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7.1
ROBOT
Restrictions

G101 *Dangerous
Robots
: not allowed.

ROBOTS

whose operation or design is dangerous or unsafe are not permitted.

Violation: If before the

MATCH

, the offending

ROBOT

will not be allowed to participate in the

MATCH

. If during the

MATCH

, the offending

ROBOT

will be

DISABLED

Examples include, but are not limited to:

a. uncontrolled motion that cannot be stopped by the
DRIVE TEAM
,
b.
ROBOT
parts “flailing” outside of the
FIELD
,
c.
ROBOTS
dragging their battery, and
d.
ROBOTS
that consistently extend outside the
FIELD
.

G102 *
Robots
, stay on the
Field
during the
Match
.

ROBOTS

and anything they

control

, e.g.

GAME PIECES

, may not contact anything outside the

FIELD

except for

MOMENTARY

contact inside the

PORTALS

Violation:

DISABLED

Please be conscious of

REFEREES

and

FIELD STAFF

working around the

ARENA

who may be in close proximity to your

ROBOT

G103 *Keep your
Bumpers
low.

BUMPERS

must be in the

BUMPER ZONE

(see R402) during the

MATCH

Violation:

FOUL

. If

REPEATED

or greater than

MOMENTARY

DISABLED

G104 *Keep your
Bumpers
together.

BUMPERS

may not fail such that a segment completely detaches, any corner (as defined in R401) of a

ROBOT

’S

FRAME PERIMETER

is exposed, or the team number or

ALLIANCE

color are indeterminate.

Violation:

DISABLED

G105 *Keep it together.

ROBOTS

may not intentionally detach or leave parts on the

FIELD

Violation:

RED CARD

G106 Tall
Robots
not allowed.

ROBOT

height, as measured when it’s resting normally on a flat floor, may not exceed 6 ft. 6 in. (~198 cm)) above the carpet during the

MATCH

Violation:

FOUL

This measurement is intended to be made as if the

ROBOT

is resting on a flat floor, not relative to the height of the

ROBOT

from the

FIELD

carpet.

For example, a

ROBOT

that is at an angle while driving over something may actually exceed the height limit when compared to the carpet of the

FIELD

Figure 7‑1

ROBOT

height example

G107 Don’t overextend yourself.

ROBOTS

may not extend beyond their

FRAME PERIMETER

in more than 48 in. (~122 cm).

MOMENTARY

and inconsequential extensions beyond 48 in. (~122 cm) are an exception to this rule.

Violation:

FOUL

TECH FOUL

if the over-extension scores a

GAME PIECE

. If the over-extension results in the

ROBOT

blocking all access to a

FIELD

ELEMENT,

RED CARD

MOMENTARY

and inconsequential extensions include a wire or cable tie swinging out of the

FRAME PERIMETER

, including while an extension is deployed.

Examples of compliance and non-compliance of this rule are shown in Figure 7‑2.

Yellow bars represent the limits of the

FRAME PERIMETER

and are drawn in the same orientation of the

ROBOT

’S

FRAME PERIMETER

. Green bars represent a measured extension from the

FRAME PERIMETER

that does not exceed the limit defined in this rule. Red bars represent a measured extension from the

FRAME PERIMETER

that exceeds the limit in this rule.

ROBOT
A violates this rule for having an extension that is too long
ROBOT
B does not violate this rule
ROBOT
C does not violate this rule
ROBOT
D does not violate this rule Figure 7‑2 Examples of compliance and non-compliance of this rule

G108 Opponent’s zone, no extension.

ROBOT

whose

BUMPERS

are intersecting the opponent’s

LOADING ZONE

COMMUNITY

may not extend beyond its

FRAME PERIMETER

. Violations which are both

MOMENTARY

and inconsequential are an exception to this rule.

Violation:

FOUL

TECH FOUL

REPEATED

Examples of

MOMENTARY

and inconsequential extensions include a wire or cable tie swinging out of the

FRAME PERIMETER

G109 Don’t extend in multiple directions.

ROBOTS

may not extend beyond their

FRAME PERIMETER

in more than one direction (i.e. over 1 side of the

ROBOT

) at a time. The extension may not reach outside the projection of that side of the

FRAME PERIMETER

. For the purposes of this rule, a round or circular section of

FRAME PERIMETER

is considered to have an infinite number of sides. Exceptions to this rule are:

A.
MOMENTARY
and inconsequential extensions in multiple directions,
B. A
ROBOT
fully contained within its
LOADING ZONE
or
COMMUNITY
, and
C.
MOMENTARY
movement of a
MECHANISM
from 1
FRAME PERIMETER
side to an adjacent
FRAME PERIMETER
side.

Violation:

FOUL

TECH FOUL

if extending in multiple directions scores a

GAME PIECE

. If extending in multiple directions results in the

ROBOT

blocking all access to a

FIELD

ELEMENT,

RED CARD

MOMENTARY

and inconsequential actions include a wire or cable tie swinging out of the

FRAME PERIMETER

, including while an extension is deployed.

Examples of compliance and non-compliance of this rule are shown in Figure 7‑3.

Yellow bars represent the limits of the

FRAME PERIMETER

and are drawn in the same orientation of the

ROBOT

’S

FRAME PERIMETER

. Green bars represent a measured extension from the

FRAME PERIMETER

that does not exceed the limit defined in this rule. Red bars represent a measured extension from the

FRAME PERIMETER

that exceeds the limit in this rule.

All following examples are legal in

ROBOT

’S

LOADING ZONE

and

COMMUNITY

ROBOT
A violates this rule for extending in more than one direction
ROBOT
B violates this rule for extending in more than one direction
ROBOT
C violates this rule for extending beyond an infinite number of sides and therefore any extension over an arc extends over multiple sides
ROBOT
D does not violate this rule
ROBOT
E violates this rule for extending in more than one direction
ROBOT
F violates this rule for extending in more than one direction
ROBOT
G does not violate this rule as long as the extension does not exceed the definition of
MOMENTARY
when positioned over the
BUMPER
corner.
ROBOT
H violates this rule for reaching outside the projection of the
FRAME PERIMETER
side. Figure 7‑3 Examples of compliance and non-compliance of this rule

7.2
ROBOT
to
ROBOT
Interaction

G201 *Don’t expect to gain by doing others harm.

Strategies clearly aimed at forcing the opponent

ALLIANCE

to violate a rule are not in the spirit of FIRST Robotics Competition and not allowed. Rule violations forced in this manner will not result in an assignment of a penalty to the targeted

ALLIANCE

Violation:

FOUL

. If

REPEATED

TECH FOUL

This rule does not apply for strategies consistent with standard gameplay, for example:

a. a red
ALLIANCE

ROBOT
in their
COMMUNITY
in the final 30 seconds of the
MATCH
contacts a blue
ALLIANCE

ROBOT
.
b. a blue
ROBOT
attempts to cut in front of the red
LOADING ZONE
to reach its
COMMUNITY
, and a nearby red
ROBOT
tries to impede it via a defensive bump and, as a result, the blue
ROBOT
crosses into the red
LOADING ZONE
.
c. a blue
ROBOT
attempts to enter their
COMMUNITY
to score a
GAME PIECE
and pushes a red
ROBOT
just outside the blue
COMMUNITY
into the blue
COMMUNITY
. This rule requires an intentional act with limited or no opportunity for the team being acted on to avoid the penalty, such as:
d. forcing the opposing
ROBOT
to have greater than
MOMENTARY

CONTROL
of more than 1
GAME PIECE
.
e. a blue
ALLIANCE

ROBOT
, already in
CONTROL
of a
GAME PIECE
, pushing a red
ALLIANCE

ROBOT
from fully outside and far from (i.e. more than 4 ft.) the blue
LOADING ZONE
into the blue
LOADING ZONE
and the
REFEREE
perceiving that the blue
ROBOT
is deliberately making the red
ROBOT
violate G207.

G202 *There’s a 5-count on
Pins
.

ROBOTS

may not

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

ROBOT

is considered PINNED until the

ROBOTS

have separated by at least 6 ft. (~183 cm) from each other, either

ROBOT

has moved 6 ft. from where the

initiated, or the PINNING

ROBOT

gets PINNED, whichever comes first. The PINNING

ROBOT

(S) must then wait for at least 3 seconds before attempting to

the same

ROBOT

again.

Violation:

FOUL

, plus an additional

TECH FOUL

for every 5 seconds in which the situation is not corrected.

A team’s desired direction of travel is not a consideration when determining if a

ROBOT

is PINNED.

If the PINNING

ROBOT

gets PINNED, the original

count terminates. Otherwise, if a

ROBOT

re-PINS the same

ROBOT

before the 3 seconds referenced in the last sentence of this rule, the

REFEREE

’S count resumes from the initial

(versus starting at 0).

G203 *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 neither isolate nor close off any major element of

MATCH

play.

Violation:

TECH FOUL

, plus an additional

TECH FOUL

for every 5 seconds in which the situation is not corrected.

Examples of violations of this rule include, but are not limited to:

a. shutting down access to all
GAME PIECES
,
b. quarantining all opponents to a small area of the
FIELD
,
c. blocking all access to the
LOADING ZONE
, and
d. blocking all access to the
COMMUNITY
A single
ROBOT
blocking access to a particular area of the
FIELD
is not a violation of this rule.

ROBOTS

independently playing defense on 2 opponent

ROBOTS

is not a violation of this rule.

Note, G204, G205, and G206 are mutually exclusive. A single

ROBOT

interaction which violates more than 1 of these rules results in the most punitive penalty, and only the most punitive penalty, being assessed.

G204 *Stay out of other
Robots
.

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

. Contact with an opponent in an opening of their

BUMPERS

or in the space above the

BUMPER

opening are exceptions to this rule.

Violation:

FOUL

For the purposes of this rule, “initiate contact” requires movement towards an opponent

ROBOT

In a collision, it’s possible for both

ROBOTS

to initiate contact.

G205 *This isn’t combat robotics.

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
GAME PIECE
CONTROLLED by the
ROBOT
, inside the vertical projection of an opponent
ROBOT
’S
FRAME PERIMETER
. Contact between the
ROBOT
’S
BUMPERS
or
COMPONENTS
inside the
ROBOT
’S
FRAME PERIMETER
and
COMPONENTS
inside an opening of an opponent’s
BUMPERS
or in the space above the
BUMPER
opening are exceptions to this rule.

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.

Violation:

TECH FOUL

and

YELLOW CARD

. If opponent

ROBOT

is unable to drive,

TECH FOUL

and

RED CARD

FIRST Robotics Competition can be a full-contact competition and may include rigorous game play. While this rule aims to limit severe damage to

ROBOTS

, teams should design their

ROBOTS

to be robust.

The exception in G205-B effectively means that

ROBOTS

with

BUMPER

gaps are at their own risk regarding damaging contact in these areas.

Examples of violations of this rule include, but are not limited to:

a. A
ROBOT
leaves an arm extended, spins around to change course, and unintentionally hits and damages a
COMPONENT
inside the
FRAME PERIMETER
of a nearby opponent
ROBOT
.
b. A
ROBOT
, in the process of trying to quickly reverse direction, tips up on a single pair of wheels, lands atop an opponent
ROBOT
, and damages a
COMPONENT
inside that opponent’s
FRAME PERIMETER
.
c. A
ROBOT
high-speed rams and/or REPEATEDLY smashes an opponent
ROBOT
and causes damage. The
REFEREE
infers that the
ROBOT
was deliberately trying to the damage the opponent’s
ROBOT
. Examples of functionally impairing another
ROBOT
include, but are not limited to:
d. opening an opponent’s relief valve such that the opponent’s air pressure drops and
e. powering off an opponent’s
ROBOT
(this example also clearly results in a
RED CARD
because the
ROBOT
is no longer able to drive). At the conclusion of the
MATCH
, the Head
REFEREE
may elect to visually inspect a
ROBOT
to confirm violations of this rule made during a
MATCH
and remove the violation if the damage cannot be verified.

For the purposes of this rule, “initiating contact” requires movement towards an opponent

ROBOT

In a collision, it’s possible for both

ROBOTS

to initiate contact.

"Unable to drive" means that because of the incident, the

DRIVER

can no longer drive to a desired location in a reasonable time (generally). For example, if a

ROBOT

can only move in circles, or can only move extremely slowly, the

ROBOT

is considered unable to drive.

G206 *Don’t tip or entangle.

ROBOT

may not deliberately, as perceived by a

REFEREE

, attach to, tip, or entangle with an opponent

ROBOT

Violation:

TECH FOUL

and

YELLOW CARD

. If

CONTINUOUS

or opponent

ROBOT

is unable to drive,

TECH FOUL

and

RED CARD

Examples of violations of this rule include, but are not limited to:

a. using a wedge-like
MECHANISM
to tip over opponent
ROBOTS
,
b. making BUMPER-to-BUMPER contact with an opponent
ROBOT
that is attempting to right itself after previously falling over and causing them to fall over again, and
c. causing an opponent
ROBOT
to tip over by contacting the
ROBOT
after it starts to tip if, in the judgement of the
REFEREE
, that contact could have been avoided. Tipping as an unintended consequence of normal
ROBOT
to
ROBOT
interaction, as perceived by the
REFEREE
, is not a violation of this rule.

"Unable to drive" means that because of the incident, the

DRIVER

can no longer drive to a desired location in a reasonable time (generally). For example, if a

ROBOT

can only move in circles, or can only move extremely slowly, the

ROBOT

is considered unable to drive.

G207 Right of way.

ROBOT

with any part of itself in their opponent’s

LOADING ZONE

COMMUNITY

may not contact an opponent

ROBOT

, regardless of who initiates contact.

Violation:

FOUL

per instance.

Teams should take note that they are putting themselves at great risk for

FOULS

if they sit in front of or choose to enter their opponent’s

LOADING ZONE

COMMUNITY

Figure 7‑4: G207 Examples

G208 Don’t climb on each other unless in the
COMMUNITY
.

ROBOT

may not be fully supported by a partner

ROBOT

unless the partner’s

BUMPERS

intersect its

COMMUNITY

Violation:

TECH FOUL

per instance.

G209 During the ENDGAME, don’t touch
ROBOTS
touching their
CHARGE STATION
.

During the ENDGAME, a

ROBOT

may not contact, either directly or transitively through a

GAME PIECE

, an opponent

ROBOT

contacting its

CHARGE STATION

or supported by a partner contacting its

CHARGE STATION

, regardless of who initiates contact. A

ROBOT

in contact with its

CHARGE STATION

and partially in its opponent’s

LOADING ZONE

is not protected by this rule.

Violation: The contacted opponent

ROBOT

, and any

ROBOTS

contacting their

CHARGE STATION

when the violation occurred, and any partners it’s supporting, will be considered

DOCKED

and all

DOCKED

ROBOTS

at the end of the

MATCH

are considered

ENGAGED

7.3
FIELD
Interaction

G301 Be careful what you interact with.

ROBOTS

and

OPERATOR CONSOLES

are prohibited from the following actions with regards to interaction with

ARENA

elements. Items A-D exclude

GAME PIECES

A. grabbing,
B. grasping,
C. attaching to (including the use of a vacuum or hook fastener to anchor to the
FIELD
carpet and excluding use of the
DRIVER STATION
hook-and-loop tape, plugging in to the provided power outlet, and plugging the provided Ethernet cable into the
OPERATOR CONSOLE
),
D. deforming,
E. becoming entangled with,
F. suspending from, and
G. damaging.

Violation:

MATCH

won’t start until the situation is corrected. If during a

MATCH

TECH FOUL

. If during a

MATCH

and

REPEATED

or longer than

MOMENTARY

YELLOW CARD

. If offense is via a

ROBOT

and the Head

REFEREE

determines that further damage is likely to occur, offending

ROBOT

will be

DISABLED

. Corrective action (such as eliminating sharp edges, removing the damaging

MECHANISM

, and/or re-inspection) may be required before the

ROBOT

will be allowed to compete in subsequent

MATCHES

GAME PIECES

are expected to undergo a reasonable amount of wear and tear as they are handled by

ROBOTS

, such as scratching or marking. Gouging, popping, tearing off pieces, or routinely marking

GAME PIECES

are violations of this rule.

G302 Stay on your side before
TELEOP
.

Before

TELEOP

, a

ROBOT

may not intersect the infinite vertical volume created by the opponent’s

ALLIANCE WALL

, the

ROBOT

’S

DOUBLE SUBSTATION

, guardrails, and

CENTER LINE

of the

FIELD

Violation:

FOUL

. If contact with an opponent

ROBOT

TECH FOUL

. If contact with opponent’s

CHARGE STATION

, the opponent

ALLIANCE

will be considered to have a successfully

DOCKED

and

ENGAGED

ROBOT

at the end of

AUTO

If an

ALLIANCE

uses a

GAME PIECE

to prevent motion of the

CHARGE STATION

, G402 may also apply.

G303 Do not interfere with opponent
GAME PIECES
before
TELEOP
.

Before

TELEOP

, a

ROBOT

action may not cause

GAME PIECES

staged on the opposing side of the

FIELD

to move from their starting locations.

Violation:

TECH FOUL

per moved

GAME PIECE

G304 Don’t mess with the opponent’s
CHARGE STATION
.

ROBOTS

, either directly or transitively through a

GAME PIECE

, may not cause or prevent the movement of the opponent

CHARGE STATION

. The following are exceptions to this rule:

A. movement, or prevention of movement, of an opponent
CHARGE STATION
because of a
MOMENTARY

ROBOT
action resulting in minimal
CHARGE STATION
movement
B. a
ROBOT
forced to contact an opponent’s
CHARGE STATION
because of contact by an opponent
ROBOT
, either directly or transitively through a
GAME PIECE
or other
ROBOT
(e.g. a
ROBOT
wedged underneath the
CHARGE STATION
by the opposing
ALLIANCE
either intentionally or accidentally).

Violation:

FOUL

per instance. During the ENDGAME, any

ROBOTS

contacting their

CHARGE STATION

when the violation occurred, and any partners it’s supporting, will be considered

DOCKED

and all

DOCKED

ROBOTS

at the end of the

MATCH

are considered

ENGAGED

G305 Don’t trick the sensors.

Teams may not interfere with automated scoring hardware.

Violation:

RED CARD

for the

ALLIANCE

G306 Don’t jam the
CHARGE STATION
.

ROBOT

may not place any part of itself inside the

CHARGE STATION

assembly (i.e. within the volume defined by its ramps and top surface, as shown in Figure 7‑5) in an attempt to inhibit

CHARGE STATION

functionality.

Violation:

RED CARD

Figure 7‑5 The volume inside the
CHARGE STATION

7.4
GAME PIECES

G401 *Keep
GAME PIECES
in bounds.

ROBOTS

may not intentionally eject

GAME PIECES

from the

FIELD

(either directly or by bouncing off a

FIELD

element or other

ROBOT

Violation:

FOUL

per

GAME PIECE

G402 *
GAME PIECES
: use as directed.

ROBOTS

may not deliberately use

GAME PIECES

in an attempt to ease or amplify challenges associated with

FIELD

elements.

Violation:

TECH FOUL

per

GAME PIECE

Examples include, but are not limited to:

a. wedging a
CUBE
under the
CHARGE STATION
to ease ENGAGING and
b. placing a
CONE
on the opponent’s
CHARGE STATION
to make it harder to drive on.

G403 1
GAME PIECE
at a time (except in
LOADING ZONE
and
COMMUNITY
).

ROBOTS

completely outside their

LOADING ZONE

COMMUNITY

may not have

CONTROL

of more than 1

GAME PIECE

, either directly or transitively through other objects.

ROBOT

is in

CONTROL

of a

GAME PIECE

if:

A. the
GAME PIECE
is fully supported by the
ROBOT
, or
B. the
ROBOT
is intentionally moving a
GAME PIECE
to a desired location or in a preferred direction

Violation:

FOUL

per additional

GAME PIECES

. If egregious,

YELLOW CARD

Moving a

GAME PIECE

to access an area of the

FIELD

(e.g. the

CHARGE STATION

) is not considered intentionally moving to a desired location or in a preferred direction.

Egregious examples include but are not limited to the following:

a. simultaneous
CONTROL
of 3
GAME PIECES
b.
CONTINUOUS

CONTROL
of 2 or more
GAME PIECES
c. frequent
CONTROL
of 2 or more
GAME PIECES
(an approximate count for frequent in this context is if this rule is violated more than 3 times in a
MATCH
)

G404 Launching
GAME PIECES
is only okay in the
COMMUNITY
.

ROBOT

may not launch

GAME PIECES

unless any part of the

ROBOT

is in its own

COMMUNITY

Violation:

TECH FOUL

per

GAME PIECE

REPEATED

violations of this rule are likely to escalate rapidly to YELLOW or

RED CARDS

GAME PIECE

is considered launched if it is shot into the air, kicked across the floor, or thrown in a forceful way.

This rule is not intended to penalize typical movement of

GAME PIECES

outside an

ALLIANCE

’S

COMMUNITY

which come to rest a short distance from the

ROBOT

. Examples of such actions could be but are not limited to,

a. Running an intake in reverse causing a
GAME PIECE
to travel a short distance from the
ROBOT
b. A
ROBOT
pushing a
GAME PIECE
a short distance away in the process of herding it across the
FIELD

G405 Don’t mess with the opponents’
GRIDS
.

ROBOT

may not move a scored

GAME PIECE

from an opponent's

NODE

Violation:

FOUL

and opponents are awarded the

SUSTAINABILITY BONUS

Ranking Point.

6 MATCH Play

During CHARGED UP, 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.

8 Game Rules: Humans

FIRST is committed to Equity, Diversity, and Inclusion and as such, FIRST makes reasonable accommodations for persons with disabilities that request accommodation. If a participant needs an accommodation for an event, please talk to a volunteer at the event or contact local leadership before the event so they can help ensure the accommodation is provided.

7 Game Rules: ROBOTS