G402: Start AUTO on time

If a team chooses to run an AUTO OpMode during the AUTO period, a DRIVE TEAM member must press the (▶) start button on their DRIVER STATION app within a MOMENTARY delay of the start of the MATCH. This rule does not apply if the (▶) start button is not pressed during AUTO.

G403: OpModes are stopped by the end of AUTO

ROBOTS must no longer be running an AUTO OpMode by the end of the AUTO period. This can be done by a DRIVE TEAM member pressing the (■) stop button on the DRIVER STATION app, allowing the OpMode to naturally end, or allowing the 30 second AUTO timer to end the OpMode.

G404: No AUTO opponent interference

FIELD columns A, B, C constitute the blue side of the FIELD, and columns D, E, F (Figure 9‑4) constitute the red side of the FIELD. During AUTO ROBOTS may not:

1. contact an opposing ALLIANCE’S ROBOT which is completely within the opposing ALLIANCE’S half of the FIELD.
2. contact a pre-set SAMPLE on the opposing ALLIANCE’S half of the FIELD.
3. move SCORING ELEMENTS onto the opposing ALLIANCE’S half of the FIELD outside of the SUBMERSIBLE ZONE.

The intent of this rule is to protect ROBOT actions performed while completely in their ALLIANCE’S side of the FIELD. Navigating into the opposing ALLIANCE’S side of the FIELD during AUTO is a risky gameplay strategy.

G405: ROBOTS are motionless between AUTO and TELEOP

Any movement of the ROBOT or any of its MECHANISMS is not allowed during the transition period between AUTO and TELEOP.

Teams may press buttons on their DRIVER STATION app to initialize or start a TELEOP OpMode during the AUTO to TELEOP transition period. If the INIT portion of the OpMode causes the ROBOT to violate this rule (actuators moving or twitching in any way) then the team should wait until the TELEOP period begins before pressing INIT.

G406: ROBOTS are motionless at the end of TELEOP

ROBOTS must no longer be actively controlled by DRIVERS after the end of the TELEOP period. This can be done by a DRIVE TEAM member pressing the (■) stop button on the DRIVER STATION app or by discontinuing any operation of the ROBOT by the end of the MATCH period.

DRIVE TEAMS should make their best effort to stop gameplay immediately at the end of the MATCH period. The end of MATCH period buzzer audio cue is approximately 3 seconds long and is used as an unofficial indicator to teams and REFEREES that the MATCH has ended.

G407: ROBOTS use SCORING ELEMENT as directed

ROBOT may not deliberately use a SCORING ELEMENT in an attempt to ease or amplify a challenge associated with a FIELD element other than as intended.

Examples include, but are not limited to:

1. placing SCORING ELEMENTS on other ROBOTS,
2. using SCORING ELEMENTS to elevate ROBOTS in an attempt to ASCEND the RUNGS of the SUBMERSIBLE, and
3. positioning SCORING ELEMENTS to impede opponent access to FIELD elements.

G408: Keep SCORING ELEMENTS in bounds

A ROBOT may not intentionally eject a SCORING ELEMENT from the FIELD (either directly or by bouncing off a FIELD element or another ROBOT). SCORING ELEMENTS that leave the FIELD are not returned to gameplay

SCORING ELEMENTS removed from the FIELD while attempting to score are not subject to this rule.

G409: Do not damage SCORING ELEMENTS

Neither a ROBOT nor a HUMAN PLAYER may damage a SCORING ELEMENT.

SCORING ELEMENTS are expected to undergo a reasonable amount of wear and tear as they are handled by ROBOTS and humans, such as scratching, marking, and eventually damage due to fatigue. Routinely gouging, tearing off pieces, or marking SCORING ELEMENTS are violations of this rule.

G410: 1 SAMPLE or SPECIMEN at a time

A ROBOT may not CONTROL more than 1 SAMPLE or 1 SPECIMEN at a time, either directly or transitively through other objects. There is no limit to the number of CLIPS a ROBOT may possess.

A ROBOT is in CONTROL of a SAMPLE or SPECIMEN if:

1. the SAMPLE or SPECIMEN is fully supported by the ROBOT or
2. it intentionally pushes a SAMPLE or SPECIMEN to a desired location or in a preferred direction (i.e., herding, often with a concave surface)

Exceptions to this rule are as follows:

NOTE FROM WHAT THE REF: These are (c) and (d) in the manual. Due to a fun interaction of the on-disk data format of WTR and the layers of conversion to get it to your eyeballs now, it gets coerced into being (a) and (b). Sorry, this probably isn't fixable in any reasonable timeframe!

1. ROBOTS may MOMENTARILY exceed CONTROL limits while collecting SAMPLES that are in the SUBMERSIBLE ZONE.
2. scored SAMPLES or SPECIMENS for the corresponding ALLIANCE are exempt from the CONTROL limit.

Examples of interaction with a SAMPLE or SPECIMEN that are not “CONTROL” include, but are not limited to:

1. PLOWING or “bulldozing” (inadvertent contact with a SAMPLE or SPECIMEN, typically via a flat or convex surface, while in the path of the ROBOT moving about the FIELD).
2. “deflecting” (being hit by a SAMPLE or SPECIMEN that bounces off a ROBOT).

Excessive violations of CONTROL limits include, but are not limited to, simultaneous CONTROL of 3 or more SAMPLES and/or SPECIMENS, or frequent, greater-than MOMENTARY CONTROL (i.e., more than twice in a MATCH) of 2 or more SCORING ELEMENTS. REPEATED excessive violations of this rule do not result in additional YELLOW CARDS unless the violation reaches the level of egregious to trigger a G201 violation.

G411: ROBOTS may not CONTROL the opposing ALLIANCE’S SPECIFIC SAMPLES or SPECIMENS

ROBOTS may only have MOMENTARY CONTROL of opposing ALLIANCE SPECIFIC SAMPLES or SPECIMENS.

G412: ROBOTS may not de-score opposing ALLIANCE SCORING ELEMENTS

ROBOTS may not affect the following opposing [ALLIANCE] achievements:

1. removal of SAMPLES from the NET ZONE
2. removal of SAMPLES from the BASKETS
3. removal of SPECIMENS that are fully clipped onto the CHAMBERS.

SPECIMENS that are not fully clipped onto a CHAMBER and are de-scored from a CHAMBER during normal ROBOT interactions with the SUBMERSIBLE are not penalized.

A SPECIMEN that is taken apart while scored onto the CHAMBER is a violation of this rule and does incur a FOUL.

G413: ROBOTS must be safe

A ROBOT may not pose an undue hazard to a human, an ARENA element, or another ROBOT in the following ways:

1. the ROBOT or anything it CONTROLS, i.e., a SCORING ELEMENT, contacts anything outside the FIELD.
2. its operation or design is dangerous or unsafe.

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

1. uncontrolled motion that cannot be stopped by the DRIVE TEAM,
2. ROBOT parts “flailing” outside of the FIELD,
3. ROBOTS dragging their battery, and
4. 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: ROBOTS must stop when instructed

If a team is instructed to DISABLE their ROBOT by a REFEREE per T202, a DRIVE TEAM member must press the (■) stop button on the DRIVER STATION app.

G415: ROBOTS must be identifiable

A ROBOT’S team number and ALLIANCE color must not become indeterminate by determination of the Head REFEREE

Teams are encouraged to robustly affix their ROBOT SIGNS to their ROBOT in highly visible locations such that they do not easily fall off or become obscured during normal gameplay.

G416: Watch your ARENA interaction

With the exception of SCORING ELEMENTS (per G409), ROBOTS may not damage any ARENA elements.

ROBOTS are also prohibited from the following interactions with an ARENA element, except for SCORING ELEMENTS and their ALLIANCE’S RUNGS:

1. grabbing
2. grasping
3. attaching to
4. becoming entangled with, and
5. suspending from

Scoring SPECIMENS on CHAMBERS does not constitute a violation of this rule.

G417: Stay in CONTROL of your SCORING ELEMENTS

SCORING ELEMENTS may not be LAUNCHED.

This rule is intended to prevent designs which use LAUNCHING to strategically play the game. This is not intended to penalize teams with active manipulators which are expelling SCORING ELEMENTS through normal operation.

G418: Horizontal expansion limit

After the MATCH has started, ROBOTS may expand beyond the STARTING CONFIGURATION but are still subject to sizing constraints. The sizing constraints are specified in R104.

This rule is intended to limit the amount of floor area each ROBOT can cover with the maximum range of motion of all extensions. All possible movement of extensions outside the STARTING CONFIGURATION must be constrained as described in R104.

During the MATCH REFEREES may use ARENA elements to help gauge ROBOT expansion during the MATCH. For example:

1. TILES are approximately 24 in. (~61 cm)
2. The RUNGS on the SUBMERSIBLE are 44.5 in. (~113 cm) wide

REFEREES that observe ROBOTS that are in violation of this rule may request the ROBOT be reinspected.

G419: Watch out for Humans

A ROBOT may not:

1. enter the OBSERVATION ZONE while a HUMAN PLAYER is in the OBSERVATION ZONE.
2. contact a SCORING ELEMENT, either directly or transitively, that is controlled/possessed by a HUMAN PLAYER.

G419 and G432 do not stack. Only one should be called per instance of violation.

G420: No climbing on the inside

ROBOTS must start their ASCENT with their CHASSIS completely outside the SUBMERSIBLE ZONE.

The purpose of this rule is to limit how much of the ROBOT may be inside the SUBMERSIBLE ZONE before the ASCENT begins. ROBOT elements are allowed to reach into the SUBMERSIBLE ZONE while attempting to ASCEND, as long as the ROBOT CHASSIS remains completely outside the SUBMERSIBLE ZONE. It is expected that there will be some contact between opponent ROBOTS within the SUBMERSIBLE ZONE, and this is intended to minimize the extent of that contact.

G421: This is not combat robotics

A ROBOT may not deliberately damage or deliberately functionally impair an opponent ROBOT as perceived by a REFEREE.

Damage or functional impairment because of contact with a tipped-over or DISABLED opponent ROBOT, which is not perceived by a REFEREE to be deliberate, is not a violation of this rule.

FIRST Tech Challenge can be a high-contact competition and may include rigorous gameplay. While this rule aims to limit severe damage to ROBOTS, teams should design their ROBOTS to be robust. Teams are expected to act responsibly.

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

1. 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.

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.

"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.

G422: Do not tip or entangle

A ROBOT may not deliberately, as perceived by a REFEREE, attach to, tip, or entangle an opponent ROBOT.

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

1. using a wedge-like MECHANISM to tip over an opponent ROBOT
2. making frame-to-frame contact with an opponent ROBOT that is attempting to right itself after previously falling over and causing them to fall over.
3. causing an opponent ROBOT to tip over by contacting the ROBOT after it starts to tip if, in the judgement of the REFEREE, that contact could have been avoided.

Tipping as an unintended consequence of normal ROBOT-to-ROBOT interaction, including single frame-to-frame hits that result in a ROBOT tipping, as perceived by the REFEREE, is not a violation of this rule.

"Unable to drive" means that because of the incident, the DRIVER can no longer drive to a desired location in a reasonable time (generally). For example, if a ROBOT can only move in circles, or can only move extremely slowly, the ROBOT is considered unable to drive.

G423: There is a 5-count on PINS

A ROBOT may not PIN an opponent’s ROBOT for more than 5 seconds. A ROBOT is PINNING if it is preventing the movement of an opponent ROBOT by contact, either direct or transitive (such as against a FIELD element) and the opponent ROBOT is attempting to move. A PIN count ends once any of the following criteria below are met:

1. the ROBOTS have separated by at least 2 ft. (~61 cm) from each other for more than 5 seconds,
2. either ROBOT has moved 2 ft. from where the PIN initiated for more than 5 seconds, or
3. the PINNING ROBOT gets PINNED.

For criteria A, the PIN count pauses once ROBOTS are separated by 2 ft. until either the PIN ends or the PINNING ROBOT moves back within 2 ft., at which point the PIN count is resumed.

For criteria B, the PIN count pauses once either ROBOT has moved 2ft from where the PIN initiated until the PIN ends or until both ROBOTS move back within 2ft., at which point the PIN count is resumed.

G424: Do not use strategies intended to shut down major parts of gameplay

A ROBOT or ROBOTS may not, in the judgment of a REFEREE, isolate or close off any major element of MATCH play for a greater-than-MOMENTARY duration.

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

1. shutting down access to all SCORING ELEMENTS,
2. quarantining an opponent to a small area of the FIELD,
3. quarantining SCORING ELEMENTS out of the opposing ALLIANCE’S reach,
4. blocking all access to the opponent’s BASKETS, NET ZONE, CHAMBERS, or OBSERVATION ZONE, and
5. blocking all access to SCORING ELEMENTS in the SUBMERSIBLE ZONE

G425: NET ZONE Protection

A ROBOT may not contact (either directly or transitively through a SCORING ELEMENT CONTROLLED by either ROBOT, regardless of who initiates contact) an opponent ROBOT if any part of either ROBOT is in the opponent’s NET ZONE.

G426: OBSERVATION ZONE Protection

A ROBOT may not be in the opposing ALLIANCE’S OBSERVATION ZONE. A ROBOT that is being PINNED is exempt from this rule.

In the scenario where a ROBOT is being PINNED in their opponent’s OBSERVATION ZONE, REFEREES are instructed to disregard G426 and focus on the PINNING.

G427: Climbing ROBOTS are protected

In the last 30 seconds of the MATCH, a ROBOT may not contact (either directly or transitively through a SCORING ELEMENT CONTROLLED by either ROBOT and regardless of who initiates contact) an opponent ROBOT if any part of either ROBOT is in the opponent’s ASCENT ZONE. Exceptions to this rule are as follows:

1. Contact occurring while both ROBOTS have achieved LEVEL 2 or LEVEL 3 ASCENT.

Teams should be aware that the SUBMERSIBLE ZONE is a constrained space and ROBOTS swinging during their ASCENT may contact each other and teams should design their ROBOTS to be resilient to incidental contact.

ROBOTS that are attempting to play defense within the SUBMERSIBLE ZONE or the ASCENT ZONES during the last 30 seconds of the MATCH are likely to incur penalties.

G428: No wandering

DRIVE TEAM members must remain in their designated ALLIANCE AREA.

1. DRIVE TEAMS may be anywhere in their respective ALLIANCE AREA during a MATCH.
2. DRIVE TEAM members must be staged inside their respective ALLIANCE AREA prior to MATCH start.

The intent of this rule is to prevent DRIVE TEAM members from leaving their assigned AREA during a MATCH to gain a competitive advantage. For example, moving to another part of the FIELD for better viewing, reaching into the FIELD, etc. Simply breaking the plane of the AREA during normal MATCH play is not a FOUL.

Exceptions are granted in cases concerning safety and for actions that are inadvertent, MOMENTARY, and inconsequential.

G429: DRIVE COACHES and other teams: hands off the controls

A ROBOT shall be operated only by the DRIVERS of that team, DRIVE COACHES may not handle the gamepads. DRIVE COACHES, if desired, may help the DRIVERS in the following ways:

A. holding the DRIVER STATION device, B. troubleshooting the DRIVER STATION device, C. selecting OpModes on the DRIVER STATION app, D. pressing the INIT button on the DRIVER STATION app, E. pressing the (▶) start button on the DRIVER STATION app, or F. pressing the (■) stop button on the DRIVER STATION app.

Exceptions may be made before a MATCH for major conflicts, e.g., religious holidays, major testing, transportation issues, etc.

G430: DRIVE TEAMS, watch your reach

Once a MATCH starts, a DRIVE TEAM member may not extend into the FIELD except as specifically allowed by G431 and G432.

Exceptions are granted in cases concerning safety and for actions that are inadvertent, MOMENTARY, and inconsequential.

G431: HUMAN PLAYERS manipulate SCORING ELEMENTS within limits

Only the HUMAN PLAYER may introduce SCORING ELEMENTS into or retrieve SCORING ELEMENTS from the OBSERVATION ZONE.

1. any number of SCORING ELEMENTS can be manipulated by the HUMAN PLAYER at a time.
2. SCORING ELEMENTS may be placed in any orientation and/or in contact with other SCORING ELEMENTS.
3. HUMAN PLAYERS may only place SCORING ELEMENTS into the OBSERVATION ZONE during the AUTO and TELEOP periods of the MATCH.
4. HUMAN PLAYERS may not be in contact with a SCORING ELEMENT, either directly or transitively, that is possessed/controlled by a ROBOT.

SPECIMENS hung from the FIELD wall in the OBSERVATION ZONE are still considered in the OBSERVATION ZONE and may be manipulated by the HUMAN PLAYER.

G432: Watch out for ROBOTS

A HUMAN PLAYER cannot break the vertical plane of the FIELD wall when a ROBOT is in the OBSERVATION ZONE. The only exceptions are:

1. The ROBOT in the OBSERVATION ZONE has been declared DISABLED by a REFEREE.

G419 and G432 do not stack. Only one should be called per instance of violation.

G433: HUMAN PLAYERS may not yeet SCORING ELEMENTS

HUMAN PLAYERS may not cause SCORING ELEMENTS to exit the OBSERVATION ZONE into the remainder of the FIELD.

HUMAN PLAYERS should take care when releasing SCORING ELEMENTS into the OBSERVATION ZONE. The final resting place of the SCORING ELEMENTS is the responsibility of the HUMAN PLAYER, regardless of what the SCORING ELEMENTS hits as it is released.

G434: No tools to introduce or retrieve SCORING ELEMENTS

The HUMAN PLAYER may not use a tool to manipulate a SCORING ELEMENT.

Accommodations and/or exceptions for HUMAN PLAYERS with a disability and/or an extenuating circumstance will be made at the discretion of the head REFEREE and/or Event Director.

G102: Be careful when interacting with ARENA elements

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

1. climbing on
2. hanging from
3. manipulating such that it does not return to its original shape without human intervention, and
4. damaging

G202: Drive Team Interactions

Opposing ALLIANCES’ DRIVE TEAM members cannot distract/interfere with the opposing ALLIANCE. This includes taunting or other disruptive behavior.

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.

Example 1: A MATCH is being played by teams A and B, in which team B is encouraged by team D to not achieve a LEVEL 3 ASCENT, resulting in teams A and B losing the MATCH. 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 and B, in which team A is assigned to participate as a SURROGATE. Team D encourages team A not to participate in the MATCH so that team D gains ranking position over team B. 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 lower their tie breaker scores, 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.

Example 1: A MATCH is being played by Teams A and B, in which Team B is encouraged by Team D to not achieve a LEVEL 3 ASCENT. Team B accepts this request. 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 B has violated this rule.

Example 2: A MATCH is being played by Teams A and B, in which Team A is assigned to participate as a SURROGATE. Team A accepts Team D’s request to not participate in the MATCH so that Team D gains ranking position over Team B. 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 in an effort to lower their own ranking and/or manipulate the rankings of other teams.

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 (e.g., 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: Do not abuse ARENA access

A team member (except those DRIVERS, HUMAN PLAYERS, and DRIVE COACHES on the DRIVE TEAM for the MATCH) granted access to restricted areas in and around the ARENA (e.g., via event issued media badges) may not assist, coach, or use signaling devices during the MATCH. Exceptions will be granted for inconsequential infractions and in cases concerning safety.

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.

G207: 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 MATCHES.

The team should inform the lead Queuer if the team’s ROBOT is not able to participate.

G208: Enter only 1 ROBOT

Each registered FIRST Tech Challenge team may enter only 1 ROBOT (or “robot,” a ROBOT-like assembly equipped with most of its CHASSIS, i.e., A ROBOT’S MAJOR MECHANISM that enables it to move around a FIELD) into a FIRST Tech Challenge event. Each registered FIRST Tech Challenge team may only participate in one concurrent event at a time.

“Entering” a ROBOT (or robot) into a FIRST Tech Challenge means bringing it to or using it at the event such that it is an aid to your team (e.g., for spare parts, judging material, or for practice).

While “most of its drive base” is a subjective assessment, for the purposes of this rule, an assembly whose drive base is missing all wheels/treads, gearboxes, and belts/chains is not considered a “ROBOT.” If any of those COMPONENTS are incorporated, the assembly is now considered a “ROBOT.”

This rule does not prohibit teams from bringing in ROBOTS from other FIRST programs for the purposes of awards presentations or pit displays.

It is expected that teams will update, make changes and may even build multiple ROBOTS in the course of a season, this rule only applies to bringing multiple different ROBOTS to a single event.

G209: Keep your ROBOT together

A ROBOT may not intentionally detach or leave a part on the FIELD. Tethered elements of the ROBOT are considered detached if either can move independently of the other.

G210: Do not expect to gain by doing others harm

Actions clearly aimed at forcing the opponent ALLIANCE to violate a rule are not in the spirit of FIRST Tech Challenge and not allowed. Rule violations forced in this manner will not result in an assignment of a penalty to the targeted ALLIANCE.

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

1. a red ALLIANCE ROBOT in their ASCENT ZONE in the final 30 seconds of the MATCH contacts a blue ALLIANCE ROBOT
2. a red ROBOT attempts to enter their NET ZONE to place a SPECIMEN and pushes a blue ROBOT that was less than 1 TILE away into the NET ZONE.

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

1. trapping an opposing ALLIANCE ROBOT in your ALLIANCE’S ASCENT ZONE during the last 30 seconds of the MATCH.
2. pushing an opposing ALLIANCE ROBOT into your ALLIANCE’S OBSERVATION ZONE intentionally or from more than 1 TILE away.
3. placing your ALLIANCE SPECIFIC SAMPLE or SPECIMEN in an opposing ALLIANCE’S ROBOT.
4. a ROBOT becomes pinned in their opposing ALLIANCE’S OBSERVATION ZONE by the opposing ALLIANCE ROBOT

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.

Continued violations will be brought to FIRST Headquarters’ attention. FIRST Headquarters will work with event staff to determine if further escalations are necessary, which can include removal from award consideration and removal from the event.

Please see section 10.6.1 YELLOW and RED CARDS for additional detail.

The intent of this rule is to provide the Head REFEREES with the flexibility necessary to keep the event running smoothly, as well as keep the safety of all the participants as the highest priority. There are certain behaviors that automatically result in a YELLOW or RED CARD because this behavior puts the FIRST community at risk. Those behaviors include, but are not limited to the list below:

1. inappropriate behavior as outlined in the orange box of G201,
2. reaching into the FIELD and grabbing a ROBOT during a MATCH,
3. PINNING in excess of 15 seconds,

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.

G302: You can only bring/use specific items to the MATCH

The only equipment that may be brought to the ARENA for 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.

1. the ROBOT
2. the OPERATOR CONSOLE
3. ROBOT carts (which may contain basic tools and supplies to maintain the ROBOT)
4. non-powered signaling devices
5. reasonable decorative items
6. special clothing and/or equipment required due to a disability
7. devices (e.g., laptop, tablet, phone) used solely for planning, tracking, and communicating strategy within the same designated area (e.g., ALLIANCE AREA)
8. devices used solely to record gameplay
9. 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 D-I must meet all following conditions:

1. does not connect or attach to another ALLIANCE member (other than items in category I).
2. does not communicate with anything or anyone outside of the ARENA.
3. does not include any form of enabled wireless electronic communication with the exception of medically required equipment.
4. does not in any way affect the outcome of a MATCH, other than by allowing the DRIVE TEAM to

• plan or track strategy for the purposes of communication of that strategy to other ALLIANCE members or
• use items allowed per D to communicate with the ROBOT.

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: ROBOTS on the FIELD must be set up to play a MATCH

A ROBOT must meet all following MATCH-start requirements:

1. does not pose a hazard to humans, FIELD elements, or other ROBOTS.
2. has passed inspection, i.e., it is compliant with all ROBOT rules.
3. if modified after initial Inspection, it is compliant with I304.
4. is the only team-provided item left on the FIELD.
5. is fully contained within the FIELD and not in the NET ZONE or OBSERVATION ZONE.
6. touching the FIELD wall adjacent to the ALLIANCE AREA.
7. not attached to, entangled with, or suspended from any FIELD element.
8. confined to its STARTING CONFIGURATION (see R101 and R102).
9. in contact with no more than the allowed pre-load possession limit as described in section 10.3.1 SCORING ELEMENTS.
10. ROBOT SIGNS must indicate the correct ALLIANCE color (see R101).

If a ROBOT is DISABLED 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.

G304: Teams must select an OpMode

An OpMode must be selected on the DRIVER STATION app and initialized by pressing the INIT button. If this OpMode is an AUTO OpMode, the 30 second AUTO timer must be enabled.

This rule requires all teams to select and INIT an OpMode regardless of whether or not an AUTO OpMode is planned to be used during AUTO. FIELD STAFF will use this as an indication that a team is ready to start the MATCH.

Teams without an AUTO OpMode should consider creating a default AUTO OpMode using the BasicOpMode sample and use the auto-loading feature to automatically queue up their TELEOP OpMode.

G502: Stop ROBOTS before entering the FIELD

DRIVE TEAM members may not enter the FIELD to recover ROBOTS until:

1. the Head REFEREE has signaled it is okay to enter the field and
2. the DRIVE TEAM has pressed the (■) stop button on their DRIVER STATION app

a cooperative of two FIRST Tech Challenge teams

a 120 in. (~304.8 cm) wide by 42 in. (~106.7 cm) deep by infinitely tall volume formed by placing ALLIANCE colored tape onto the flooring surface outside of the FIELD.

The designated STUDENT representative from each ALLIANCE lead is called the ALLIANCE CAPTAIN.

elements owned or associated with a specific ALLIANCE

includes all elements of the game infrastructure that are required to play this season's FTC game including: the FIELD, SCORING ELEMENTS, queue area, team media area, and all equipment needed for FIELD control, ROBOT control, and scorekeeping

an error in ARENA operation

A ROBOT is considered ASCENDING once it is attempting to achieve an ASCENT LEVEL, and ASCENDED once it has achieved an ASCENT LEVEL.

an infinitely tall 5-sided polygon that is formed from two 9.25 in. (~23.5 cm) long sides bounded by the SUBMERSIBLE outriggers, one 44.75 in. (~113.7 cm) long side bounded by the barrier of the SUBMERSIBLE, and the two 26 in. (~66 cm) long sides bounded by white tape that extend from the outriggers to a point 20 in. (~50.8 cm) from the barrier. The ASCENT ZONE includes the taped lines.

the first 30 seconds of the MATCH, during which DRIVERS may not provide input to their ROBOTS, so ROBOTS operate with only their pre-programmed instructions

molded plastic containers which have an 8.85 in. (~22.5 cm) wide by 5.5 in. (~14.0 cm) top opening

a standard (i.e., not custom order) part commonly available from a VENDOR for all teams for purchase

There are two CHAMBERS per ALLIANCE in the SUBMERSIBLE. The LOW CHAMBER is made of HIPS plastic pipe and is 13 in. (~33.0 cm) from the FIELD floor to the top of the 1.05 in. (~2.7 cm) pipe.

A ROBOT’S MAJOR MECHANISM that enables it to move around a FIELD

a black plastic SCORING ELEMENT which is designed to be connected to an ALLIANCE SPECIFIC SAMPLE by a HUMAN PLAYER or ROBOT to create a SPECIMEN

any part in its most basic configuration, which cannot be disassembled without damaging or destroying the part or altering its fundamental function

describes durations that are more than approximately 10 seconds

an action by a ROBOT in which the SCORING ELEMENT is fully supported by or stuck in, on, or under the ROBOT or it intentionally pushes a SCORING ELEMENT to a desired location or in a preferred direction (i.e., herding). Typically, CONTROL requires one of the following to be true:

a. The SCORING ELEMENT is fully supported by the ROBOT b. The ROBOT is moving the SCORING ELEMENT in a preferred direction with a flat or concave face of the ROBOT

Any active electrical item that is not an actuator (specified in R501 or R502) or core control system item (specified in R712)

The REFEREE instructs the team to stop the ROBOT which will deactivate all outputs, rendering the ROBOT inoperable for the remainder of the MATCH

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

a guide or advisor

a set of up to 4 people from the same FIRST Tech Challenge team responsible for team performance for a specific MATCH

an operator and controller of the ROBOT

Android device (smartphone or REV Driver Hub) that runs the DRIVER STATION App software to communicate with a ROBOT per R901

FIRST technical advisor, an event volunteer role

any COMPONENT or MECHANISM that has been altered, built, cast, constructed, concocted, created, cut, heat treated, machined, manufactured, modified, painted, produced, surface coated, or conjured partially or completely into the final form in which it will be used on the ROBOT

an approximately 12 ft. (3.66m) by 12 ft. (3.66m) tile area bounded by the outside edge of the extrusion that frames the walls

volunteers present in and around the ARENA that are responsible for making sure the MATCHES are cycled through efficiently, fairly, safely, and with a spirit of cooperation, Gracious Professionalism®, and generosity of spirit

a SCORING ELEMENT manager

a person determined by FIRST to accurately and efficiently assess the legality of a given part or the whole of a ROBOT, an event volunteer role

Judges meet with teams to learn about and celebrate the unique journey and accomplishments of each team and evaluate these against award requirements. Judges interact with students during the interview process and in the pits. As a group, Judges determine the teams that receive awards at events

the lead ROBOT INSPECTOR, an event volunteer role

shooting into the air, rolling/kicking across the floor with an active mechanism, or throwing in a forceful way

LEVELS are ROBOT scoring achievements as defined in Table 10‑2

a credit of 15 points towards the opponent’s MATCH point total

a group of COMPONENTS and/or MECHANISMS assembled together to address at least 1 game challenge: ROBOT movement, SCORING ELEMENT manipulation, FIELD element manipulation, or performance of a scorable task without the assistance of another ROBOT.

a 30 second AUTO period, an 8 second transition period between AUTO and TELEOP, and a 2-minute TELEOP period in which the ROBOT plays the current season game

an assembly of COMPONENTS that provide specific functionality on the ROBOT. A MECHANISM can be disassembled (and then reassembled) into individual COMPONENTS without damage to the parts.

a credit of 5 points towards the opponent’s MATCH point total

describes durations that are fewer than approximately 3 seconds

an infinitely tall triangle bounded by the FIELD walls located beneath the BASKETS and ALLIANCE colored tape that is diagonal from corner to corner across the TILE. The outside edge of the tape is 22.75 in.(~57.8 cm) away from the FIELD corner when measured at the FIELD wall. The NET ZONE includes the taped lines.

an infinitely tall 4-sided polygon which is 36.6 in. (~92.9 cm) at the widest point by 13.1 in. (~33.3 cm) long bounded by ALLIANCE colored tape and the adjoining FIELD wall. The OBSERVATION ZONE includes the taped lines.

the set of COMPONENTS and MECHANISMS used by the DRIVE TEAM to relay commands to the ROBOT

when the ROBOT is fully or partially inside the OBSERVATION ZONE at the end of a MATCH period

Preventing an opposing ALLIANCE ROBOT from moving, accessing, or exiting an AREA for an extended period by obstructing ALL paths of travel this includes the following conditions:

a. Limiting the movement of an opponent ROBOT to a small or confined area of the FIELD, approximately one foam TILE or less, without an avenue for escape. If a ROBOT is not attempting to escape it’s not considered a violation. b. Preventing the movement of an opponent ROBOT directly or transitively through contact with the FIELD perimeter, game structure, another ROBOT. c. Controlling an opponent’s movements by raising or tilting the opponent’s ROBOT off the TILES.

inadvertent contact with a SAMPLE or SPECIMEN, typically via a flat or convex surface, while in the path of the ROBOT moving about the FIELD

ALLIANCES are rewarded RANKING POINTS (RP) for winning or tying MATCHES, which is determined by MATCH points earned by each ALLIANCE.

A team's RANKING SCORE (RS) is the average number of RANKING POINTS earned by a team throughout their qualification MATCHES

a penalty assessed for egregious ROBOT or team member behavior or rule violations which results in a team being DISQUALIFIED for the MATCH.

an official who is certified by FIRST to enforce the rules of the current season’s game, an event volunteer role

describes actions that happen more than once within a MATCH

an electromechanical assembly built by the FIRST Tech Challenge 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, and movement about the FIELD

Android device (smartphone or REV Control Hub) that runs the ROBOT CONTROLLER app to control the ROBOT as defined in R701

A ROBOT SIGN simultaneously identifies a ROBOT’S team number as well as its ALLIANCE affiliation for FIELD STAFF.

The RUNGS are 1in. (~2.5 cm) diameter aluminum extrusion which are 44.5 in. (~113 cm) long and are attached to vertical metal extrusions that make up the SUBMERSIBLE frame

A SAMPLE is a 3.5 in. (8.9 cm) long by 1.5 in. (3.8 cm) wide by 1.5 in. (3.8 cm) high rectangular prism shaped SCORING ELEMENT.

There are two different physical elements used in INTO THE DEEP: the SAMPLE and the CLIP. Red or blue ALLIANCE SPECIFIC SAMPLES can be combined with a CLIP to create a SPECIMEN.

a term used to characterize circuits which draw ≤1A continuous and have a source incapable of delivering >1A, including but not limited to REV Control and Expansion Hub sensor input/output signals (DIO, analog, I2C, encoder, 485)

A SPECIMEN is a SCORING ELEMENT that is made up of one ALLIANCE SPECIFIC SAMPLE and at least one CLIP.

one of twelve 3.5 in. (~8.9 cm) long marks used to identify the placement of SAMPLES before the MATCH. The 3 marks in front of the OBSERVATION ZONES are of ALLIANCE colored tape and the 3 marks in front of each NET ZONE are made of white tape

the physical configuration in which a ROBOT starts a MATCH

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

A SUBMERSIBLE is a structure where ROBOTS collect SAMPLES, score SPECIMENS onto the CHAMBERS, and ASCEND using RUNGS.

SUBMERSIBLE ZONE: a 27.5 in. (~69.9 cm) wide by 42.75 in. (~108.6 cm) long, infinitely tall volume bounded by the inner most edge of the barriers of the SUBMERSIBLE

a team randomly assigned by FIRST event management software to play an extra qualification MATCH

second period of each MATCH is 2 minutes (2:00) and called the teleoperated period (TELEOP). During TELEOP, DRIVERS remotely operate ROBOTS

flooring surface of the FIELD is made of 36 (nominal) 24 in. x 24 in. x 5/8 in. interlocking soft foam TILES

a legitimate business source for COTS items that satisfies criteria defined in section 12 ROBOT Construction Rules (R)

Wi-Fi technical advisor, a volunteer role

a warning issued by the REFEREE for egregious ROBOT or team member behavior or rule violations