6 MATCH Play

During CHARGED UP, 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

GAME PIECES

54

and 44 , divided evenly between the 2 , are staged as follows:

• A. each
  ALLIANCE
  may preload 1
  CONE
  or 1
  CUBE
  in each
  ROBOT
  such that it is fully supported by that
  ROBOT
  ,
• B. each
  ALLIANCE
  may stage 4
  GAME PIECES
  of their choice, 1 per any of the
  STAGING MARKS
  between their
  COMMUNITY
  and the
  CENTER LINE
  , such that each
  GAME PIECE
  covers or surrounds the center of its
  STAGING MARK
  (as viewed from above) comparable to staging in Figure 6‑1,
  • a. If no team decision,
    CUBES
    will be placed on the 2 outer marks and
    CONES
    will be placed on the 2 inner marks, and
• C. depending on decisions made in A and B remaining
  CONES
  (quantity 20 to 27) and
  CUBES
  (quantity 15 to 22) are staged in each of the corresponding
  ALLIANCE
  SUBSTATION
  AREAS.

6.1.2

ROBOTS

Each

stages their such that its are fully contained within their and per the criteria outline in H309.

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

, a similar pattern is applied with the lower seeded placing first and alternating placement afterwards.

6.1.3 Humans

Humans stage for the

as follows:

• A.
  DRIVERS
  and
  COACHES
  stage inside their
  ALLIANCE AREA
  and behind the
  STARTING LINE
  .
• B.
  HUMAN PLAYERS
  stage behind the
  STARTING LINE
  in either their
  SUBSTATION
  AREA or
  ALLIANCE AREA
  .
• C.
  TECHNICIANS
  stage in the event-designated area near the
  FIELD
  .

6.2 Autonomous Period

The first phase of each

is 15 seconds long and called the Autonomous Period (). During , operate without any or input. attempt to score on , exit their ’S , retrieve additional , and DOCK on and/or ENGAGE with their before the end of the phase. There is a 3 second delay between and for scoring purposes as described in Section 6.4 Scoring.

6.3 Teleoperated Period

The second phase of each

is the remaining two minutes and fifteen seconds (2:15) and called the Teleoperated Period (). During this phase, remotely operate to retrieve and score .

The final thirty (0:30) seconds of the

stage is the ENDGAME, during which attempt to , DOCK on, and/or ENGAGE with their ’S or continue to score .

6.4 Scoring

are rewarded for accomplishing various actions through the course of a , including demonstrating , scoring on , completing , DOCKING on and/or ENGAGING with their , PARKING, and winning or tying .

Rewards are granted either via

points 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 this section.

All scores are assessed and updated throughout the

, except as follows:

• A. assessment of
  CHARGE STATION
  scoring occurs 3 seconds after the
  ARENA
  timer displays 0 following
  AUTO
• B.
  GAME PIECES
  scored in the
  GRID
  continues for up to 3 seconds after the
  ARENA
  timer displays 0 following
  AUTO
  .
• C. assessment of PARKING and
  CHARGE STATION
  scoring occurs 3 seconds after the
  ARENA
  timer displays 0 following
  TELEOP
• D.
  GAME PIECES
  scored in the
  GRID
  continues for up to 3 seconds after the
  ARENA
  timer displays 0 following
  TELEOP
  .

If a

scored in gets removed from its during , the points are removed. If a is scored in that again, the points associated with the original scored are restored.

6.4.1

GRID

Scoring

earn points by scoring in on their . All scored on the same are worth equal value, as described in Table 6‑2.

ROW	GAME PIECE	Scoring Criteria
Bottom	CONE or CUBE	Fully contained in GRIDS and touching FIELD carpet, BARRIER in only 1 HYBRID NODE , and/or GAME PIECES touching FIELD carpet and/or BARRIER in only 1 HYBRID NODE .
Middle or Top	CONE	The top of the CONE NODE is contained within the volume defined by the conical surface of the CONE
Middle or Top	CUBE	partially or completely (regardless of inflation state) supported by a CUBE NODE and/or by a CUBE at least partially supported by a CUBE NODE .

An

earns 1 if 3 adjacent in a contains a scored . A scored only contributes towards 1 at a time. are assessed in a manner that optimizes the number of awarded to an .

To be considered scored, a

may not be supported directly or transitively by an .

If all

’S are populated with a scored , i.e. the set of is complete, may become SUPERCHARGED. A is SUPERCHARGED if it contains more than 1 scored , as defined in Table 6‑1. A may only SUPERCHARGE 1 .

On an incomplete set of

, only 1 is counted per . On a complete set of , additional are only used to SUPERCHARGE (i.e. they do not earn ROW-specific points or contribute to ). For example, 1, 2, and 4 in Figure 6‑3 are SUPERCHARGED, 3 is not SUPERCHARGED because a cannot score on a , and the earned 9 SUPERCHARGED points.

6.4.2

CHARGE STATION

Scoring

A

earns points for its by DOCKING on or ENGAGING with their , as outlined in Table 6‑2.

A

is if it is contacting only the and/or other items also directly or transitively fully supported by the .

A

is if both of the following criteria are met:

• A. the
  CHARGE STATION
  is
  LEVEL
  , and
• B. all
  ALLIANCE
  ROBOTS
  contacting the
  CHARGE STATION
  are
  DOCKED
  .

6.4.3 Point Values

Point values for tasks in CHARGED UP are detailed in Table 6‑2.

Award	Awarded for…	AUTO	TELEOP	Qual.	Playoff
MOBILITY	each ROBOT whose BUMPERS have completely left its COMMUNITY at any point during AUTO	3
GAME PIECES	scored on a bottom ROW	3	2
scored on a middle ROW	4	3
scored on a top ROW	6	5
LINK	3 adjacent NODES in a ROW contain scored GAME PIECES .		5
DOCKED and not ENGAGED	Each ROBOT (1 ROBOT max in AUTO )	8	6
DOCKED and ENGAGED	Each ROBOT (1 ROBOT max in AUTO )	12	10
PARK	Each ROBOT whose BUMPERS are completely contained within its COMMUNITY but does not meet the criteria for DOCKED .		2
SUPERCHARGED NODE	each SUPERCHARGED NODE in a completed set of ALLIANCE GRIDS		3
SUSTAINABILITY BONUS	At least 6 LINKS scored.			1 Ranking Point
COOPERTITION BONUS	At least 3 GAME PIECES scored on each ALLIANCE ’S CO-OP GRID	The SUSTAINABILITY BONUS threshold is reduced to 5 LINKS for both ALLIANCES	The SUSTAINABILITY BONUS threshold is reduced to 5 LINKS for both ALLIANCES	The SUSTAINABILITY BONUS threshold is reduced to 5 LINKS for both ALLIANCES	The SUSTAINABILITY BONUS threshold is reduced to 5 LINKS for both ALLIANCES
ACTIVATION BONUS	At least 26 total CHARGE STATION points earned in AUTO and/or ENDGAME.			1 Ranking Point
Tie	Completing a MATCH with the same number of MATCH points as your opponent.			1 Ranking Point
Win	Completing a MATCH with more MATCH points than your opponent.			2 Ranking Points

An

can earn up to 4 Ranking Points () per Qualification , as described in Table 6‑2. There are no Ranking Points in Playoff .

6.5 Rule Violations

Upon any instance of a rule violation, unless otherwise noted, 1 or more of the penalties listed in Table 6‑3 are assessed.

Penalty	Description
FOUL	a credit of 5 points towards the opponent’s MATCH point total
TECH FOUL	a credit of 12 points toward the opponent’s MATCH point total
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 11.2.2 YELLOW and

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 GAME PIECES . If egregious, YELLOW CARD	Upon violation, a number of FOULS are assessed against the violating ALLIANCE equal to the number of additional GAME PIECES 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 receives a total of 4 TECH FOULS (assuming no other rules were being simultaneously 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 CHARGED UP. Only 1 of the 5 members is permitted to be a non-Student.

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

A

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

6.7 Other Logistics

that leave 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.

An

is not called for that accidentally begin with damaged . Damaged are 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.