2024 Game Overview
CHAPTER 4
Game Overview�Field Marking and Drawings
4.0 Game Overview
4.0 Game Overview
In CRESCENDOSM presented by Haas, two competing alliances are invited to score notes, amplify their speaker, harmonize onstage, and take the spotlight before time runs out. Alliances earn additional rewards for meeting specific scoring thresholds and for cooperating with their opponents.
During the first 15 seconds of the match, robots are autonomous. Without guidance from their drivers, robots leave their starting zone, score notes in their speaker or amp, and collect and score additional notes.
During the remaining 2 minutes and 15 seconds, drivers control their robots. Robots collect notes from human players at their source and score them in their amp and speaker. Each time an alliance gets 2 notes in their amp, the human player can amplify their speaker for 10 seconds. Notes scored in an amplified speaker are worth more points than those scored in an unamplified speaker.
4.0 Game Overview
A human player may choose to repurpose a note scored in their amp in cooperation with their opponent. If each alliance repurposes a note by hitting their Coopertition button in the first 45
seconds of teleop, all teams in the match receive a Coopertition point (which influences their rank
in the tournament), and the number of notes needed for the melody bonus is reduced.
As time runs out, robots race to get onstage and deliver notes to their traps. Harmonizing robots,
i.e. robots sharing a chain, earn an added bonus.
Robots earn even more points if a human player spotlights robots on a chain by scoring a note on the chain’s microphone.
The alliance that earns the most points wins the match!
5.2 Areas, Zones, & Markings
2024 Field Layout and Marking - FE-2024
2024 Field Layout and Marking
2024 Field Layout and Marking
2024 Field Layout and Marking
2024 Field Layout and Marking – April Tags
2024 Field Layout and Marking
2024 Field Layout and Marking
2024 Field Layout and Marking - End Wall
CHAPTER 5: ARENA
5.0 Arena Overview
5.1 Field
Each FIELD for CRESCENDO is an approximately 26 ft. 11¼ in. (~802 cm) by 54 ft. 3¼ in. (~1654 cm) carpeted area bounded by inward facing surfaces of the ALLIANCE WALLS, SOURCES, AMPS and AMP pocket walls, and guardrails.
The FIELD is populated with the following elements:
1 AMP per ALLIANCE,
1 SPEAKER per ALLIANCE,
1 SOURCE per ALLIANCE, and
1 STAGE per ALLIANCE.
5.2 Areas, Zones, & Markings
5.2 Areas, Zones, & Markings (Cont.)
5.2 Areas, Zones, & Markings (Cont.)
5.2 Areas, Zones, & Markings (Cont.)
STAGE ZONE: an infinitely tall 6-sided volume surrounding the STAGE bounded by and including the ALLIANCE-colored tape.
5.3 Amp
An AMP is a structure used by ROBOTS to pass NOTES to the ALLIANCE AREA.
There is 1 AMP per ALLIANCE. Each AMP has a
vertical pocket that is 3⅞ in. deep (~10 cm), 1 ft. 6 in. tall (~46 cm), and 2 ft. wide (~61 cm).
The bottom of the pocket is 2 ft. 2 in. (~66 cm) from the carpet.
Each AMP is 4 ft. 1½ in. (~126 cm) from the closest ALLIANCE WALL
5.3 Amp - GE-24100
An AMP is a structure used by ROBOTS to pass NOTES to the ALLIANCE AREA.
There is 1 AMP per ALLIANCE. Each AMP has a
vertical pocket that is 3⅞ in. deep (~10 cm), 1 ft. 6 in. tall (~46 cm), and 2 ft. wide (~61 cm).
The bottom of the pocket is 2 ft. 2 in. (~66 cm) from the carpet.
Each AMP is 4 ft. 1½ in. (~126 cm) from the closest ALLIANCE WALL
5.3 Amp
An AMP is a structure used by ROBOTS to pass NOTES to the ALLIANCE AREA.
There is 1 AMP per ALLIANCE. Each AMP has a vertical pocket that is 3⅞ in. deep (~10 cm), 1 ft. 6 in. tall (~46 cm), and 2 ft. wide (~61 cm).
The bottom of the pocket is 2 ft. 2 in. (~66 cm) from the carpet. Each AMP is 4 ft. 1½ in. (~126 cm) from the closest ALLIANCE WALL.
There are 2 sets of lights on top of the AMP; ALLIANCE-colored AMP lights and an amber Coopertition light. AMP lights indicate the number of NOTES accumulated for AMPLIFICATION or Coopertition. The Coopertition light indicates progress toward Coopertition.
5.3 Amp Continued
The AMP light behavior and meaning are as follows:
− bottom light on: the ALLIANCE has 1 NOTE towards AMPLIFICATION (or Coopertition)
−both lights on: the ALLIANCE has 2 NOTES toward AMPLIFICATION (1 of which can be used for Coopertition)
−top light blinking at 2Hz: the SPEAKER is AMPLIFIED (see Section 6.5.3 AMPLIFICATION).
The Coopertition light behavior and meaning are as follows:
−blinking at 1 Hz: it’s AUTO or the initial 45 seconds of TELEOP and the ALLIANCE has not used a NOTE for Coopertition
−solid on:
if initial 45 seconds of TELEOP, the HUMAN PLAYER has used a NOTE for Coopertition
if after the initial 45 seconds of TELEOP, both ALLIANCES have used a NOTE for Coopertition
−off: the Coopertition window has expired, and Coopertition was not accomplished
5.4 Source
A SOURCE is an assembly through which HUMAN PLAYERS feed NOTES into the FIELD. The SOURCE wall, the FIELD-facing side of the SOURCE, separates the SOURCE ZONE from the SOURCE AREA. Each SOURCE has a 6 ft. 3 ¼ in. wide by 6 in. tall (~191 cm by ~15 cm) opening through which NOTES pass to the FIELD; the bottom of the opening is 3 ft. ¾ in. (~93 cm) from the carpet. A 50° sloped tunnel, called the CHUTE, leads to the
Section 5 ARENA V0 27 of 149
opening in the SOURCE wall. The CHUTE extends into the SOURCE AREA such that the bottom edge of its SOURCE AREA opening is 4 ft. 4¾ in. (~134 cm) above the carpet.
5.4 Source - GE-24000
5.5 Stage
Each STAGE is a 3-legged structure and 10 ft. 1 in. (~307 cm) from its corresponding ALLIANCE WALL. Each STAGE consists of truss feet, truss segments, truss junctions, aluminum framing, and polycarbonate sheets. The center core of the structure suspends from the truss such that aluminum surfaces are 2 ft. 4¼ in. (~72 cm) above the carpet, however certain features decrease the effective clearance under the core of the STAGE. The least amount of clearance is where polycarbonate gusset plates are above truss feet resulting in an actual clearance of 2 ft. 3⅞ in (~71 cm).
3 chains, designated STAGE Left, STAGE Right, and Center STAGE, as shown in Figure 5-9, span the space between each STAGE truss leg. Chains attach to each leg via a carabiner, eye bolt, and mounting gusset 4 ft. (~122 cm) above the carpet. Chains droop such that their lowest points are 2 ft. 4¼ in. (~72 cm) from the carpet, and the chain rests 1 ft. 4⅝ in. (~42 cm) from the face of the STAGE core. The chain is ¼-in. Grade 43 zinc plated chain.
5.5 Stage
5.5 Stage
5.5 Stage–Core - Trap
The core structure of the STAGE is a 6-sided column covered by polycarbonate walls. Each of the 3 wider walls have an opening, covered by a flap, which leads to a TRAP. The bottom of each opening is 4 ft. 8½ in. (~144 cm) above the carpet. The TRAP is the volume bounded by the 4 square tube segments highlighted in Figure 5-10 and the plastic panels covering the volume’s front and back.
5.5 Stage–Microphone
A MICROPHONE is a vertical post centered above each TRAP and mounted to top of core structure.
Each MICROPHONE is a 1-ft. tall (~30 cm) piece of
1¼ in. Schedule 40
(1.66 in. (~4 cm) outer diameter) aluminum pipe.
The top of each MICROPHONE is
7 ft. 4¼ in. (~224 cm) above the carpet.
5.5 Stage–Podium
A PODIUM is an ALLIANCE colored HDPE panel attached to the STAGE leg facing the ALLIANCE WALL.
Each PODIUM is
1 ft. 5¾ in. tall by 10 in. wide (~45 cm by ~25 cm) and mounted just above the top of the truss foot.
5.5 Stage
5.5 Stage Triangular Truss Block - GE-24211
Notes:
1. Description: 6061-T6 Aluminum - Light Duty 3 Way Spoke Corner Block
2. Vendor: Total Structures
3. Part Number: 1212LD 3WAY SPOKE
4. Note: Substitutions not allowed
5.5 Stage - Chain
Notes:
1. Supplier: Perfection Chain Products
2. Packaged in groups of 9
3. Individual link dimensions provided as reference for teams based on a
measured sample. Sizes of chain of a given grade and trade size vary.
Grade 43 Zinc Plated
Chain, 1/4" Trade Size
5.5 Stage - Wall Assembly - GE-24220
5.6 Alliance Walls
The ALLIANCE WALL separates ROBOTS from DRIVE TEAM members in the ALLIANCE AREA. It consists of 3 DRIVER STATIONS and the vertical surfaces behind the SUBWOOFER.
5.6.1 Speaker
A SPEAKER consists of a SUBWOOFER and all elements above and behind the ALLIANCE WALL. The SPEAKER features an opening through which ROBOTS score NOTES. The opening is bounded by SPEAKER components and the top of the ALLIANCE WALL. The lowest edge of the
SPEAKER opening is 6 ft. 6 in. (~198 cm) from the carpet, and the
highest edge of the opening is 6 ft. 10⅞ in. (~211 cm) above the carpet.
The opening is 3 ft. 5⅜ in. (~105 cm) wide and extends 1 ft. 6 in. (~46 cm) into the FIELD.
he plane of the opening is at a 14° upward angle relative to the carpet. The roof inside SPEAKER forms a concave surface against which NOTES bounce.
5.6.1 Speaker–Subwoofer
The SUBWOOFER is a 6-faced element centered below each SPEAKER and positioned against the ALLIANCE WALL.
The SUBWOOFER is
3 ft. 1 in. (~94 cm) tall and the vertical panels are 8⅜ in. (~21 cm) tall.
The SUBWOOFER extends
3 ft. ⅛ in. (~92 cm) from the ALLIANCE WALL. Vertical faces are black HDPE, the side inclined faces are ALLIANCE-colored HDPE, and the center inclined panels are vinyl-coated polycarbonate.
Lights indicate if the SPEAKER is AMPLIFIED and if so, how much AMPLIFICATION time remains. Light strings in the top of the SPEAKER match the ALLIANCE color and turn on if the SPEAKER is AMPLIFIED. ALLIANCE colored lights in the SUBWOOFER turn on when AMPLIFICATION starts and recede, second by second, as AMPLIFICATION progresses.
5.6.1 Speaker - GE-24300
5.6.1 Speaker - GE-24300
5.6.2 Driver Stations
A DRIVER STATION is 1 of 3 assemblies within an ALLIANCE WALL behind which a DRIVE TEAM operates their ROBOT. Each DRIVER STATION is made from a 3 ft. ¾ in. (~93 cm) tall diamond plate base topped with a 3 ft.6 in. (~107 cm) tall transparent plastic sheet and a top rail. An aluminum shelf is attached to each DRIVER STATION to support an OPERATOR CONSOLE. The shelf is 5 ft. 9 in. (~175 cm) wide and 1 ft. ¼ in. (~31 cm) deep. There is a 4 ft. 6 in. (~137 cm) long by 2 in. (nominal) wide strip of hook-and-loop tape (“loop” side) along the center of the support shelf that may be used to secure the OPERATOR CONSOLE to the shelf.
5.6.2 Driver Stations–Elements
Each DRIVER STATION contains the following elements for DRIVE TEAMS:
5.6.2 Driver Stations–Elements (cont.)
5.7-5.10
5.7 Game Pieces- NOTE
A NOTE is an orange foam torus with a 10 in. (~25 cm) inside diameter, 1 ft. 2 in. (~36 cm) outside diameter, and 2-in. (~5 cm) thickness. A NOTE weighs 8.3 ± 0.2 oz (~235.3 ± 6g). NOTES are available for purchase from AndyMark, am-4999.
5.7 Game Pieces- HIGH NOTE
A HIGH NOTE is the same size, shape, and material as a NOTE but also has 3 equidistant pieces of white gaffers tape that wrap around the circular cross-section.
5.8 ApirlTags
AprilTags are 8⅛ in. (~20 cm) square targets located above SUBWOOFERS, on SOURCE walls, above AMP walls, and above TRAPS. There are 16 unique markers on the FIELD, positioned as shown in Figure 5-19.
5.8 ApirlTags Figure 5-20 AprilTag sizing (plastic mounted, then aluminum mounted)
All markers are from the 36h11 tag family, IDs 1-16. AprilTags 1-10 are mounted to and centered on a 10½ in. (~27 cm) square polycarbonate panel; AprilTags 11-16 are mounted to an aluminum plate. Each marker has an identifying text label. If AprilTags experience wear and marking during MATCHES, they are repaired with gaffers tape.
5.8 ApirlTags
5.8 ApirlTags
SOURCE AprilTags (IDs 1, 2, 9, and 10) are mounted to the SOURCE wall. The bottom of each tag’s panel is 4 ft. ⅛ in. (~122 cm) above the carpet and 1 ft. 7⅜ in. (~50 cm) from the vertical center of the SOURCE.
SPEAKER AprilTags (IDs 3, 4, 7, and 8) are mounted to the ALLIANCE WALL. The bottom of each tag’s panel is 4 ft. 3⅞ in. (~132 cm) above the carpet. 1 tag (IDs 4 and 7) is vertically centered above each SUBWOOFER. The 2nd tag (IDs 3 and 8) is shifted toward DRIVER STATION 2 and the edge of its panel is 1 ft. 5 in. (~43 cm) from the vertical center of the SPEAKER ALLIANCE WALL plastic.
5.8 ApirlTags- SOURCE
5.8 ApirlTags - SPEAKER
AMP AprilTag panels (IDs 5 and 6) are 4 ft. ⅛ in. (~122 cm) above the carpet and centered vertically above the AMP wall.
5.8 ApirlTags
5.8 ApirlTags
STAGE AprilTag plates (IDs 11-16) are 3 ft. 11½ in. (~121 cm) above the carpet and centered vertically on each of the 3 wide faces of the STAGE core. These tags are behind ¼-in. (~6 mm) thick polycarbonate.
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.
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.
5.9- The FIELD Management System
CHAPTER 6
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 score NOTES in their SPEAKER or AMP. HUMAN PLAYERS use NOTES scored through the AMP to AMPLIFY the points associated with NOTES scored in their SPEAKER for 10 seconds at a time or engage in Coopertition with their opponents.
ROBOTS conclude the MATCH PARKING in their STAGE ZONE, getting ONSTAGE via a chain, and/or scoring a NOTE in a TRAP.
Additional points are awarded if an ALLIANCE HARMONIZES (i.e. more than 1 ROBOT is ONSTAGE via the same chain) and if HUMAN PLAYERS SPOTLIGHT ROBOTS (i.e. score a HIGH NOTE on a MICROPHONE to increase points awarded for those ONSTAGE ROBOTS).
6.2 DRIVE TEAM
6.2 DRIVE TEAM
A STUDENT is a person who has not completed high-school, secondary school, or the comparable level as of September 1 prior to Kickoff.
The TECHNICIAN provides teams with a technical resource for pre-MATCH setup, ROBOT connectivity, OPERATOR CONSOLE troubleshooting, and post-MATCH removal of the ROBOT. Some pre-MATCH responsibilities for the TECHNICIAN may include, but are not limited to:
− location of the ROBOT radio, its power connection, and understanding of its indicator lights
− location of the roboRIO and understanding of its indicator lights
− username and password for the OPERATOR CONSOLE
6.3 Setup
Before each MATCH begins, FIELD STAFF stage GAME PIECES as described in Section 6.3.4 GAME PIECES. 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 the OPERATOR CONSOLE before the MATCH can begin. A DRIVE TEAM obstructing or delaying OPERATOR CONSOLE setup is at risk of violating G301.
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.
6.3.4 GAME PIECES
6.3.4 GAME PIECES
3 HIGH NOTES are staged on top of each AMP.
107 NOTES are staged for each MATCH as follows (reference Figure 6-2):
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 score NOTES, exit their ROBOT STARTING ZONE, and retrieve additional NOTES. 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 NOTES and take their STAGE.
6.5 Scoring
ALLIANCES are rewarded for accomplishing various actions through the course of a MATCH, including leaving their ROBOT STARTING ZONE, scoring NOTES in their SPEAKER and AMP, taking their STAGE, SPOTLIGHTING ONSTAGE ROBOTS by scoring HIGH NOTES, cooperating with their opponents, 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:
6.5.2 Scoring Criteria
To qualify for LEAVE points, a ROBOT’S BUMPERS must completely clear its ROBOT STARTING ZONE at any point during AUTO.
To qualify for PARK points, a ROBOT’S BUMPERS must be partially or completely contained in the STAGE ZONE at the end of the MATCH (more specifically, per criteria described in item C of Section 6.5 Scoring) and does not meet the criteria for ONSTAGE.
To qualify for ONSTAGE points, a ROBOT may only be contacting:
An ALLIANCE achieves HARMONY if more than 1 ROBOT is ONSTAGE via direct or transitive support from a single chain. HARMONY points, as specified in Table 6-2 (next slide) are awarded per additional ROBOT.
6.5.2 Scoring Criteria- contact points for onstage scoring eligibility
6.5.6 Point Values
6.6.2 Yellow and Red Card Application
6.7 Head Referee and FTA interaction
The Head REFEREE has the ultimate authority in the ARENA during the event, but may receive input from additional sources, e.g. Game Designers, FIRST personnel, FTA, and other event staff. The Head REFEREE rulings are final. No event staff, including the Head REFEREE, will review video, photos, artistic renderings, etc. of any MATCH, from any source, under any circumstances.
6.7.1 Question Box
Each ALLIANCE has a designated Question Box near the scoring table. If a DRIVE TEAM has a question about a MATCH, the FIELD, etc., they may send 1 DRIVE TEAM member to their corresponding Question Box. Depending on timing, the Head REFEREE or FTA may postpone any requested discussion until the end of the subsequent MATCH.
Technical questions regarding FIELD or ROBOT operation are addressed by the FTA, and additional team members are invited to participate in these conversations if necessary. If a DRIVE TEAM needs clarification on a ruling or score, per Q101, 1 STUDENT from that DRIVE TEAM should address the Head REFEREE after the ARENA Reset Signal (e.g. FIELD lights turn green).
While FMS tracks quantities of FOULS, FIRST instructs REFEREES to not self-track details about FOULS and TECH FOULS; as a result, we don’t expect REFEREES to recall details about what FOULS and TECH FOULS were made, when they occurred, and against whom.
6.8 Other Logistics
NOTES that leave the FIELD are not returned to game play. Except via the SPEAKERS or AMPS, ROBOTS may not deliberately cause NOTES to leave the FIELD (see G407).
An ARENA FAULT (an error in ARENA operation described in Section 10.2 MATCH Replays) is not called for MATCHES that accidentally begin with damaged NOTES. Damaged NOTES are not replaced until the next ARENA reset period. DRIVE TEAMS should alert the FIELD STAFF to any missing or damaged NOTES prior to the start of the MATCH.
Once the MATCH is over and the Head REFEREE determines that the FIELD is safe for FIELD STAFF and DRIVE TEAMS, they or their designee change the FIELD lights to green and DRIVE TEAMS may retrieve their ROBOT.
During ARENA reset, the ARENA is cleared of ROBOTS and OPERATOR CONSOLES from the MATCH that just ended, ROBOTS and OPERATOR CONSOLES for the subsequent MATCH are loaded into the ARENA by DRIVE TEAMS, and FIELD STAFF reset ARENA elements.
FIRST Robotics Competition uses 3 words in the context of how durations and actions are assessed with regards to evaluation of rules and assignment of violations. These words provide general guidance to describe benchmarks to be used across the program. It is not the intent for REFEREES to provide a count during the time periods.
− MOMENTARY describes durations that are fewer than approximately 3 seconds.
− CONTINUOUS describes durations that are more than approximately 10 second
− REPEATED describes actions that happen more than once within a MATCH.
CHAPTER 7�GAME RULES
7.4.1 Auto
1 NOTE at a time. In AUTO, ROBOTS may not CONTROL more than 1 NOTE at a time, either directly or transitively through other objects.
A ROBOT is in CONTROL of a NOTE if:
A. the NOTE is fully supported by the ROBOT or
B. it intentionally pushes a NOTE to a desired location or in a preferred direction (i.e. herding).
If a NOTE becomes lodged in or on a ROBOT, it is considered CONTROLLED by the ROBOT. It is important to design your ROBOT so that it is impossible to inadvertently or unintentionally CONTROL more than the limit.
7.4.1 Auto Scoring
In AUTO, a ROBOT whose BUMPERS are completely outside their WING may not cause a NOTE to travel into or through their WING.
7.4.2 Game Pieces
In TELEOP, a ROBOT may neither
A. leave its SOURCE ZONE with CONTROL of more than 1 NOTE nor
B. have greater-than-MOMENTARY CONTROL of more than 1 NOTE, either directly or transitively through other objects, while outside their SOURCE ZONE.
ROBOTS may not cause HIGH NOTES to leave the FIELD (including through an AMP or SPEAKER) or enter a TRAP.
ROBOTS may not intentionally eject NOTES from the FIELD (either directly or by bouncing off a FIELD element or other ROBOT) other than through their SPEAKER or AMP.
7.4.3 Robot
A ROBOT may not expand beyond either of the following limits:
A. it’s height, as measured when it’s resting normally on a flat floor, may not exceed 4 ft. (~132 cm) or
B. it may not extend more than 1 ft. (~40 cm) from its FRAME PERIMETER.
Overexpansion due to damage, provided the expansion isn’t leveraged for strategic benefit, is an exception to this rule. Height is intended to be measured as if the ROBOT is resting on a flat floor.
7.4.3 G416 The Stage Chain
A ROBOT may not reduce the working length of chain. Incidental actions such as minor twisting due to ROBOT imbalance or ROBOT-to-ROBOT interaction are not considered violations of this rule.
The intent of this rule is to present the chain as a dynamic version of a rigid bar, and the rule is intended to limit ROBOTS to interaction with the chain as if it were a bar, i.e. engaging via 1 or more contact points and pushing down on the chain to raise the ROBOT. Implementations that increase the length of chain between 2 outer ROBOT contact points are reducing the working length of the chain and prohibited.
7.4.3 Frame Perimeter Extensions
7.4.3 G414 No Full Court Shots
A ROBOT with any part of its BUMPERS in their opponent’s WING may not cause NOTES to travel into or through their WING.
7.4.4 Opponent Interaction
G417: Stay out of other ROBOTS. A ROBOT may not use a COMPONENT outside its FRAME PERIMETER (except its BUMPERS) to initiate contact with an opponent ROBOT inside the vertical projection of that opponent ROBOT’S FRAME PERIMETER.
G418: A ROBOT may not damage or functionally impair an opponent ROBOT in either of the following ways:
A. deliberately, as perceived by a REFEREE.
B.regardless of intent, by initiating contact, either directly or transitively via a NOTE CONTROLLED by the ROBOT, inside the vertical projection of an opponent ROBOT’S FRAME PERIMETER.
Damage or functional impairment because of contact with a tipped-over opponent ROBOT, which is not perceived by a REFEREE to be deliberate, is not a violation of this rule.
7.4.4 Opponent Interaction(cont.)
G419: Don’t tip or entangle. A ROBOT may not deliberately, as perceived by a REFEREE, attach to, tip, or entangle with an opponent ROBOT.
G420: There is a 5 count on PINS. ROBOTS may not PIN an opponent’s ROBOT for more than 5 seconds. A ROBOT is PINNING if it is preventing the movement of an opponent ROBOT by contact, either direct or transitive (such as against a FIELD element). A PIN count ends once any of the following criteria below are met:
A. the ROBOTS have separated by at least 6 ft. (~183 cm) from each other for more than 5 seconds,
B. either ROBOT has moved 6 ft. from where the PIN initiated for more than 5 seconds, or
C. the PINNING ROBOT gets PINNED.
For criteria A and B, the PIN count pauses once ROBOTS are separated by 6 ft. until either the PIN ends or the PINNING ROBOT moves back within 6 ft., at which point the PIN count is resumed.
7.4.4 Opponent Interaction(cont.)
G421: Don’t collude with your partners to shut down major parts of game play. 2 or more ROBOTS that appear to a REFEREE to be working together may not isolate or close off any major element of MATCH play.
G422: PODIUM protection. Prior to the last 20 seconds of a MATCH, a ROBOT may not contact (either directly or transitively through a NOTE and regardless of who initiates contact) an opponent ROBOT whose BUMPERS are in contact with their PODIUM.
G423: SOURCE/AMP ZONE protection. A ROBOT may not contact (either directly or transitively through a NOTE and regardless of who initiates contact) an opponent ROBOT if any part of either ROBOT’S BUMPERS are in the opponent’s SOURCE ZONE or AMP ZONE.
7.4.4 Opponent Interaction(cont.)
G424: STAGE protection. A ROBOT may not contact (either directly or transitively through a NOTE and regardless of who initiates contact) an opponent ROBOT if either of the following criteria are met:
A. the opponent ROBOT is not in contact with the carpet or
B. any part of either ROBOT’S BUMPERS are in the opponent’s STAGE ZONE during the last 20 seconds of the MATCH.
All the above are punished by a tech foul, except G417 and G420(initial violation)
7.4.5 Human
G425: No wandering. DRIVE TEAMS must remain in their designated areas as follows:
A. DRIVERS may not contact anything outside the area in which they started the MATCH (i.e. the ALLIANCE AREA or SOURCE AREA),
B. DRIVERS must use the OPERATOR CONSOLE in the DRIVER STATION to which they are assigned, as indicated on the team sign,
C. HUMAN PLAYERS may not contact anything outside the area in which they started the MATCH (i.e. the ALLIANCE AREA or SOURCE AREA),
D. COACHES may not contact anything outside the ALLIANCE AREA or in front of their COACH LINE, and
E. TECHNICIANS may not contact anything outside their designated area.
7.4.5 Human
G426: COACHES and other teams: hands off the controls. A ROBOT shall be operated only by the DRIVERS and/or HUMAN PLAYERS of that team.
G427: DRIVE TEAMS, watch your reach. DRIVE TEAM members may not extend into the CHUTE.
G428: Humans: use GAME PIECES as directed. DRIVE TEAM members may not deliberately use GAME PIECES in an attempt to ease or amplify challenges associated with FIELD elements.
G429: NOTES may only be introduced to the FIELD through the SOURCE.
G430: HIGH NOTES may only be entered on to the FIELD during the last 20 seconds of the MATCH by a HUMAN PLAYER in front of the COACH LINE.
CHAPTER 8�GAME OVERVIEW
Ben Taylor
8.1 General ROBOT Design - R101
*FRAME PERIMETER must be fixed. The ROBOT (excluding BUMPERS) must have a FRAME 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 FRAME PERIMETER
8.1 General 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 FRAME PERIMETER, with the exception of its BUMPERS and minor protrusions such as bolt heads, fastener ends, rivets, cable ties, etc.
8.1 General ROBOT Design - R103
*ROBOT weight limit. The ROBOT weight must not exceed 125 lbs. (~56 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:
8.1 General ROBOT Design - R104
STARTING CONFIGURATION – max size. A ROBOT’S STARTING CONFIGURATION may not have a FRAME PERIMETER greater than 120 in. (~304 cm) and may not be more than 4 ft. (~121 cm) tall.
8.1 General ROBOT Design - R105
ROBOT extension limit. ROBOTS may not extend more than 12 in. (~30 cm) beyond their FRAME PERIMETER
ROBOTS can’t choke up on chain. ROBOTS may not have MECHANISMS (or a combination of MECHANSIMS) designed to reduce the working length of the STAGE chain.
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, hard plastic 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 NOTES) 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.
8.3 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.
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. Criteria used in writing these rules include the following:
-minimize variety of BUMPERS so teams can expect consistency,
-minimize the amount of design challenge in creating BUMPERS,
-minimize cost of BUMPER materials, and
-maximize use of relatively ubiquitous materials.
8.4 BUMPER Rules - R401
R401
*BUMPERS all around. ROBOTS are required to use BUMPERS to protect the entire FRAME PERIMETER. Gaps of less than ½ in. between adjacent segments are permitted as long as all corners are filled per R409
8.4 BUMPER Rules - R406
*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. (1829 mm), and meet the following additional criteria:
A. consist of only white Arabic numerals at least 4 in. (~11 cm) high, at least ½ in. (~13 mm) in stroke width, The ½ in. (~13 mm) stroke width requirement applies to the majority of the stroke. Font elements less than ½ in. (~13 mm) such as serifs, rounded edges, small hairlines or gaps, etc. are permitted as long as the majority of the stroke meets the sizing requirement and the numbers are unambiguous.
B.must not wrap around sharp corners (less than 160°) of the FRAME PERIMETER,
C.must not split individual digits by more than 2 in. (~5 cm), and
D. may not substitute logos or icons for numerals. There is no prohibition against splitting team numbers onto different sections of BUMPER. The intent is that the team’s number is clearly visible and unambiguous so that Judges, REFEREES, Announcers, and other teams can easily identify competing ROBOTS. This marking is intended to display the team number only, not to intentionally change the surface characteristics of the BUMPER. Excessive material usage as part of any team number marking will invite close scrutiny.
8.4 BUMPER Rules - R407 - R409
R407
*BUMPER weight limit. Each set of BUMPERS (including any fasteners and/or structures that attach them to the ROBOT) must weigh no more than 15 lbs. (~6 kg).
R408
*BUMPER construction. BUMPERS must be constructed as follows, such that the cross section resembles Figure 8-6:
A. be backed by ¾ in. thick (nominal, ~19mm) by 5 in. ± ½ in. (~127 mm ± 12.7 mm) tall plywood, Oriented Strand Board (OSB) or solid wood (with the exception of balsa). Small clearance pockets to accommodate minor protrusions permitted per R101 and/or holes needed to access or recess mounting hardware in the wood backing are permitted, as long as they do not significantly affect the structural integrity of the BUMPER.
B. hard BUMPER parts allowed per A, E, F, and G must not extend more than 1 in. (~25 mm) beyond the FRAME PERIMETER (measured as shown in Figure 8-4).
R409
*Fill BUMPER corners. Corner joints between BUMPERS must be filled with pool noodle material. Examples of implementation are shown in Figure 8-7.
8.4 BUMPER Rules
Figure 8-4
8.4 BUMPER Rules
Figure 8-5
8.4 BUMPER Rules
Figure 8-6
8.4 BUMPER Rules
Figure 8-7
8.4 BUMPER Rules
Figure 8-8 BUMPER support examples
8.5 Motors & Actuators
8.5 Motors & Actuators
Table 8-2 Power regulating device allotments
R621 - Protect circuits with appropriate circuit breakers
Figure 8-16 Pneumatic circuitry