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7.1 Personal Safety

G101 *Humans, stay off the
FIELD
until green.

A team member may only enter the

FIELD

lighting (

FIELD

facing side of the team signs and timers) is green, unless explicitly instructed by a

REFEREE

or an

FTA

Violation: VERBAL WARNING. YELLOW CARD if subsequent violations during the event.

Violations of this rule apply to the entire team, not specifically to any 1 individual. For example, a member of Team 9999 enters the

FIELD

prior to lights going green after

MATCH

3, and a different member enters the

FIELD

prior to lights going green after

MATCH

25. The team receives a VERBAL WARNING for the first violation and a YELLOW CARD for the second.

G102 *Never step over the guardrail.

A team member may only enter or exit the

FIELD

through open gates.

Violation: VERBAL WARNING. YELLOW CARD if subsequent violations during the event.

Teams are encouraged to ensure that all members of their DRIVE TEAM are aware of this rule. It’s easy to violate, particularly when teams are doing their best to move on and off the

FIELD

quickly. The violations of this rule are intended to avoid nuisance penalties, but still enforce safety requirements around the

FIELD

. There is the potential for injury when stepping over the guardrail.

Violations of this rule apply to the entire team, not specifically to any 1 individual. For example, a member of Team 9999 steps over the guardrail prior to

MATCH

3, and a different member steps over the guardrail prior to

MATCH

25. The team receives a VERBAL WARNING for the first violation and a YELLOW CARD for the second.

G103 *Be careful what you interact with.

A team member is prohibited from the following actions with regards to interaction with

ARENA

elements.

A. climbing on or inside,

B. hanging from,

C. manipulating such that it doesn’t return to its original shape without human intervention, and

D. damaging.

Violation: VERBAL WARNING. YELLOW CARD if subsequent violations during the event.

G104 *Teams may not enable their
ROBOTS
on the
FIELD
.

Teams may not tether to the

ROBOT

while on the

FIELD

except in special circumstances (e.g. after Opening Ceremonies, before an immediate

MATCH

replay, etc.) and with the express permission from the

FTA

or a

REFEREE

Violation: VERBAL WARNING. YELLOW CARD if subsequent violations during the event.

Teams are encouraged to consider this rule when developing their

ROBOTS

FMS

will not enable

ROBOTS

after the conclusion of the

MATCH

For the purposes of this rule, tethering includes any wired or wireless connection used to electrically energize and/or

control

elements on the

ROBOT

. The safety of teams and volunteers in close proximity to

ROBOTS

and

ARENA

elements on the

FIELD

is of the utmost importance, therefore

ROBOTS

ROBOT

COMPONENTS

may not be enabled in any way on the

FIELD

before or after the

MATCH

ROBOTS

need to be safely transported off the

FIELD

and back to the pits after the

MATCH

, and there may be bystanders, doorways, or height restrictions along the route.

7.2 Conduct

G201 *Be a good person.

All teams must be civil toward everyone and respectful of team and event equipment while at a FIRST Robotics Competition event.

Violation: VERBAL WARNING. YELLOW CARD if subsequent violations during the event.

Examples of inappropriate behavior include, but are not limited to, the use of offensive language or other uncivil conduct.

Examples of particularly contemptible behavior that is likely to result in

ARENA

ejection include, but are not limited to, the following:

A. assault, e.g. throwing something that hits another person (even if unintended),

B. threat, e.g. saying something like “if you don’t reverse that call, I’ll make you regret it,”

C. harassment, e.g. badgering someone with no new information after a decision’s been made or a question’s been answered,

D. bullying, e.g. using body or verbal language to cause another person to feel inadequate,

E. insulting, e.g. telling someone they don’t deserve to be on a DRIVE TEAM,

F. swearing at another person (versus swearing under one’s breath or at oneself), and

G. yelling at another person(s) in anger or frustration.

G202 *Don’t bang on the glass.

A team member may never strike or hit the

DRIVER

STATION plastic windows.

Violation: VERBAL WARNING. YELLOW CARD if subsequent violations during the event.

G203 *Asking other teams to throw a
MATCH
– not cool.

A team may not encourage an

ALLIANCE

of which it is not a member to play beneath its ability.

Note: This rule is not intended to prevent an

ALLIANCE

from planning and/or executing its own strategy in a specific

MATCH

in which all the teams are members of the

ALLIANCE

Violation: VERBAL WARNING. RED CARD if subsequent violations during the event.

Example 1: A

MATCH

is being played by Teams A, B, and C, in which Team C is encouraged by Team D to not get on a

CAGE

at the end of the

MATCH

, resulting in Teams A, B, and C not earning a Ranking Point. Team D’s motivation for this behavior is to prevent Team A from rising in the Tournament rankings and negatively affecting Team D’s ranking. Team D has violated this rule.

Example 2: A

MATCH

is being played by Teams A, B, and C, in which Team A is assigned to participate as a

SURROGATE

. Team D encourages Team A to not participate in the

MATCH

so that Team D gains ranking position over Teams B and C. Team D has violated this rule.

Example 3: Asking a team to “no show” for a

MATCH

FIRST considers the action of a team influencing another team to throw a

MATCH

, to deliberately miss Ranking Points, etc. incompatible with FIRST values and not a strategy any team should employ.

G204 *Letting someone coerce you into throwing a
MATCH
– also not cool.

A team, as the result of encouragement by a team not on their

ALLIANCE

, may not play beneath its ability.

Note: This rule is not intended to prevent an

ALLIANCE

from planning and/or executing its own strategy in a specific

MATCH

in which all the

ALLIANCE

members are participants.

Violation: VERBAL WARNING. RED CARD if subsequent violations during the event.

Example 1: A

MATCH

is being played by Teams A, B, and C. Team D requests Team C ignore the

CAGES

at the end of the

MATCH

, resulting in Teams A, B, and C not being able to earn the

BARGE

. Team C accepts this request from Team D. Team D’s motivation for this behavior is to prevent Team A from rising in the Tournament rankings negatively affecting Team D’s ranking. Team C has violated this rule.

Example 2: A

MATCH

is being played by Teams A, B, and C, in which Team A is assigned to participate as a

SURROGATE

. Team A accepts Team D’s request not to participate in the

MATCH

so that Team D gains ranking position over Teams B and C. Team A has violated this rule.

FIRST considers the action of a team influencing another team to throw a

MATCH

, to deliberately miss Ranking Points, etc. incompatible with FIRST values and not a strategy any team should employ.

G205 *Throwing your own
MATCH
is bad.

A team may not intentionally lose a

MATCH

or sacrifice Ranking Points in an effort to lower their own ranking or manipulate the rankings of other teams.

Violation: VERBAL WARNING. RED CARD if subsequent violations during the event.

The intent of this rule is not to punish teams who are employing alternate strategies, but rather to ensure that it is clear that throwing

MATCHES

to negatively affect your own rankings, or to manipulate the rankings of other teams (i.e. throw a

MATCH

to lower a partner's ranking, and/or increase the ranking of another team not in the

MATCH

) is incompatible with FIRST values and not a strategy any team should employ.

G206 *Don't violate rules for
RPs
.

A team or

ALLIANCE

may not collude with another team to each purposefully violate a rule in an attempt to influence Ranking Points.

Violation: YELLOW CARD and the

ALLIANCE

is ineligible for

CORAL

and

BARGE

RPs

For example, if Team A on the blue

ALLIANCE

agrees with Team F on the red

ALLIANCE

to enter the blue

BARGE

ZONE during the last 20 seconds of a Qualification

MATCH

and wait to be contacted by Team F, and then both

ROBOTS

drive to the red

BARGE

ZONE so that Team A can contact Team F in their

BARGE

ZONE leading in both

ALLIANCES

being awarded the

BARGE

G207 *Don’t abuse
ARENA
access.

A team member (except

DRIVERS

, HUMAN PLAYERS, and

COACHES

) granted access to restricted areas in and around the

ARENA

(e.g. via

TECHNICIAN

button, event issued Media badges, etc.) may not assist or use signaling devices during the

MATCH

. Exceptions will be granted for inconsequential infractions and in cases concerning safety.

Violation: VERBAL WARNING. YELLOW CARD if subsequent violations during the event.

The

TECHNICIAN

’S role is to help the team prepare the

ROBOT

so it can perform at its full potential during a

MATCH

. The

TECHNICIAN

, except as described at the end of section 6.2 DRIVE TEAM, is not an additional

COACH

DRIVER

, or HUMAN PLAYER.

Team members in open-access spectator seating areas are not considered to be in a restricted area and are not prevented from assisting or using signaling devices. See E102 for related details.

G208 *Show up to your
MATCHES
.

If a

ROBOT

has passed initial, complete inspection, at least 1 member of its DRIVE TEAM must report to the

ARENA

and participate in each of their assigned Qualification and Playoff

MATCHES

Violation:

DISQUALIFIED

Figure 7‑1

MATCH

participation flowchart

The team should inform the Lead Queuer if the team’s

ROBOT

is not able to participate.

G209 *Keep your
ROBOT
together.

ROBOT

may not intentionally detach or

leave

a part on the

FIELD

Violation: RED CARD.

G210 *Don’t expect to gain by doing others harm.

A strategy not consistent with standard gameplay and clearly aimed at forcing the opponent

ALLIANCE

to violate a rule is 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: MAJOR FOUL. YELLOW CARD if

REPEATED

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

A. a red

ALLIANCE

ROBOT

attempting to climb in their

BARGE

ZONE in the final 20 seconds of the

MATCH

contacts a blue

ALLIANCE

ROBOT

B. a blue

ROBOT

attempts to enter their

REEF

ZONE to score a

CORAL

and pushes a red

ROBOT

just outside the blue

REEF

ZONE into it.

This rule requires an intentional act with limited or no opportunity for the team being acted on to avoid the penalty such as:

C. forcing an opponent

ROBOT

to have greater than

MOMENTARY

CONTROL

of more than 1 of each SCORING ELEMENT.

D. a blue

ALLIANCE

ROBOT

, pushing a red

ALLIANCE

ROBOT

from fully outside and far from (i.e. more than 4 ft. (~121 cm)) the blue

BARGE

ZONE through the blue

BARGE

ZONE while another red

ROBOT

is already on the opposing

ALLIANCE

’s side of the

FIELD

and the

REFEREE

perceiving that the blue

ROBOT

is deliberately making the red

ROBOT

violate G421.

E. a blue

ALLIANCE

ROBOT

, pushing a red

ALLIANCE

ROBOT

from fully outside and far from (i.e. more than 4 ft. (~121 cm)) the blue

BARGE

ZONE into a

CAGE

and the

REFEREE

perceiving that the blue

ROBOT

is deliberately making the red

ROBOT

violate G418.

G211 *Egregious or exceptional violations.

Egregious behavior beyond what is listed in the rules or subsequent violations of any rule or procedure during the event is prohibited.

In addition to rule violations explicitly listed in this manual and witnessed by a

REFEREE

, the Head

REFEREE

may assign a YELLOW or RED CARD for egregious

ROBOT

actions or team member behavior at any time during the event.

Please see section 6.6.1 YELLOW and RED CARDS for additional detail.

Violation: YELLOW or RED CARD.

The intent of this rule is to provide the Head

REFEREES

the flexibility necessary to keep the event running smoothly, as well as keep the safety of all the participants as the highest priority. Behaviors that put the FIRST community or integrity of the game at risk are not allowed and are violations of this rule. Those behaviors include, but are not limited to the list below:

A. inappropriate behavior as outlined in the blue box of G201,

B. jumping over the guardrail,

C. pushing past the

FIELD

reset person blocking an open gate to get on the

FIELD

D. reaching into the

FIELD

and grabbing a

ROBOT

during a

MATCH

E. PINNING in excess of 15 seconds,

F. exploiting the 3-second window after a

MATCH

described in section 6.5 Scoring to avoid rule violations (e.g. triggering an over-extension that enables

CAGE

points or using a

ROBOT

’S residual energy to impact an opponent

ROBOT

on their

BARGE

G. triggering scoring sensors or otherwise interfering with

FMS

FIELD

operation,

H. climbing on the

BARGE

, and

I. throwing an

ALGAE

directly at an opponent

ROBOT

J. deliberately, running an

AUTO

to disrupt the opponent

ALLIANCE

’S

CAGES

K. deliberately, trying to disrupt multiple opponent

ALLIANCE

’S

CAGES

during

TELEOP

The Head

REFEREE

may assign a YELLOW or RED CARD for a single instance of a rule violation such as the examples given in items above, or for multiple instances of any single rule violation. Teams should be aware that any rule in this manual could escalate to a YELLOW or RED CARD. The Head

REFEREE

has final authority on all rules and violations at an event.

7.3 Pre-MATCH

G301 *Be prompt.

A DRIVE TEAM member may not cause significant delays to the start of their

MATCH

. Causing a significant delay requires both of the following to be true:

A. The expected

MATCH

start time has passed, and

Event volunteers communicate schedule delays with teams to the best of their ability. The Pit Display (which is typically located near the Pit Administration desk) shows any event timing delay. Announcements on the

FIELD

and in the pits also provide information on delays, and any team uncertain of when to queue for a

MATCH

should communicate with queuing volunteers.

During Qualification

MATCHES

, the expected start time of the

MATCH

is the time indicated on the

MATCH

schedule or the cycle time for current round minus 3 minutes from the end of the previous

MATCH

(which is reflected on the schedule on the Pit Display), whichever is later.

During Playoff

MATCHES

, the expected start time of the

MATCH

is the time indicated on the

MATCH

schedule or 15 minutes from either

ALLIANCE

’S previous

MATCH

, whichever is later.

B. The DRIVE TEAM has access to the

FIELD

and is neither

MATCH

ready nor making a good faith effort, to quickly become

MATCH

ready.

Teams that have violated G208 or have 1 DRIVE TEAM member present and have informed event staff that their

ROBOT

will not be participating in the

MATCH

are considered

MATCH

ready and not in violation of this rule.

Violation: If a Qualification

MATCH

, VERBAL WARNING, or if a subsequent violation within the tournament phase, MAJOR FOUL applied to their upcoming

MATCH

. If the DRIVE TEAM is not

MATCH

ready within 2 minutes of the VERBAL WARNING/MAJOR FOUL and the Head

REFEREE

perceives no good faith effort by the DRIVE TEAM to quickly become

MATCH

ready,

DISABLED

. If a Playoff

MATCH

, VERBAL WARNING issued the

ALLIANCE

, or if an

ALLIANCE

’S subsequent violation within the tournament phase, MAJOR FOUL applied to their upcoming

MATCH

. If the

ALLIANCE

is not

MATCH

ready within 2 minutes of the VERBAL WARNING having been issued to all 3 teams/MAJOR FOUL and the Head

REFEREE

perceives no good faith effort by the DRIVE TEAM to quickly become

MATCH

ready, their

ROBOT

DISABLED

The intent of this rule is to provide an equitable amount of time for both

ALLIANCES

to prepare for each

MATCH

and give DRIVE TEAMS grace given extenuating circumstances that cause them to be late.

Once a VERBAL WARNING /MAJOR FOUL is issued, the Head

REFEREE

starts a 2-minute timer and makes a good faith effort to share the timer’s status with the delaying DRIVE TEAM.

Being “

MATCH

ready” requires that the

ROBOT

is on the

FIELD

, in its STARTING CONFIGURATION, and turned on. Additionally, the DRIVE TEAM members must be in their starting positions.

In general, good faith efforts to quickly become

MATCH

ready are entirely for the purposes of transitioning the

ROBOT

into a

MATCH

ready state (i.e. not attempts to significantly alter a

ROBOT

’s capabilities.) Examples of good faith efforts to quickly become

MATCH

ready include but are not limited to:

A. walking safely towards the

FIELD

with a

ROBOT

that a team is not actively modifying,

B. applying quick fixes such as tape or cable ties to make the

ROBOT

compliant with STARTING CONFIGURATION requirements,

C. waiting for an OPERATOR CONSOLE computer to boot, and

D. working with

FIELD

STAFF to get the

ROBOT

connected to the

FIELD

Examples that are not considered good faith efforts to quickly become

MATCH

ready include but are not limited to:

E. a

ROBOT

not moving to the

FIELD

F. a

ROBOT

moving to the

FIELD

but being actively modified while doing so,

G. a DRIVE TEAM member remaining on the

FIELD

once a

MATCH

is ready to begin (indicated by the green LEDs having turned off),

H. installing

BUMPERS

, charging pneumatic systems, or any other

ROBOT

maintenance not considered a quick fix as described in item B above once on the

FIELD

I. time-consuming use of alignment devices that are external to the

ROBOT

(e.g. a DRIVE TEAM could bring and use a measuring tape, as long as there is no delay to the

MATCH

by doing so), and

J. repairs more substantial than those described in B.

There are no rules that prohibit use of hand tools (including battery operated tools) while setting up

ROBOTS

from the

FIELD

, provided they do not cause significant delay or cause safety concerns.

G302 *You can’t bring/use anything you want.

The only equipment that may be brought to the

ARENA

for use during a

MATCH

is listed below. Regardless of if equipment fits criteria below, it may not be employed in a way that breaks any other rules, introduces a safety hazard, blocks visibility for

FIELD

STAFF or audience members, or jams or interferes with the remote sensing capabilities of another team or the

FIELD

A. the OPERATOR CONSOLE,

B. non-powered signaling devices,

C. reasonable decorative items,

D. special clothing and/or equipment required due to a disability,

E. devices used solely for planning, tracking, and communicating strategy within the same designated area (e.g.

ALLIANCE

AREA),

F. devices used solely to record gameplay, and

G. non-powered Personal Protective Equipment (examples include, but aren’t limited to, gloves, eye protection, and hearing protection).

Items brought to the

ARENA

under allowances B-G must meet all following conditions:

I. do not connect or attach to the OPERATOR CONSOLE,

FIELD

, or

ARENA

II. do not connect or attach to another

ALLIANCE

member (other than items in category G),

III. do not communicate with anything or anyone outside of the

ARENA

IV. do not communicate with the

TECHNICIAN

V. do not include any form of enabled wireless electronic communication with the exception of medically required equipment, and

VI. do not in any way affect the outcome of a

MATCH

, other than by allowing the DRIVE TEAM to

a. plan or track strategy for the purposes of communication of that strategy to other

ALLIANCE

members or

b. use items allowed per B to communicate with the

ROBOT

Violation:

MATCH

will not start until the situation is remedied. If discovered or used inappropriately during a

MATCH

, YELLOW CARD.

Examples of equipment that may be considered a safety hazard in the confined space of the

ALLIANCE

AREA include, but are not limited to, a step stool or a large signaling device.

Examples of remote sensing capabilities include, but are not limited to, vision systems, acoustic range finders, sonars, and infrared proximity sensors.

Use of imagery that, to a reasonably astute observer, mimics the AprilTags employed on the

FIELD

is a violation of this rule.

Examples of wireless communication include, but are not limited to, radios, walkie-talkies, cell phones, Bluetooth communications, and Wi-Fi.

G303 *Start your
ROBOTS
.

ROBOT

must meet all following MATCH-start requirements:

A. it does not pose a hazard to humans,

FIELD

elements, or other

ROBOTS

B. has passed initial, complete inspection, i.e. it’s compliant with all

ROBOT

rules (for exceptions regarding Practice

MATCHES

, see section 10.4 Practice

MATCHES

C. if modified after initial Inspection, it’s compliant with I104,

D. its

BUMPERS

overlap their

ROBOT

STARTING LINE,

E. it’s the only team-provided item left on the

FIELD

F. it’s not attached to, entangled with, or suspended from any

FIELD

element,

G. it’s confined to its STARTING CONFIGURATION (reference R102 and R104), and

H. it fully and solely supports not more than 1

CORAL

(as described in section 6.3.4 SCORING ELEMENTS).

Violation: If fix is a quick remedy, the

MATCH

won’t start until all requirements are met. If it is not a quick remedy,

DISABLED

and, at the discretion of the Head

REFEREE

, must be re-inspected. If a

ROBOT

not compliant with part B or C participates, its team receives a RED CARD.

If a

ROBOT

BYPASSED

prior to the start of the

MATCH

, the DRIVE TEAM may not remove the

ROBOT

from the

FIELD

without permission from the Head

REFEREE

or the

FTA

For assessment of many of the items listed above, the Head

REFEREE

is likely to consult with the

LRI

7.4 In-MATCH

Rules in this section pertain to game play once a

MATCH

begins.

7.4.1
AUTO

The

AUTO

period is the first 15 seconds of the

MATCH

, and the

FMS

blocks any

DRIVER

control

, so

ROBOTS

operate with only their pre-programmed instructions. Rules in this section apply only during the

AUTO

period.

G401 *Behind the lines.

AUTO

, a DRIVE TEAM member staged behind a HUMAN STARTING LINE may not contact anything in front of that HUMAN STARTING LINE, unless for personal or equipment safety, to press the E-Stop or A-Stop, or granted permission by a Head

REFEREE

FTA

Violation: MINOR FOUL regardless of the number of items contacted.

Pointing, gesturing, or otherwise extending across the HUMAN STARTING LINE such that contact is not made with carpet or other

ARENA

elements is not a violation of this rule.

An example of an exception for equipment safety is if an OPERATOR CONSOLE starts to fall from, or has already fallen off of, the

DRIVER

STATION shelf. In that circumstance, DRIVE TEAM members may step forward to catch it or pick it up off the ground and return it to the shelf.

G402 *Let the
ROBOT
do its thing.

AUTO

, a DRIVE TEAM member may not directly or indirectly interact with a

ROBOT

or an OPERATOR CONSOLE unless for personal safety, OPERATOR CONSOLE safety, or pressing an E-Stop or A-Stop. A HUMAN PLAYER feeding

CORAL

to their

ROBOT

is an exception to this rule.

Violation: MINOR FOUL and YELLOW CARD

G403 Limited
AUTO
opponent interaction.

AUTO

, a

ROBOT

whose

BUMPERS

are completely across the

BARGE

ZONE (i.e. to the opposite side of the

BARGE

ZONE from its

ROBOT

STARTING ZONE) may not contact an opponent

ROBOT

(either directly or transitively through a SCORING ELEMENT CONTROLLED by either

ROBOT

and regardless of who initiates contact).

Violation: MAJOR FOUL and VERBAL WARNING. YELLOW CARD if subsequent violations during the event.

G404 No throwing in
AUTO
.

AUTO

, a HUMAN PLAYER may not enter

ALGAE

onto the

field

Violation: MINOR FOUL.

G405 No opponents
CAGES
in
AUTO
.

AUTO

, a

ROBOT

may not contact the opposing

ALLIANCE

’s

CAGES

Violation: MAJOR FOUL.

7.4.2 SCORING ELEMENTS

G406 *
ROBOTS
: use SCORING ELEMENTS as directed.

ROBOT

may not deliberately use a SCORING ELEMENT in an attempt to ease or amplify a challenge associated with a

FIELD

element.

Violation: MAJOR FOUL.

Examples include, but are not limited to:

A. launching SCORING ELEMENTS at

ROBOTS

B. using SCORING ELEMENTS to elevate

ROBOTS

in an attempt to get on a

CAGE

, and

C. positioning SCORING ELEMENTS to impede opponent access to their

PROCESSOR

D. Placing a

CORAL

into the

PROCESSOR

G407 *Keep SCORING ELEMENTS in bounds.

ROBOT

may not intentionally eject a SCORING ELEMENT from the

FIELD

(either directly or by bouncing off a

FIELD

element or other

ROBOT

) other than through a

PROCESSOR

Violation: MINOR FOUL. If

REPEATED

, MAJOR FOUL.

G408 *Don’t abuse SCORING ELEMENTS.

Neither a

ROBOT

nor a HUMAN PLAYER may damage a SCORING ELEMENT.

Violation: VERBAL WARNING. MAJOR FOUL if

REPEATED

in any subsequent

MATCHES

during the event. If via a

ROBOT

and the Head

REFEREE

determines that further damage is likely to occur,

DISABLED

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

MECHANISM

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

ROBOT

may compete in subsequent

MATCHES

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

ROBOTS

, such as scratching or marking. Routinely gouging, tearing off pieces, or marking SCORING ELEMENTS are violations of this rule.

G409 1 of each at a time.

ROBOT

may not simultaneously

CONTROL

more than 1

CORAL

and 1

ALGAE

either directly or transitively through other objects. A

ROBOT

is in

CONTROL

of a SCORING ELEMENT if

A. the SCORING ELEMENT is fully supported by or stuck in, on, or under the
ROBOT
or
B. the
ROBOT
intentionally pushes a SCORING ELEMENT to a desired location or in a preferred direction (i.e. herding).

Violation: MINOR FOUL per additional SCORING ELEMENT. YELLOW CARD if excessive.

Examples of interaction with a SCORING ELEMENT that are not “

CONTROL

” include, but are not limited to:

A. “bulldozing” (inadvertent contact with a SCORING ELEMENT while in the path of the

ROBOT

moving about the

FIELD

)

B. “deflecting” (being hit by a SCORING ELEMENT that bounces into or off a

ROBOT

)

C. inadvertent contact with a SCORING ELEMENT while attempting to acquire a SCORING ELEMENT from the

CORAL

STATION.

It is important to design your

ROBOT

so that it is impossible to inadvertently or unintentionally

CONTROL

more than the limit.

Excessive violations of

CONTROL

limits include, but are not limited to, simultaneous

CONTROL

of 3 or more SCORING ELEMENTS or frequent, greater-than-MOMENTARY

CONTROL

(i.e. more than twice in a

MATCH

) of 4 or more SCORING ELEMENTS.

G410 No de-scoring.

ROBOT

may not de-score a

CORAL

scored on the opponent’s

REEF

Violation: MAJOR FOUL per de-scored

CORAL

and the opposing

ALLIANCE

is awarded the

CORAL

G411 Don’t put
ALGAE
on their
REEF
.

ROBOT

may not deliberately put

ALGAE

on their opponent’s

REEF

Violation: MAJOR FOUL and YELLOW CARD.

G412 Only throw
CORAL
if in your
REEF
ZONE.

ROBOT

may not launch

CORAL

unless their

BUMPERS

are partially in their

REEF

ZONE.

Violation: MAJOR FOUL.

CORAL

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

CORAL

outside an

ALLIANCE

’S

REEF

ZONE 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

CORAL

to travel a short distance from the

ROBOT

B. A

ROBOT

pushing a

CORAL

a short distance away in the process of herding it across the

FIELD

7.4.3
ROBOT

G413 *
ROBOTS
must be safe.

ROBOT

may not pose an undue hazard to a human, an

ARENA

element, or another

ROBOT

in the following ways:

A. the

ROBOT

or anything it

CONTROLS

, e.g. a

CORAL

, contacts anything outside the

FIELD

except for

MOMENTARY

contact inside the

CHUTE

B. its

BUMPERS

fail such that a segment completely detaches,

C. a corner of its

ROBOT

PERIMETER is exposed,

D. its team number or

ALLIANCE

color are indeterminate,

E. its

BUMPERS

leave

the

BUMPER

ZONE REPEATEDLY or for more than a

MOMENTARY

amount of time, or

F. its operation or design is dangerous or unsafe.

Violation:

DISABLED

Examples of dangerous operation or designs that likely pose undue hazards include, but are not limited to:

A. uncontrolled motion that cannot be stopped by the DRIVE TEAM,

ROBOT

parts “flailing” outside of the

FIELD

ROBOTS

dragging their battery, and

ROBOTS

that consistently extend outside the

FIELD

Please be conscious of

REFEREES

and

FIELD

STAFF working around the

ARENA

who may be in close proximity to your

ROBOT

G414 *Keep your
BUMPERS
low.

BUMPERS

must be in the

BUMPER

ZONE (see R405).

Violation: MINOR FOUL.

G415 Expansion limits.

ROBOT

may not extend more than 1 ft. 6 in. (~45 cm) beyond the vertical projection of its

ROBOT

PERIMETER.

If the over-expansion is due to damage and not used for strategic benefit, it is an exception to this rule, and no penalty is imposed.

Violation: MINOR FOUL, or MAJOR FOUL if the over-expansion is used for strategic benefit, including if it impedes or enables a scoring action.

Examples of compliant and non-compliant extensions are shown in Figure 7‑2.

ROBOT

A violates this rule for having an extension that is too long, while

ROBOTS

B, C, and D do not violate this rule.

Figure 7‑2 Examples of compliance and non-compliance of this rule (examples A and B are side views, examples C and D are top views)

The intent of this rule is to prevent piling on a punitive response to a

ROBOT

that’s already experienced hardship and not leveraging that hardship for gain. Examples for this rule include the following:

A. a physical device on a team’s

ROBOT

, whose purpose is to restrain their

CORAL

scoring arm from extending beyond the limit defined in B, breaks after a collision with another

ROBOT

. Provided the

ROBOT

does not use the now-too-long extension to score SCORING ELEMENTS, no violation is assigned.

B. a vertical structural member of a

ROBOT

breaks at the bottom and rotates out such that it breaches the limit imposed in part B. The

ROBOT

then

parks

such that its extension blocks opponent

ROBOTS

from reaching their

PROCESSOR

. A MAJOR FOUL is issued.

C. a latch restraining a launcher

MECHANISM

from extending above the limit defined in A breaks, allowing the

MECHANISM

to shift such that it’s above the plane of other

ROBOTS

. The

ROBOT

uses this new height to get above a defender and score

ALGAE

in the

BARGE

. A MAJOR FOUL is issued.

G416 Don’t damage the
FIELD
.

ROBOT

may not damage

FIELD

elements.

Violation: VERBAL WARNING. If the Head

REFEREE

infers that additional damage is likely,

DISABLED

. YELLOW CARD for any subsequent damage during the event. 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

G417 Watch your
FIELD
interaction.

ROBOT

is prohibited from the following interactions with

FIELD

elements with the exception of

CAGES

(see section 7.4.2 SCORING ELEMENTS).

A. grabbing,

B. grasping,

C. attaching to (including the use of a vacuum or hook fastener to

anchor

to the

FIELD

carpet),

D. becoming entangled with, and

E. suspending from.

Violation: MAJOR FOUL, plus YELLOW CARD if

REPEATED

, or longer than

MOMENTARY

. If the Head

REFEREE

infers that damage is likely,

DISABLED

. Corrective action (such as removing the offending

MECHANISM

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

ROBOT

will be allowed to compete in subsequent

MATCHES

G418 An Opponent’s
CAGES
are off-limits in
TELEOP
.

TELEOP

, A

ROBOT

may not contact an opponent’s

CAGE

Violation: MAJOR FOUL and opposing

ALLIANCE

is awarded the

BARGE

if a Qualification

MATCH

G419
ANCHORS
are off-limits.

ROBOT

may not contact the

ANCHORS

. Exceptions are granted for actions that are,

MOMENTARY

, and inconsequential.

Violation: MAJOR FOUL and the

ALLIANCE

is ineligible for the

BARGE

if a Qualification

MATCH

G420
NET
and contents are off-limits.

ROBOT

may not contact either

NET

or any

ALGAE

scored in a

NET

Violation: MAJOR FOUL. Additional MAJOR FOUL for each

ALGAE

de-scored.

G421 1 defender at a time.

ROBOT

may not cross from its side of the

FIELD

(i.e. containing its

REEF

) and end on the opponent’s side of the

FIELD

(i.e. containing the opponent

REEF

) outside and beyond the

BARGE

ZONES if an

ALLIANCE

partner

ROBOT

’S

BUMPERS

are completely across the

BARGE

ZONES and on the opponent’s side of the

FIELD

Violation: MINOR FOUL, and for every 3 seconds in which the situation is not corrected, a MAJOR FOUL is assessed.

7.4.4 Opponent Interaction

Note, G422, G423, G424 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.

G422 *Stay out of other
ROBOTS
.

ROBOT

may not use a

COMPONENT

outside its

ROBOT

PERIMETER (except its

BUMPERS

) to initiate contact with an opponent

ROBOT

inside the vertical projection of the opponent’s

ROBOT

PERIMETER.

Violation: MINOR 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.

G423 *This isn’t combat robotics.

ROBOT

may not damage or functionally impair an opponent

ROBOT

in either of the following ways:

A. deliberately.

B. regardless of intent, by initiating contact, either directly or transitively via a SCORING ELEMENT CONTROLLED by the

ROBOT

, inside the vertical projection of an opponent’s

ROBOT

PERIMETER.

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: MAJOR FOUL and YELLOW CARD, or if opponent

ROBOT

is unable to drive, then MAJOR 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.

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

ROBOT

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

ROBOT

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 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.

G424 *Don’t tip or entangle.

ROBOT

may not deliberately, attach to, tip, or entangle with an opponent

ROBOT

Violation: MAJOR FOUL and YELLOW CARD, or if

CONTINUOUS

or opponent

ROBOT

is unable to drive, then MAJOR 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

interaction, including single

BUMPER

hits that result in a

ROBOT

tipping, 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.

G425 *There’s a 3-count on
PINS
.

ROBOT

may not

an opponent’s

ROBOT

for more than 3 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

count ends once any of the following criteria below are met:

A. the

ROBOTS

have separated by at least 6 ft. (~183 cm) from each other for more than 3 seconds,

B. either

ROBOT

has moved 6 ft. from where the

initiated for more than 3 seconds, or

C. the PINNING

ROBOT

gets PINNED.

For criteria A, the

count pauses once

ROBOTS

are separated by 6 ft. until either the

ends or the PINNING

ROBOT

moves back within 6 ft., at which point the

count is resumed.

For criteria B, the

count pauses once either

ROBOT

has moved 6ft from where the

initiated until the

ends or until both

ROBOTS

move back within 6ft., at which point the

count is resumed.

Violation: MINOR FOUL, and for every 3 seconds in which the situation is not corrected, a MAJOR FOUL is assessed.

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

ROBOT

is PINNED.

G426 *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 not isolate or close off any major element of

MATCH

play.

Violation: MAJOR FOUL, and for every 3 seconds in which the situation is not corrected, a MAJOR FOUL is assessed.

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

A. shutting down access to all SCORING ELEMENTS,

B. quarantining all opponents to a small area of the

FIELD

C. blocking all access to the opponent’s

PROCESSOR

, and

D. blocking all access to the opponent’s

CAGES

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.

G427 ZONE protection.

ROBOT

may not contact, directly or transitively through a SCORING ELEMENT, an opponent

ROBOT

partially inside the opponent’s

BARGE

ZONE or

REEF

ZONE regardless of who initiates contact.

Violation: MAJOR FOUL.

ROBOTS

that contact each other while in their respective

BARGE

ZONES may result in a violation for both

ALLIANCES

G428
CAGE
protection.

ROBOT

may not contact, directly or transitively through a SCORING ELEMENT, an opponent

ROBOT

in contact with an opponent

CAGE

during the last 20 seconds regardless of who initiates contact.

Violation: MAJOR FOUL and the opponent

ALLIANCE

is awarded the

BARGE

7.4.5 Human

G429 *No wandering.

A DRIVE TEAM member must remain in their designated area as follows:

DRIVERS

and

COACHES

may not contact anything outside their

ALLIANCE

AREA,

B. a

DRIVER

must use the OPERATOR CONSOLE in the

DRIVER

STATION to which they are assigned, as indicated on the team sign,

C. a HUMAN PLAYER may not contact anything outside the area in which they started the

MATCH

(i.e. the

ALLIANCE

AREA or

PROCESSOR

AREA), and

D. a

TECHNICIAN

may not contact anything outside their designated area.

Exceptions are granted as follows:

E. for a HUMAN PLAYER partially outside the

ALLIANCE

PROCESSOR

AREA,

F. in cases concerning safety, and

G. for actions that are inadvertent,

MOMENTARY

, and inconsequential.

Violation: MINOR FOUL

An intent of item B is to prevent unsafe situations where long tethers to OPERATOR CONSOLE devices increase tripping hazards as the operator moves about the

ALLIANCE

AREA. In the interest of avoiding nuisance penalties associated with a DRIVE TEAM member stepping outside of a prescribed area, we prefer to offer a general guideline as to what it means to use the OPERATOR CONSOLE in the

ALLIANCE

AREA. Provided the DRIVE TEAM member is within close proximity of their

DRIVER

STATION, there will be no repercussions. However, a DRIVE TEAM member located more than approximately half a

DRIVER

STATION width away from their own

DRIVER

STATION while using their OPERATOR CONSOLE is likely violating this rule.

G430 *
COACHES
and other teams: hands off the
controls
.

ROBOT

shall be operated only by the

DRIVERS

and/or HUMAN PLAYERS of that team. A

COACH

activating their E-Stop or A-Stop is the exception to this rule.

Violation: MAJOR FOUL. RED CARD if greater-than-MOMENTARY.

Exceptions may be made before a

MATCH

for major conflicts, e.g. religious holidays, major testing, transportations issues, etc.

G431 *DRIVE TEAMS, watch your reach.

A DRIVE TEAM member may not extend into the

CHUTE

Violation: MINOR FOUL.

G432 *Humans: use SCORING ELEMENTS as directed.

A DRIVE TEAM member may not deliberately use a SCORING ELEMENT in an attempt to ease or amplify a challenge associated with a

FIELD

element.

Violation: MAJOR FOUL.

An example of a violation of this rule is if a HUMAN PLAYER uses an

ALGAE

to disrupt an opponent

ROBOT

G433 *SCORING ELEMENT delivery.

SCORING ELEMENTS may only be entered onto the

FIELD

as follows:

CORAL

may only be introduced to the

FIELD

by a HUMAN PLAYER or

DRIVER

through the

CORAL

STATION and

ALGAE

may only be entered onto the

FIELD

by a HUMAN PLAYER in their

PROCESSOR

AREA.

Violation: MAJOR FOUL.

G434 *
COACHES
, SCORING ELEMENTS are off limits.

COACHES

may not touch SCORING ELEMENTS, unless for safety purposes.

Violation: MINOR FOUL.

7.5 Post-MATCH

G501 *
Leave
promptly.

A DRIVE TEAM member may not cause significant or multiple delays to the start of a subsequent

MATCH

, scheduled break content, or other

FIELD

activities.

Violation: VERBAL WARNING. YELLOW CARD if subsequent violations at any point during the event.

6 Game Details

8 ROBOT Construction Rules (R)

The rules listed below explicitly address legal parts and materials and how those parts and materials may be used on a REEFSCAPE ROBOT. A ROBOT is an electromechanical assembly built by the FIRST Robotics Competition team to play the current season’s game and includes all the basic systems required to be an active participant in the game –power, communications, control, BUMPERS, and movement about the FIELD. A BUMPER is a protective assembly designed to attach to the exterior of the ROBOT and constructed as specified in section 8.4 BUMPER Rules.

7 Game Rules (G)