6 Game Details

In REEFSCAPE, 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

, collect and score on their . also collect and score in their or . HUMAN PLAYERS can score in their once it has been passed to them via their opponent’s .

conclude the PARKING in their ZONE or suspending from a .

6.2 DRIVE TEAM

A DRIVE TEAM 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 DRIVE TEAM which can use to assist with REEFSCAPE, and no more than 1 member of the DRIVE TEAM 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 SCORING ELEMENT 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, OPERATOR CONSOLE 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

6.3 Setup

Before each

begins, STAFF stage SCORING ELEMENTS as described in section 6.3.4 SCORING ELEMENTS. DRIVE TEAMS stage their (as described in section 6.3.3 ) 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

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.

A. only DRIVE TEAM members assigned to the upcoming

are present,

B. only DRIVE TEAM members whose

have passed initial, complete Inspection are present,

C. no more than 1 HUMAN PLAYER is staged in their

AREA,

D. any number of HUMAN PLAYERS are staged in their

STATION AREAS,

E. HUMAN PLAYERS not included in C or D,

, and are in their AREA and behind the HUMAN STARTING LINE,

F.

are in the event-designated area near the ,

G. DRIVE TEAM members clearly display their designated buttons above their waists (

- “”, and HUMAN PLAYERS - “Drive Team”, and - “”), and

H. if a Playoff

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

6.3.2 OPERATOR CONSOLES

DRIVE TEAMS set up their OPERATOR CONSOLE as soon as the DRIVE TEAM from the previous

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 STATION, as indicated on the team sign. Any devices worn or held by their HUMAN PLAYERS and/or during the must be disconnected from or set on or beside the OPERATOR CONSOLE before the 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

in accordance with G303. A DRIVE TEAM 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 SCORING ELEMENTS

Before each

begins, STAFF stage SCORING ELEMENTS.

6.3.4.1

CORAL

126

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

• A. 1
  CORAL
  is staged on each
  CORAL
  MARK (6 total,
  CORAL
  are staged such that each
  CORAL
  covers the opposite ends of each
  CORAL
  MARK),
• B. 1
  CORAL
  may be preloaded in each
  ROBOT
  by the
  ROBOT
  ’S DRIVE TEAM, such that the
  CORAL
  is fully supported by the
  ROBOT
  (up to 6 total, a
  CORAL
  not pre-loaded in a
  ROBOT
  is staged with
  CORAL
  in the corresponding
  ALLIANCE
  AREA), and
• C. remaining
  CORAL
  are split evenly behind each
  CORAL
  STATION (57 to 60 per
  ALLIANCE
  , depending on how many are preloaded in
  ROBOTS
  ).

6.3.4.2

ALGAE

18

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

A. 6

are staged on pairs of as shown in Figure 6‑3 (12 total), and

B. 1

is placed on top of each staged on a MARK (6 total).

6.3.5

CAGES

Each team can choose the height of the

closest to their station. By default, all are left in the state from the last . At the start of each day, all are set as deep . If a team would like to alter the height they must alert the STAFF during reset. Each team informs STAFF of their preference for their corresponding height.

6.4

MATCH

Phases

The first phase of each

is 15 seconds long and called the Autonomous Period (). During , operate without any DRIVE TEAM or input. attempt to their STARTING LINE, score SCORING ELEMENTS, and retrieve SCORING ELEMENTS. 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 SCORING ELEMENTS and climb their .

6.5 Scoring

are rewarded for accomplishing various actions throughout a , including LEAVING their STARTING LINE, scoring on their , scoring in their and , climbing , 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 on the and scored in the or continues for up to 3 seconds after the timer displays 0:00 following .

B. assessment of

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

C. assessment of

points is made 3 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 SCORING ELEMENT Scoring Criteria

A

is scored in the trough (L1) of the if it is not in contact with a and

A. contacting the trough, or

B. fully or partially supported by a

in contact with the trough.

A

is scored on L2-L4 if the end of the is inside the volume of the and the is not in contact with a or an .

An

is scored in a once it has passed through the opening of the and by the sensor array. An is scored in a if it is above the and within the perimeter of the .

If a

scored in gets removed from a during , the points are removed. If a is scored in that location again, the points associated with the original scored is restored. scored in the trough is not tracked by specific location, if a is removed from the trough after , the points removed will correspond to the lowest scoring (i.e. removed first); if is re-scored in the trough, points will be re-added in the reverse order (i.e. re-added first).

6.5.2

ROBOT

Scoring Criteria

To qualify for

points, a must move such that its no longer overlap its STARTING LINE at the end of .

To qualify for

points, a ’S must be partially or completely contained in their ZONE at the end of the and does not meet the criteria for points.

To qualify for

points, a must be contacting a (with the exception of the ), not contacting the carpet, and may additionally contact only the following elements:

A. SCORING ELEMENTS,

B. another

qualified for points,

C. a partner

contacted by an opponent in violation of G428, and

D. an opponent

.

6.5.3 Coopertition Bonus

In Qualification

, if both score at least 2 in their , all teams earn 1 Coopertition Point, and the threshold for the decreases as described in Table 6‑2.

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

6.5.4 Point Values

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

		MATCH points	MATCH points	Ranking Points	Coopertition Points
AUTO	TELEOP
LEAVE	LEAVE	3
CORAL	CORAL scored in trough (L1)	3	2
CORAL scored on L2 BRANCH	4	3
CORAL scored on L3 BRANCH	6	4
CORAL scored on L4 BRANCH	7	5
ALGAE	scored in PROCESSOR	6	6
scored in NET	4	4
BARGE	PARK in the BARGE ZONE		2
off-the-ground via shallow CAGE	6
off-the-ground via deep CAGE	12
Coopertition Bonus – at least 2 ALGAE scored in each PROCESSOR	Coopertition Bonus – at least 2 ALGAE scored in each PROCESSOR	Coopertition Bonus – at least 2 ALGAE scored in each PROCESSOR	Coopertition Bonus – at least 2 ALGAE scored in each PROCESSOR		1
AUTO RP - all enabled ROBOTS LEAVE and at least 1 CORAL scored in AUTO	AUTO RP - all enabled ROBOTS LEAVE and at least 1 CORAL scored in AUTO	AUTO RP - all enabled ROBOTS LEAVE and at least 1 CORAL scored in AUTO	AUTO RP - all enabled ROBOTS LEAVE and at least 1 CORAL scored in AUTO	1
* CORAL RP - If at least 5 CORAL scored on each level. If Coopertition achieved, at least 5 CORAL scored on at least 3 levels.	* CORAL RP - If at least 5 CORAL scored on each level. If Coopertition achieved, at least 5 CORAL scored on at least 3 levels.	* CORAL RP - If at least 5 CORAL scored on each level. If Coopertition achieved, at least 5 CORAL scored on at least 3 levels.	* CORAL RP - If at least 5 CORAL scored on each level. If Coopertition achieved, at least 5 CORAL scored on at least 3 levels.	1
* BARGE RP - at least 14 BARGE points are scored	* BARGE RP - at least 14 BARGE points are scored	* BARGE RP - at least 14 BARGE points are scored	* BARGE RP - at least 14 BARGE points are scored	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	3
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
*For District Championship and/or FIRST Championship events, the CORAL or BARGE RP requirement may increase.	*For District Championship and/or FIRST Championship events, the CORAL or BARGE RP requirement may increase.	*For District Championship and/or FIRST Championship events, the CORAL or BARGE RP requirement may increase.	*For District Championship and/or FIRST Championship events, the CORAL or BARGE RP requirement may increase.	*For District Championship and/or FIRST Championship events, the CORAL or BARGE RP requirement may increase.	*For District Championship and/or FIRST Championship events, the CORAL or BARGE RP requirement 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. All rules throughout the Game Rules section are called as perceived by a

.

Penalty	Description
MINOR FOUL	a credit of 2 points towards the opponent’s MATCH point total
MAJOR FOUL	a credit of 6 points towards the opponent’s MATCH point total
YELLOW CARD	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	issued by the Head REFEREE 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
VERBAL WARNING	a warning issued by event staff or the Head REFEREE .

6.6.1 YELLOW and RED CARDS

In addition to rule violations explicitly listed throughout this document, YELLOW CARDS and RED CARDS 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 YELLOW CARD as a warning, or a RED CARD for egregious behavior inappropriate at a FIRST Robotics Competition event.

A YELLOW or RED CARD is indicated by the Head

holding a YELLOW and/or RED CARD in the air while the Game Announcer describes the violation.

YELLOW CARDS are additive, meaning that a second YELLOW CARD is automatically converted to a RED CARD. A team is issued a RED CARD for any subsequent incident in which they receive an additional YELLOW CARD, including earning a second YELLOW CARD during a single

. A second YELLOW CARD is indicated by the Head holding a YELLOW CARD and RED CARD in the air simultaneously after the completion of the . A team that has received either a YELLOW CARD or a RED CARD carries a YELLOW CARD into subsequent , except as noted below.

Once a team receives a YELLOW or RED CARD, a yellow rectangle will show next to the team number on the audience display during subsequent

, including any replays.

All YELLOW CARDS are cleared in

at the conclusion of Practice, Qualification, and division Playoff . VERBAL WARNINGS issued by the head are cleared after Practice and persist from Qualification through subsequent tournament phases.

6.6.2 YELLOW and RED CARD application

YELLOW and RED CARDS are applied based on the following:

Time YELLOW or RED CARDS earned:	MATCH to which CARD is applied:
Prior to Qualification MATCHES	REFEREES may or may not be present during Practice MATCHES . With input from event staff, The Head REFEREE may opt to perpetuate a VERBAL WARNING or YELLOW CARD earned prior to Qualification MATCHES to the first Qualification MATCH for particularly egregious behavior.
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 RED CARDS are assigned to the violating team’s entire instead of to only the violating team. If an receives 2 YELLOW CARDS, the entire is issued a RED CARD which results in DISQUALIFICATION for the associated . If both receive a RED CARD, the assessed the first RED CARD, 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
MINOR FOUL	Upon violation, a MINOR FOUL is assessed against the violating ALLIANCE .
MAJOR FOUL and YELLOW CARD	Upon violation, a MAJOR FOUL is assessed against the violating ALLIANCE . After the MATCH , the Head REFEREE presents the violating team with a YELLOW CARD.
MINOR FOUL per additional SCORING ELEMENT. If egregious, YELLOW CARD	Upon violation, a number of MINOR FOULS are assessed against the violating ALLIANCE equal to the number of additional SCORING ELEMENTS 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 .
MINOR FOUL. MAJOR FOUL IF REPEATED	Upon initial violation in a MATCH , a MINOR FOUL is assessed against the violating ALLIANCE . If the ALLIANCE ROBOT repeats the infraction in the MATCH , a MAJOR FOUL is assessed against the violating ALLIANCE . Assuming no additional infractions of that rule by that ROBOT in that MATCH , the ROBOT has “earned” a MINOR FOUL and a MAJOR FOUL for their ALLIANCE .
MAJOR FOUL, and for every 3 seconds in which the situation is not corrected, a MAJOR FOUL is assessed	Upon violation, a MAJOR 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 3 seconds within that time, an additional MAJOR FOUL is assessed against the violating ALLIANCE . A ROBOT in violation of this type of rule for 15 seconds receives a total of 4 MAJOR 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 sources, 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 source, under any circumstances.

6.7.1 Question Box (Q)

Each

has a designated Question Box near the scoring table. If a DRIVE TEAM has a question about a , the , etc., they may send 1 DRIVE TEAM 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 DRIVE TEAM needs clarification on a ruling or score, per Q101, 1 from that DRIVE TEAM should address the Head after the Reset Signal (e.g. lights turn green).

While

tracks quantities of MINOR FOULS, FIRST instructs to not self-track details about MINOR FOULS and MAJOR FOULS; as a result, are not expected to recall details about what MINOR FOULS and MAJOR FOULS were made, when they occurred, and against whom.

6.8 Other Logistics

SCORING ELEMENTS that

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

An

FAULT (an error in operation described in section 10.2 Replays) is not called for that accidentally begin with damaged SCORING ELEMENTS. Damaged SCORING ELEMENTS are not replaced until the next reset period. DRIVE TEAMS should alert the STAFF to any missing or damaged SCORING ELEMENTS prior to the start of the .

Once the

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

During

reset, the is cleared of and OPERATOR CONSOLES from the that just ended, and OPERATOR CONSOLES for the subsequent are loaded into the by DRIVE TEAMS, and STAFF 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
  .