6 Game Details

In CRESCENDO, 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

MATCH

Overview

run on 7–10-minute cycles, which consist of pre-MATCH setup, the 2-minute and 30-second , and the post-MATCH reset.

During the

, score in their or . use scored through the to AMPLIFY the points associated with scored in their for 10 seconds at a time or engage in Coopertition with their opponents.

conclude the PARKING in their , getting via a chain, and/or scoring a in a .

Additional points are awarded if an

HARMONIZES (i.e. more than 1 is via the same chain) and if (i.e. score a on a to increase points awarded for those ).

6.2

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 CRESCENDO, and no more than 1 member of the may 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 NOTE manager

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

If an

does not have at least 2 , 1 of the ’S teams may substitute a as a 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
  .

6.3 Setup

Before each

begins, as described in Section 6.3.4 . their (as described in Section 6.3.3 ) and (as described in Section 6.3.2 ). Then, take their places as described in Section 6.3.1 .

6.3.1

DRIVE TEAMS

prepare for a by staging in the appropriate areas, according to their role on the , and by identifying themselves accordingly. starting conditions are listed below, and a obstructing or delaying any of the conditions is at risk of violating G301.

A. only

members assigned to the upcoming are present,

B. only

members whose have passed initial, complete Inspection are present,

C.

are behind the ,

D.

members are behind the ,

E.

are in the event-designated area near the ,

F.

members clearly display their designated buttons above their waists ( - “”, and - “”, and - “”), and

G. if a Playoff

, the clearly displays their designated identifier (e.g. hat or armband).

6.3.2

OPERATOR CONSOLES

set up their as soon as the from the previous has cleared the area. must be compliant with all relevant rules, specifically those in Section 8.9 . The is plugged into the team’s assigned , as indicated on the team sign. Any devices worn or held by their and/or during the must be disconnected from or set on or beside the before the can begin. A obstructing or delaying setup is at risk of violating G301.

6.3.3

ROBOTS

their in accordance with G303. A obstructing or delaying setup requirements is at risk of violating G301.

If order of placement matters to either or both

, the notifies the Head during setup for that , and the Head instructs to alternate placement of . In a Qualification , instructions are that are placed in the following order:

• red
  DRIVER STATION
  1
  ROBOT
• blue
  DRIVER STATION
  1
  ROBOT
• red
  DRIVER STATION
  2
  ROBOT
• blue
  DRIVER STATION
  2
  ROBOT
• red
  DRIVER STATION
  3
  ROBOT
• blue
  DRIVER STATION
  3
  ROBOT

In an intra-Division Playoff

, the same pattern is applied, but instead of blue placing last, the higher seeded (regardless of color) places last. For inter-Division Playoff , the that places last is determined by a (real or virtual) coin flip facilitated by the Head where a “heads” result invites the red to place last.

6.3.4

GAME PIECES

Before each

begins, .

3

are staged on top of each .

107

are staged for each as follows (reference Figure 6‑2):

A. 90

are staged in the (45 in each ),

B. 6

are staged on (3 in each ),

C. 5

are staged on ,

D. 6

may be preloaded in , 1 per , by the ’ such that the is fully supported by the . A not pre-loaded in a is staged with in the ’S .

on are staged such that each covers the opposite ends of each .

6.4

MATCH

Phases

The first phase of each

is 15 seconds long and called the Autonomous Period (). During , operate without any or input. attempt to score , exit their , and retrieve additional . There is a 3-second delay between and for scoring purposes as described in Section 6.5 Scoring.

The second phase of each

is the remaining 2 minutes and 15 seconds (2:15) and called the Teleoperated Period (). During , remotely operate to retrieve and score and take their .

6.5 Scoring

are rewarded for accomplishing various actions through the course of a , including leaving their , scoring in their and , taking their , SPOTLIGHTING by scoring , cooperating with their opponents, and winning or tying .

Rewards are granted either via

points, Coopertition points, or Ranking Points (often abbreviated to , which increase the measure used to rank teams in the Qualification Tournament).

All scores are assessed and updated throughout the

, except as follows:

A. assessment of

scored in continues for up to 3 seconds after the timer displays 0:00 following .

B. assessment of

scored in continues for up to 5 seconds after the timer displays 0:00 following .

C. assessment of

points is made 5 seconds after the timer displays 0:00 following , or when all have come to rest following the conclusion of the , whichever happens first.

6.5.1

NOTE

Scoring Criteria

A

is scored in a once it passes through the FIELD-facing opening of the and through the sensor array.

A

is scored in the once it passes through the FIELD-facing opening of the and through the sensor array.

A

is scored in the if it enters the from above (i.e. through the cutout above the AprilTag).

6.5.2

ROBOT

Scoring Criteria

To qualify for

points, a ’S must completely clear its at any point during .

To qualify for

points, a ’S must be partially or completely contained in the at the end of the (more specifically, per criteria described in item C of Section 6.5 Scoring) and does not meet the criteria for .

To qualify for

points, a may only be contacting:

A. their truss legs (pink shaded elements in Figure 6‑3) via

,

B.

,

C. chain-facing vertical surfaces of their core or the nearest flap (with regards to the chain used by the

, green shaded elements in Figure 6‑3),

D. carpet-facing surfaces of their core (blue shaded elements in Figure 6‑3), and

E. a single

chain (on their ) (highlighted in orange in in Figure 6‑3),

F. another

qualified for points,

G. a partner

contacted by an opponent in violation of G424, and

H. an opponent

.

An

achieves if more than 1 is via direct or transitive support from a single chain. points, as specified in Table 6‑2 are awarded per additional .

6.5.3 AMPLIFICATION

AMPLIFICATION increases the number of

points awarded for scored in a per Table 6‑2. To AMPLIFY, an must have at least 2 through their . Once this criterion is met, the may press the button which AMPLIFIES their for 10 seconds or until 4 are scored in that , whichever comes first. Due to transit time from the opening to the sensor array, there is a 3-second extension on the end of the nominal AMPLIFICATION time to account for that entered the within 10 seconds of the button being pressed but haven’t yet been processed. An must collect another 2 through their after AMPLIFICATION ends before they are able to AMPLIFY their again. While delivered through the after the 2-NOTE threshold is reached or during AMPLIFICATION do not contribute to the next AMPLIFICATION or Coopertition requirement, they do earn points (in other words, and can only “bank” up to 2 at a time toward AMPLIFICATION or Cooperition).

6.5.4 SPOTLIGHTING

may by scoring a on a . A is scored on the if the surrounds, i.e. encircles, the . Once a is scored on a , paired with (i.e. below) the on which the was scored are awarded a greater number of points per Table 6‑2.

6.5.5 Coopertition Bonus

If both

use a scored in their to engage in Coopertition (by pressing their Coopertition button) within the first 45 seconds of (i.e. remaining time is greater than 1:30), all teams earn a Coopertition Bonus, and the threshold for the decreases as described in Table 6‑2.

A

used for Coopertition is no longer eligible for contribution to AMPLIFICATION.

See Section 10.5.3 Qualification Ranking for more information about Coopertition influence on Qualification Ranking order.

In Playoff

, the Coopertition button is unused.

6.5.6 Point Values

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

		MATCH points	MATCH points	Ranking Points	Coopertition Points
AUTO	TELEOP
LEAVE	LEAVE	2
NOTES	AMP NOTE	2	1
SPEAKER NOTE (not AMPLIFIED )	5	2
SPEAKER NOTE ( AMPLIFIED )		5
STAGE	PARK	1
ONSTAGE (not SPOTLIT)	3
ONSTAGE (SPOTLIT)	4
HARMONY	2
NOTE in TRAP (max. 1/ TRAP )	5
Coopertition Bonus	Coopertition Bonus	Coopertition Bonus	Coopertition Bonus	Coopertition Bonus	1
MELODY	at least · 18 (15 if Coopertition Bonus) AMP & SPEAKER NOTES * for Regional & District level events or · 21 (18 if Coopertition Bonus) AMP & SPEAKER NOTES for District Championship events, or · 25 (21 if Coopertition Bonus) AMP & SPEAKER NOTES for the FIRST Championship	at least · 18 (15 if Coopertition Bonus) AMP & SPEAKER NOTES * for Regional & District level events or · 21 (18 if Coopertition Bonus) AMP & SPEAKER NOTES for District Championship events, or · 25 (21 if Coopertition Bonus) AMP & SPEAKER NOTES for the FIRST Championship	at least · 18 (15 if Coopertition Bonus) AMP & SPEAKER NOTES * for Regional & District level events or · 21 (18 if Coopertition Bonus) AMP & SPEAKER NOTES for District Championship events, or · 25 (21 if Coopertition Bonus) AMP & SPEAKER NOTES for the FIRST Championship	1
ENSEMBLE	At least 10 STAGE points and at least 2 ONSTAGE ROBOTS *	At least 10 STAGE points and at least 2 ONSTAGE ROBOTS *	At least 10 STAGE points and at least 2 ONSTAGE ROBOTS *	1
Tie	completing a MATCH with the same number of MATCH points as your opponent	completing a MATCH with the same number of MATCH points as your opponent	completing a MATCH with the same number of MATCH points as your opponent	1
Win	completing a MATCH with more MATCH points than your opponent	completing a MATCH with more MATCH points than your opponent	completing a MATCH with more MATCH points than your opponent	2

*For District Championship and/or FIRST Championship events, the

and requirements may increase.

6.6 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 2 points towards the opponent’s MATCH point total
TECH FOUL	a credit of 5 points towards 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

6.6.1 YELLOW and

RED CARDS

In addition to rule violations explicitly listed throughout this document,

and are used in FIRST Robotics Competition to address team and behavior that does not align with the mission, values, and culture of FIRST.

The Head

may assign a as a warning, or a for egregious behavior inappropriate at a FIRST Robotics Competition event.

A YELLOW or

is indicated by the Head holding a YELLOW and/or in the air while the Game Announcer describes the violation.

are additive, meaning that a second is automatically converted to a . A team is issued a for any subsequent incident in which they receive an additional , including earning a second during a single . A second is indicated by the Head holding a and in the air simultaneously after the completion of the . A team that has received either a or a carries a into subsequent , except as noted below.

Once a team receives a YELLOW or

, its team number is presented with a yellow background on the audience screen at the beginning of all subsequent , including any replays, as a reminder to the team, the , and the audience that they carry a .

All

are cleared in at the conclusion of Practice, Qualification, and division Playoff . Verbal warnings are cleared after Practice and persist from Qualification through subsequent tournament phases. The Head may opt to perpetuate a verbal warning or earned during Practice through to Qualification for particularly egregious behavior.

6.6.2 YELLOW and

RED CARD

application

YELLOW and

are applied based on the following:

Time YELLOW or RED CARDS earned:	MATCH to which CARD is applied:
prior to Practice MATCHES	team’s first Practice MATCH
during the Practice MATCHES	team’s current (or just-completed) MATCH .
between the end of PRACTICE MATCHES and the start of Qualification MATCHES	team’s first Qualification MATCH
during the Qualification MATCHES	team’s current (or just-completed) MATCH . In the case where the team participated as a SURROGATE in the current (or just completed) MATCH , the card is applied to the team’s previous MATCH (i.e. the team’s second Qualification MATCH )
between the end of Qualification MATCHES and the start of Playoff MATCHES	ALLIANCE ’S first Playoff MATCH
during the Playoff MATCHES	ALLIANCE ’S current (or just-completed) MATCH

6.6.3 YELLOW and

RED CARDS

during Playoff

MATCHES

During Playoff

, YELLOW and are assigned to the violating team’s entire instead of to only the violating team. If an receives 2 , the entire is issued a which results in DISQUALIFICATION for the associated . If both receive a , the assessed the first , chronologically, is and loses the .

6.6.4 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 NOTE . If egregious, YELLOW CARD	Upon violation, a number of FOULS are assessed against the violating ALLIANCE equal to the number of additional NOTES 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 .
FOUL , PLUS TECH FOUL IF REPEATED	Upon initial violation in a MATCH , a FOUL is assessed against the violating ALLIANCE . If the ALLIANCE ROBOT repeats the infraction in the MATCH , a FOUL and a TECH FOUL are assessed against the violating ALLIANCE . Assuming no additional infractions of that rule by that ROBOT in that MATCH , the ROBOT has “earned” 2 FOULS and a TECH FOUL for their ALLIANCE .
TECH FOUL , and for every 5 seconds in which the situation is not corrected, a TECH FOUL is assessed	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: In a PLAYOFF MATCH , a single RED CARD is assessed to the ALLIANCE . In all other scenarios, each team on the ALLIANCE is issued a RED CARD .

6.7 Head

REFEREE

and

FTA

Interaction

The Head

has the ultimate authority in the during the event, but may receive input from additional , e.g. Game Designers, FIRST personnel, , and other event staff. The Head rulings are final. No event staff, including the Head , will review video, photos, artistic renderings, etc. of any , from any , under any circumstances.

6.7.1 Question Box

Each

has a designated Question Box near the scoring table. If a has a question about a , the , etc., they may send 1 member to their corresponding Question Box. Depending on timing, the Head or may postpone any requested discussion until the end of the subsequent .

Technical questions regarding

or operation are addressed by the , and additional team members are invited to participate in these conversations if necessary. If a needs clarification on a ruling or score, per Q101, 1 from that should address the Head after the Reset Signal (e.g. lights turn green).

While

tracks quantities of , FIRST instructs to not self-track details about and ; as a result, we don’t expect to recall details about what and were made, when they occurred, and against whom.

6.8 Other Logistics

that the are not returned to game play by .

An

(an error in operation described in Section 10.2 Replays) 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 lights to green and may retrieve their .

During

reset, the is cleared of and from the that just ended, and for the subsequent are loaded into the by , and reset 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

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 seconds.
• REPEATED
  describes actions that happen more than once within a
  MATCH
  .

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