6 MATCH Play

During RAPID REACT, 2

(an is a cooperative of up to 4 FIRST Robotics Competition teams) play , set up and implemented per the details described below.

6.1 Setup

6.1.1

CARGO

22

, 11 red and 11 blue, are staged for each as follows:

• A. Each
  DRIVE TEAM
  may pre-load 1 of their
  CARGO
  in their
  ROBOT
  such that the
  CARGO
  is fully supported by their
  ROBOT
  .
  • a. Any of the 3
    CARGO
    not pre-loaded in the
    ALLIANCE
    ’S
    ROBOTS
    are staged between the opponent’s
    ALLIANCE WALL
    and the adjacent
    CARGO LINE
    .
• B. 1
  ALLIANCE
  colored
  CARGO
  is staged in the
  TERMINAL
  closest to its
  ALLIANCE AREA
  .
• C. 1
  alliance
  colored
  cargo
  is centered in front of the
  terminal
  closest to its
  alliance area
  and placed on a
  CARGO RING
  whose center is 1½ in. (~4 cm) from the edge of the ramp.
• D. 12
  CARGO
  , 6 red and 6 blue, are staged on
  CARGO RINGS
  beyond the
  TARMACS
  as shown in Figure 6‑2.
  CARGO
  is placed as shown on a 25 ft. 6 in. (~777 cm) diameter circle centered around the
  HUB
  . Please refer to the 2022
  Arena
  Layout and Marking Diagram for a fully dimensioned drawing of the placement locations.
  CARGO
  centers are 40⅜ in. from the outside edges of the
  TARMACS
  .

6.1.2

ROBOTS

Each

stages their such that its are fully contained within 1 of its .

If order of placement matters to either or both

, the must notify the Head during setup for that . Upon notification, the Head will require to alternate placement of all . In a Qualification , are placed in the following order:

1. red
   DRIVER STATION
   1
   ROBOT
2. blue
   DRIVER STATION
   1
   ROBOT
3. red
   DRIVER STATION
   2
   ROBOT
4. blue
   DRIVER STATION
   2
   ROBOT
5. red
   DRIVER STATION
   3
   ROBOT
6. blue
   DRIVER STATION
   3
   ROBOT

In a Playoff

, the same pattern is applied, but instead of blue placing last, the higher seeded (regardless of color) places last.

6.1.3 Humans

Humans stage for the

as follows:

• A. exactly 1
  HUMAN PLAYER
  per
  ALLIANCE
  stages in each
  TERMINAL AREA
  • a. the
    HUMAN PLAYER
    in the
    TERMINAL AREA
    furthest from their
    ALLIANCE AREA
    stages behind the
    TERMINAL STARTING LINE
    ,
• B.
  DRIVERS
  ,
  COACHES
  , and any additional
  HUMAN PLAYERS
  stage inside their
  ALLIANCE AREA
  and behind the
  STARTING LINE
  , and
• C.
  TECHNICIANS
  stage in the event-designated area near the
  FIELD
  .

6.2 Autonomous Period

The first phase of each

is called Autonomous () and consists of the first 15 seconds. During , operate without any or input. attempt to from the , score in the , and retrieve additional from around the . attempt to score their in the .

6.3 Teleoperated Period

The second phase of each

is called the Teleoperated Period () and consists of the remaining 2 minutes and 15 seconds (2:15). During this phase, remotely operate to retrieve and score their in the and engage with their .

6.4 Scoring

are rewarded for accomplishing various actions through the course of a , including TAXIING, scoring in the , engaging with their , and winning or tying .

Rewards are granted either via

points (which contribute to the ’S score) or Ranking Points (sometimes abbreviated to , which increase the measure used to rank teams in the Qualification Tournament). Such actions, their criteria for completion, and their point values are listed throughout Section 6.4.

All scores are assessed and updated throughout the

, except as follows:

• A. assessment of
  CARGO
  scored in the
  HUB
  continues for up to 5 seconds after the
  ARENA
  timer displays 0 following
  AUTO
  .
• B. assessment of
  CARGO
  scored in the
  HUB
  continues for up to 10 seconds after the
  ARENA
  timer displays 0 following
  TELEOP
  .
• C. assessment of
  HANGAR
  points is made 5 seconds after the
  ARENA
  timer displays 0, or when all
  ROBOTS
  have come to rest following the conclusion of the
  MATCH
  , whichever happens first.
  TAXI
  and
  HANGAR
  points are both evaluated and scored by human
  REFEREES
  . Teams are encouraged to make sure that it is obvious and unambiguous that a
  ROBOT
  has met the criteria.

6.4.1 Point Values

Point values for tasks in RAPID REACT are detailed in Table 6‑1.

A

is scored in an UPPER or if it passes through the top horizontal opening of the UPPER or and passes through the sensor array, and the points awarded for that are assigned based on when the passed through the sensor array.

A

may only earn points for a single . To qualify for points from a given , a may only be contacting:

• RUNG
  (S) at that level or higher (i.e. the level is determined by the lowest
  RUNG
  with which a
  ROBOT
  is in contact),
• truss structure,
• LAUNCH PADS
  ,
• the
  ALLIANCE WALL
  ,
• CARGO
  ,
• guardrails,
• an opponent
  ROBOT
  , and/or
• another
  ROBOT
  qualified for any
  HANGAR
  points, including those awarded per violation of G208.

| Award | Awarded for… |

Points | Points | Ranking Points | | | | ------ | | --- | | | | | | each whose have completely left the from which it started at any point during | 2 | | | | | each color scored in the | 2 | 1 | | | each color scored in the | 4 | 2 | | | (per ) | | | 4 | | | | | 6 | | | | | 10 | | | | | 15 | | | | 20 or more colored scored in the . If at least 5 colored are scored in , called a , this threshold drops to 18. | | | 1 | | | is credited with at least 16 points | | | 1 | | Tie | completing a with the same number of points as your opponent | | | 1 | | Win | completing a with more points than your opponent | | | 2 |

An

can earn up to 4 Ranking Points per Qualification as described in Table 6‑1. There are no Ranking Points or comparable points for the or in Playoff .

6.5 Rule Violations

Upon a rule violation, 1 or more of the penalties listed in Table 6‑2 are assessed.

Penalty	Description
FOUL	a credit of 4 points towards the opponent’s MATCH score
TECH FOUL	a credit of 8 points toward the opponent’s MATCH score
YELLOW CARD	a warning issued by the Head REFEREE for egregious ROBOT or team member behavior or rule violations. A subsequent YELLOW CARD within the same tournament phase results in a RED CARD .
RED CARD	a penalty assessed for egregious ROBOT or team member behavior or rule violations which results in a team being DISQUALIFIED for the MATCH .
DISABLED	the state in which a ROBOT is commanded to deactivate all outputs, rendering the ROBOT inoperable for the remainder of the MATCH .
DISQUALIFIED	the state of a team in which they receive 0 MATCH points and 0 Ranking Points in a Qualification MATCH or causes their ALLIANCE to receive 0 MATCH points in a Playoff MATCH

FIRST Robotics Competition uses 3 words in the context of how rules and violations are assessed in deliberate ways. These words provide general guidance to describe benchmarks to be used across the program. It is not the intent for

to provide a count during the time periods.

• MOMENTARY
  describes rule violations that happen for fewer than approximately 3 seconds.
• CONTINUOUS
  describes rule violations that happen for more than approximately 10 seconds.
• REPEATED
  describes rule violations that happen more than once within a
  MATCH
  . See Section 11.2.1 Yellow and
  Red Cards
  for additional details.

6.5.1 Violation Details

There are several styles of violation wording used in this manual. Below are some example violations and a clarification of the way the violation would be assessed. The examples shown do not represent all possible violations, but rather a representative set of combinations.

Example Violation	Expanded Interpretation
FOUL	Upon violation, a FOUL is assessed against the violating ALLIANCE .
TECH FOUL and YELLOW CARD	Upon violation, a TECH FOUL is assessed against the violating ALLIANCE . After the MATCH , the Head REFEREE presents the violating team with a YELLOW CARD .
FOUL per additional CARGO . If egregious, YELLOW CARD	Upon violation, a number of FOULS are assessed against the violating ALLIANCE equal to the number of additional CARGO beyond the permitted quantity. Additionally, if the REFEREES determine that the action was egregious, the Head REFEREE presents the violating team with a YELLOW CARD after the MATCH .
TECH FOUL , plus an additional TECH FOUL for every 5 seconds in which the situation is not corrected	Upon violation, a TECH FOUL is assessed against the violating ALLIANCE and the REFEREE begins to count. Their count continues until the criteria to discontinue the count are met, and for each 5 seconds within that time, an additional TECH FOUL is assessed against the violating ALLIANCE . A ROBOT in violation of this type of rule for 15 seconds would receive a total of 4 TECH FOULS (assuming no other rules were simultaneously being violated).
RED CARD for the ALLIANCE	After the MATCH , the Head REFEREE presents the violating ALLIANCE with a RED CARD in the following fashion: a) In a PLAYOFF MATCH , a single RED CARD is assessed to the ALLIANCE . b) In all other scenarios, each team on the ALLIANCE is issued a RED CARD .

6.6

DRIVE TEAM

A

is a set of up to 5 people from the same FIRST Robotics Competition team responsible for team performance for a specific . There are 4 specific roles on a which can use to assist with RAPID REACT. Only 1 of the 5 members is permitted to be a non-Student.

The intent of the definition of

and related rules is that, barring extenuating circumstances, the consists of people who arrived at the event affiliated with that team and are responsible for their team’s and ’S performance at the event (this means a person may be affiliated 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 (e.g. an believes 1 of their has more experience than a on their first pick, and the teams agree the first pick team will “adopt” that and make them a member of their 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

into the ). Second, to provide space for exceptional circumstances that give teams the opportunity to display Gracious Professionalism (e.g. a bus is delayed, a has no , and their pit neighbors agree to help by loaning as temporary members of the team until their bus arrives).

Role	Description	Max./ DRIVE TEAM	Criteria
COACH	a guide or advisor	1	any team member, must wear “ COACH ” button
DRIVER	an operator and controller of the ROBOT	3	STUDENT , must wear a “ DRIVE TEAM ” button
HUMAN PLAYER	a CARGO manager
TECHNICIAN	a resource for ROBOT troubleshooting, setup, and removal from the FIELD	1	any team member, must wear “ TECHNICIAN ” button

A

is a person who has not completed high-school, secondary school, or the comparable level as of September 1 prior to Kickoff.

The

provides teams with a technical resource for pre-MATCH setup, connectivity, troubleshooting, and post-MATCH removal of the . Some pre-MATCH responsibilities for the 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
• restarting the
  Driver Station
  and Dashboard software on the
  OPERATOR CONSOLE
• changing the bandwidth utilization (e.g. camera resolution, frame rate, etc.)
• changing a battery
• charging pneumatics While the
  TECHNICIAN
  may be the primary technical member of the
  DRIVE TEAM
  , all members of the
  DRIVE TEAM
  are encouraged to have knowledge of the basic functionality of the
  ROBOT
  , such as the location and operation of the main circuit breaker, connecting and resetting joysticks or gamepads from the
  OPERATOR CONSOLE
  , and removing the
  ROBOT
  from the
  FIELD
  .

If an

does not have at least 2 , 1 of the ’S teams must substitute a as a to be compliant with H310 for that only. In this case,

• the Head
  REFEREE
  must be notified,
• all
  HUMAN PLAYER
  rules now apply to this
  DRIVE TEAM
  member, and
• this
  DRIVE TEAM
  member is no longer considered a
  TECHNICIAN
  for that
  MATCH
  .

6.7 Other Logistics

that leaves the , other than via the , are placed back into the approximately at the point of exit by (, FIRST Technical Advisors (), or other staff working around the ) at the earliest safe opportunity.

Note that, except via the

, may not deliberately cause opponent to leave the (see G401).

An

is not called for that accidentally begin with damaged . Damaged is not replaced until the next reset period. should alert the to any missing or damaged prior to the start of the .

Once the

is over and the Head determines that the is safe for and , they or their designee change the LED lights to green and may retrieve their .

In addition to the 2 minutes and 30 seconds (2:30) of game play, each

also has pre- and post-MATCH time to reset the . During reset, the is cleared of and from the that just ended, and for the subsequent are loaded into the by , and reset elements.