATCH points, Coopertition points, or Ranking Points (often abbreviated to RP, which increase the measure used to rank teams in the Qualification Tournament).
All scores are assessed and updated throughout the MATCH, except as follows:
A. assessment of CORAL scored on the REEF and ALGAE scored in the PROCESSOR or NET continues for up to 3 seconds after the ARENA timer displays 0:00 following AUTO.
B. assessment of CORAL scored on the REEF and ALGAE scored in the PROCESSOR or NET continues for up to 3 seconds after the ARENA timer displays 0:00 following TELEOP.
C. assessment of CAGE points is made 3 seconds after the ARENA timer displays 0:00 following TELEOP, or when all ROBOTS have come to rest following the conclusion of the MATCH, whichever happens first.
LEAVING the ROBOT STARTING LINE, CORAL scoring, ALGAE scoring in the NET, PARKING and CAGE points are all evaluated and scored by human volunteers. Teams are encouraged to make sure that it is obvious and unambiguous that the criteria are met.
6.5.1 SCORING ELEMENT Scoring Criteria
A CORAL is scored in the trough (L1) of the REEF if it is not in contact with a ROBOT and
A. contacting the trough, or
B. fully or partially supported by a CORAL in contact with the trough.
Figure 6-5 Examples of CORAL scored in the trough (L1)
Figure 6-5 includes examples of CORAL on the REEF at the conclusion of a MATCH.
A. CORAL A, C, F, and H are scored because they meet criteria A.
B. CORAL B and G are scored because they meet criteria B.
C. CORAL D and E do not meet any criteria for trough scoring.
6.5.1 SCORING ELEMENT Scoring Criteria
6.5.1 SCORING ELEMENT Scoring Criteria
6.5.2 ROBOT Scoring Criteria
To qualify for LEAVE points, a ROBOT must move such that its BUMPERS no longer overlap its ROBOT STARTING LINE at the end of AUTO.
To qualify for PARK points, a ROBOT’S BUMPERS must be partially or completely contained in their BARGE ZONE at the end of the MATCH and does not meet the criteria for CAGE points.
To qualify for CAGE points, a ROBOT must be contacting a CAGE (with the exception of the ANCHOR), not contacting the carpet, and may additionally contact only the following elements:
A. SCORING ELEMENTS,
B. another ROBOT qualified for CAGE points,
C. a partner ROBOT contacted by an opponent in violation of G428, and
D. an opponent ROBOT.
6.5.3 Coopertition Bonus
In Qualification MATCHES, if both ALLIANCES score at least 2 ALGAE in their PROCESSOR, all teams earn 1 Coopertition Point, and the threshold for the CORAL RP decreases as described in Table 6-2.
See section 10.5.3 Qualification Ranking for more information about Coopertition influence on Qualification Ranking order.
6.5.4 Point Values
Point values for tasks in REEFSCAPE are detailed in Table 6-2.
Chapter 7
7.4.3 ROBOT
G415
Expansion limits. A ROBOT may not extend more than 1 ft. 6 in. (~45 cm) beyond the vertical projection of its ROBOT PERIMETER.
If the over-expansion is due to damage and not used for strategic benefit, it is an exception to this rule, and no penalty is imposed.
Violation: MINOR FOUL, or MAJOR FOUL if the over-expansion is used for strategic benefit, including if it impedes or enables a scoring action.
7.4.3 ROBOT
G415 Expansion limits.
CHAPTER 8�8.0-8.2
8.0 ROBOT Construction Rules (R)
The rules listed below explicitly address legal parts and materials and how those parts and materials may be used on a REEFSCAPE ROBOT. A ROBOT is an electromechanical assembly built by the FIRST Robotics Competition team to play the current season’s game and includes all the basic systems required to be an active participant in the game –power, communications, control, BUMPERS, and movement about the FIELD. A BUMPER is a protective assembly designed to attach to the exterior of the ROBOT and constructed as specified in section 8.4 BUMPER Rules.
There are many reasons for the structure of the rules, including safety, reliability, parity, creation of a reasonable design challenge, adherence to professional standards, impact on the competition, and compatibility with the Kit of Parts (KOP). The KOP is the collection of items listed on the current season’s Kickoff Kit Checklists, distributed to the team via FIRST Choice in the current season, or paid for completely (except shipping) with a Product Donation Voucher (PDV) from the current season.
Another intent of these rules is to have all energy sources and active actuation systems on the ROBOT (e.g. batteries, compressors, motors, servos, cylinders, and their controllers) drawn from a well-defined set of options. This is to ensure that all teams have access to the same actuation resources and that the INSPECTORS are able to accurately and efficiently assess the legality of a given part.
ROBOTS are made up of COMPONENTS and MECHANISMS. A COMPONENT is any part in its most basic configuration, which cannot be disassembled without damaging or destroying the part or altering its fundamental function. A MECHANISM is an assembly of COMPONENTS that provide specific functionality on the ROBOT. A MECHANISM can be disassembled (and then reassembled) into individual COMPONENTS without damage to the parts.
Many rules in this section reference Commercial-Off-The-Shelf (COTS) items. A COTS item must be a standard (i.e. not custom order) part commonly available from a VENDOR for all teams for purchase. To be a COTS item, the COMPONENT or MECHANISM must be in an unaltered, unmodified state (with the exception of installation or modification of any software). Items that are no longer commercially available but are functionally equivalent to the original condition as delivered from the VENDOR are considered COTS and may be used.
8.0 ROBOT Construction Rules (R)
Example 1: A team orders 2 ROBOT grippers from RoboHands Corp. and receives both items. They put 1 in their storeroom and plan to use it later. Into the other, they drill “lightening holes” to reduce weight. The first gripper is still classified as a COTS item, but the second gripper is now a FABRICATED ITEM, as it has been modified. Example 2: A team obtains openly available blueprints of a drive module commonly available from Wheels-R-Us Inc. and has local machine shop “We-Make-It, Inc.” manufacture a copy of the part for them. The produced part is not a COTS item, because it is not commonly carried as part of the standard stock of We-Make-It, Inc. Example 3: A team obtains openly available design drawings from a professional publication during the pre-season and uses them to fabricate a gearbox for their ROBOT during the build period following Kickoff. The design drawings are considered a COTS item and may be used as “raw material” to fabricate the gearbox. The finished gearbox itself would be a FABRICATED ITEM, and not a COTS item.
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Example 4: A COTS part that has non-functional label markings added would still be considered a COTS part, but a COTS part that has device-specific mounting holes added is a FABRICATED ITEM. Example 5: A team has a COTS single-board processor version 1.0, which can no longer be purchased. Only the COTS single-board processor version 2.0 may be purchased. If the COTS single-board processor version 1.0 is functionally equivalent to its original condition, it may be used. Example 6: A team has a COTS gearbox which has been discontinued. If the COTS gearbox is functionally equivalent to its original condition, it may be used.
8.1 ROBOT Design
*ROBOT PERIMETER must be fixed. The ROBOT (excluding BUMPERS) must have a ROBOT PERIMETER, contained within the BUMPER ZONE and established while in the ROBOT’S STARTING CONFIGURATION, that is comprised of fixed, non-articulated structural elements of the ROBOT. Minor protrusions no greater than ¼ in. (~6 mm) such as bolt heads, fastener ends, weld beads, and rivets are not considered part of the ROBOT PERIMETER
8.1 ROBOT Design
To determine the ROBOT PERIMETER, wrap a piece of string around the outer most parts of the ROBOT (excluding BUMPERS) at the BUMPER ZONE described in R405 and pull it taut. The string outlines the ROBOT PERIMETER. Example: A ROBOT’S chassis is shaped like the letter ‘U’, with a large gap between chassis elements on the front of the ROBOT. When wrapping a taut string around this chassis, the string extends across the gap and the resulting ROBOT PERIMETER is a rectangle with 4 sides.
8.1 ROBOT Design
R102-
*STARTING CONFIGURATION – no overhang. In the STARTING CONFIGURATION (the physical configuration in which a ROBOT starts a MATCH), no part of the ROBOT shall extend outside the vertical projection of the ROBOT PERIMETER, with the exception of its BUMPERS and minor protrusions such as bolt heads, fastener ends, rivets, cable ties, etc.
If a ROBOT is designed as intended and each side is pushed up against a vertical wall (in STARTING CONFIGURATION and with BUMPERS removed), only the ROBOT PERIMETER (or minor protrusions) will be in contact with the wall. The allowance for minor protrusions in this rule is intended to allow protrusions that are both minor in extension from the ROBOT PERIMETER and cross-sectional area. If a ROBOT uses interchangeable MECHANISMS per I103, Teams should be prepared to show compliance with this rule and R105 in all configurations.
8.1 ROBOT Design
R103
*ROBOT weight limit. The ROBOT weight must not exceed 115 lbs. (~52 kg). When determining weight, the basic ROBOT structure and all elements of all additional MECHANISMS that might be used in a single configuration of the ROBOT shall be weighed together (see I103).
For the purposes of determining compliance with the weight limitations, the following items are excluded:
R104
STARTING CONFIGURATION – max size. A ROBOT’S STARTING CONFIGURATION may not have a ROBOT PERIMETER greater than 120 in. (~304 cm) and may not be more than 3 ft. 6 in. (~106 cm) tall.
Be sure to consider the size of the ROBOT on its cart to make sure it will fit through doors. Also consider the size of the ROBOT to ensure that it will fit into a shipping crate, vehicle, etc. Note that rules contained in section 8.4 BUMPER Rules may impose additional restrictions on ROBOT design.
8.1 ROBOT Design
R104
STARTING CONFIGURATION – max size. A ROBOT’S STARTING CONFIGURATION may not have a ROBOT PERIMETER greater than 120 in. (~304 cm) and may not be more than 3 ft. 6 in. (~106 cm) tall.
Be sure to consider the size of the ROBOT on its cart to make sure it will fit through doors. Also consider the size of the ROBOT to ensure that it will fit into a shipping crate, vehicle, etc. Note that rules contained in section 8.4 BUMPER Rules may impose additional restrictions on ROBOT design.
R105
ROBOT extension limit. ROBOTS may not extend more than 1 ft. 6 in. (~457 mm) beyond the vertical projection of their ROBOT PERIMETER.
Figure 8-2 ROBOT PERIMETER extension
Teams should expect to have to demonstrate a ROBOT’S ability to constrain itself per above during inspection. Constraints may be implemented with either hardware or software.
See section 7.4.3 ROBOT for height and extension restrictions for various areas of the FIELD.
8.2 ROBOT Safety & Damage Prevention
R201
*No digging into carpet. Traction devices must not have surface features that could damage the ARENA (e.g. metal, sandpaper, inflexible studs, cleats, hook-loop fasteners or similar attachments). Traction devices include all parts of the ROBOT that are designed to transmit any propulsive and/or braking forces between the ROBOT and FIELD carpet.
R202
*No exposed sharp edges. Protrusions from the ROBOT and exposed surfaces on the ROBOT shall not pose hazards to the ARENA elements (including SCORING ELEMENTS) or people.
R203
*General safety. ROBOT parts shall not be made from hazardous materials, be unsafe, cause an unsafe condition, or interfere with the operation of other ROBOTS.
8.2 ROBOT Safety & Damage Prevention
R203
Examples of items that will violate this rule include (but are not limited to):
A. shields, curtains, or any other devices or materials designed or used to obstruct or limit the vision of any DRIVE TEAM members and/or interfere with their ability to safely control their ROBOT,
B. speakers, sirens, air horns, or other audio devices that generate sound at a level sufficient to be a distraction,
C. any devices or decorations specifically intended to jam or interfere with the remote sensing capabilities of another ROBOT, including vision systems, acoustic range finders, sonars, infrared proximity detectors, etc. (e.g. including imagery on your ROBOT that utilizes or closely mimics 36h11 AprilTags),
D. exposed lasers other than Class I,
E. flammable gasses,
Section 8 ROBOT Construction Rules (R) V0 78 of 160
F. any device intended to produce flames or pyrotechnics,
G. hydraulic fluids or hydraulic items,
H. switches or contacts containing liquid mercury,
I. circuitry used to create voltages in excess of 24 Volts,
J. any ballast not secured sufficiently, including loose ballast e.g. sand, ball bearings, etc., such that it may become loose during a MATCH,
K. exposed, untreated hazardous materials (e.g. lead weights) used on the ROBOT. These materials may be permitted if painted, encapsulated, or otherwise sealed to prevent contact. These materials may not be machined in any way at an event.
L. tire sealant, and
M. high intensity light sources used on the ROBOT (e.g. super bright LED sources marketed as ‘military grade’ or ‘self-defense’) may only be illuminated for a brief time while targeting and may need to be shrouded to prevent any exposure to participants. Complaints about the use of such light sources will be followed by re-inspection and possible disablement of the device.
8.2 ROBOT Safety & Damage Prevention
R204
*Leave SCORING ELEMENTS at the FIELD. ROBOTS must allow removal of SCORING ELEMENTS from the ROBOT and the ROBOT from FIELD elements while DISABLED and powered off.
ROBOTS will not be re-enabled after the MATCH, so teams must be sure that SCORING ELEMENTS and ROBOTS can be quickly, simply, and safely removed. Teams are encouraged to consider G501 when developing their ROBOTS.
R205
*Don’t contaminate the FIELD. Lubricants may be used only to reduce friction within the ROBOT. Lubricants must not contaminate the FIELD or other ROBOTS.
R206
*Don’t damage SCORING ELEMENTS. ROBOT elements likely to come in contact with a SCORING ELEMENT shall not pose a significant hazard to the SCORING ELEMENT.
8.2 ROBOT Safety & Damage Prevention
R206
SCORING ELEMENTS are expected to undergo a reasonable amount of wear and tear as they are handled by ROBOTS, such as scratching or marking. Gouging, tearing off pieces, or routinely marking SCORING ELEMENTS are violations of this rule.
CHAPTER 8 �8.3 - 8.4
8.3 Budget Constraints & Fabrication Schedule
R301 -*Individual item cost limit. No individual, non-KOP item or software shall have a Fair Market Value (FMV) that exceeds $600 USD. The total cost of COMPONENTS purchased in bulk may exceed $600 USD as long as the cost of an individual COMPONENT does not exceed $600 USD.
R302 - *MAJOR MECHANISM, from this year only. MAJOR MECHANISMS, as defined in I101, created before Kickoff are not permitted.
R303 - *Create new designs and software, unless they’re public. ROBOT software and designs created before Kickoff are only permitted if the source files (complete information sufficient to produce the design) are available publicly prior to Kickoff.
8.3 Budget Constraints & Fabrication Schedule (Const.)
R304
*During an event, only work during pit hours. During an event a team is attending (regardless of whether the team is physically at the event location), the team may neither work on nor practice with their ROBOT or ROBOT elements outside of the hours that pits are open, with the following exceptions:
8.4 Bumper Rules
A BUMPER is a required assembly which attaches to the ROBOT frame. BUMPERS protect ROBOTS from damaging/being damaged by other ROBOTS and FIELD elements.
A BUMPER guide providing additional information on materials and design based on historical best practices may be found under the Mechanical Resources section of the Technical Resources page. Teams may also reference the KitBot Instructions for a detailed step-by-step on how to build bumpers for the KitBot.
All dimensions specified in this section are nominal and will be measured during inspection with a tolerance of ¼ in. (~6 mm) unless otherwise specified. This means that maximums specified have a tolerance of + ¼ in. and minimums specified have a tolerance of – ¼ in. Teams are encouraged to design to the nominal dimension and reserve the tolerance for unexpected deviation such as manufacturing error or tolerance stack-up.
8.4 BUMPER Rules (Cont.) - Figure 8-3 BUMPER coverage requirements
R401
*BUMPERS all around. ROBOTS are required to use BUMPERS to protect the entire ROBOT PERIMETER. Gaps of less than 1 ¼ in. (~31 mm) between adjacent segments are permitted as long as all corners are filled per R406.
8.4 Bumper Rules (Cont.)
R402
*BUMPER construction. BUMPERS must consist of the following:
8.4 Bumper Rules (Cont.)
B. Backing – A backer at least 4 ½ in. (~115 mm) tall which supports the padding (i.e. padding is not cantilevered other than in corners) and facilitates installation and removal of the BUMPER from the ROBOT (as noted in R410). Additional elements may be added to strengthen the backing, fill space between the BUMPER and ROBOT frame, or serve as part of the attachment system.
C. Cover – Fabric (as noted in G411) which covers all outward, upward and downward facing surfaces such that no padding is exposed to interaction with the FIELD or other ROBOTs.
D. Fastening System – BUMPERS must attach to the ROBOT PERIMETER with a rigid fastening system to form a tight, robust connection to the main structure/frame (e.g. not attached with hook-and-loop tape, tape, or cable ties). The fastening system must be designed to withstand vigorous game play. All removable fasteners (e.g. bolts, locking pins, quick release pins, etc.) may be considered part of either the BUMPERS or ROBOT for determination of weight per R103 and R408.
8.4 BUMPER Rules (Cont.) - Figure 8-4 BUMPER backing supporting padding
8.4 Bumper Rules (Cont.) - Figure 8-5 BUMPER Cross Section Example
8.4 Bumper Rules (Cont.)
R403 - *BUMPER extension limit. BUMPERS must not extend more than 4 in. (~101 mm) from the ROBOT PERIMETER.
R404 - *BUMPERS must be soft. Hard parts of BUMPERS must not extend more than 1 ¼ in. (~31 mm) from the ROBOT PERIMETER. Padding must extend at least 2 in. (~51 mm) beyond any hard parts of the BUMPER.
R405 - *BUMPERS interact with BUMPERS. Padding (per R402-A) supported by backing (per R402-B) must entirely fill the BUMPER ZONE, a space between 2 ½ in. (~63 mm) and 5 ¾ in. (~146 mm) from the floor.
8.4 Bumper Rules (Cont.)
8.4 Bumper Rules (Cont.) - Figure 8-7 Uncompressed corner padding
R406
*Fill BUMPER corners. Corner joints between BUMPERS must be filled with uncompressed padding material extending at least 2 ¼ in. (~58 mm) from the corner with no gaps or voids. Examples of implementation are shown in Figure 8-7.
8.4 Bumper Rules (Cont.)
R407 - *BUMPERS shouldn’t be wedges. BUMPERS must not act as wedges when interacting with other BUMPERS.
R408 - *Weight limit with BUMPERS. The total weight of the ROBOT (as described in R103) with BUMPERS must not exceed 135 lbs. (~61 kg)
R409 - *BUMPERS shouldn’t move. BUMPERS must not be articulated, relative to the ROBOT PERIMETER.
R410 -*BUMPERS must come off. BUMPERS must be designed for installation and removal to facilitate inspection and weighing.
8.4 Bumper Rules (Cont.)
R411
*BUMPERS indicate your ALLIANCE. Each ROBOT must be able to display red or blue BUMPERS to reflect their ALLIANCE color, as assigned in the MATCH schedule distributed at the event (as described in section 10.1 MATCH Schedules). Contrasting markings on outward facing surfaces of the BUMPER, other than the following, are prohibited:
A. those required per R412,
B. hook-and-loop tape, snap fasteners, or functional equivalents backed by the hard parts of the BUMPER,
C. solid white FIRST logos between 4¾ in. (~121 mm) and 5¼ in. wide (~133 mm) (i.e. comparable to those available in the REEFSCAPE Virtual Kit), and
D. narrow areas of underlying fabric exposed at seams, corners, or folds.
8.4 Bumper Rules (Cont.)
R412
*Team number on BUMPERS. Team numbers must be displayed and positioned on the BUMPERS such that an observer walking around the perimeter of the ROBOT can unambiguously tell the team’s number from any point of view, from as far as approximately 60 ft. (1 829 cm), and meet the following additional criteria:
A. consist of only white Arabic numerals at least 3 ¾ in. (~96 mm) high, at least ½ in. (~13 mm) in stroke width,
B. must not wrap around sharp corners (less than 135°) of the ROBOT PERIMETER,
C. must not split individual digits such that the team number is ambiguous, and
D. may not substitute logos or icons for numerals.
8.5 Motors & Actuators
R501
*Allowable motors. The only motors and actuators permitted include the following (in any quantity):
8.5 Motors & Actuators
8.5 Motors & Actuators
Power Regulating
R505
*Don’t overload controllers. Each power regulating device may control electrical loads per Table 8-2. Unless otherwise noted, each power regulating device shall control 1 and only 1 electrical load.
Figure 8-16 Pneumatic circuitry