Alliance

Each FIRST Tech Challenge Match consists of two, two-Team Alliances designated as red or blue. The two Teams in one Alliance compete against the two Teams in the other Alliance to complete the game challenges and to earn the highest Score.

Alliance Neutral

Available to a Robot from any Alliance.

Alliance Specific

Associated with a specific Alliance (i.e., red or blue Alliance).

Alliance Station

The designated “red” or “blue” Alliance area next to the Playing Field where the Drive Team stands or moves within during a Match. Station One is the position in the Alliance Station that is closest to the audience.

AprilTag

A visual fiducial system, useful for a wide variety of tasks including augmented reality, robotics, and camera calibration[^1]. Three (3) AprilTags are affixed to each Backdrop to identify target locations for the Autonomous randomization task outlined in section 4.4.2. Two additional sets of AprilTags are placed at the audience side of the field for assistance with field localization. Information about AprilTags may be found [here](https://ftc- docs.firstinspires.org/en/latest/apriltag-intro).

[^1]: See https://april.eecs.umich.edu/software/apriltag accessed on 5/18/2023.

Area

The space defined by the vertical projection of the outside edge of a region’s boundary (for example, gaffer tape, goal, Playing Field Wall). The boundary element (tape, wall, markings, etc.) is part of the Area for the purposes of determining Inside and Outside.

Autonomous Period

The initial thirty-second Match period in which the Robots operate and react only to sensor inputs and to commands pre-programmed by the Team onto the onboard Robot control system. Human control of the Robot is not permitted during this time.

Backdrop

A structure upon which Robots place Pixels to score points. There are two (2) Alliance Specific Backdrops, one (1) red and one (1) blue. See Appendix C- 2 for specifications

Backstage

The Alliance Specific Area beneath a Backdrop. The Backstage is defined by nominal 1-inch (24 mm) wide tape and is approximately 72-inches (183 cm) long by 23-inches (58.4 cm) deep. There are two (2) Alliance Specific Backstages, one (1) red and one (1) blue.

Block / Blocking

Preventing an opposing Alliance Robot from accessing an Area or Game Element for an extended period by obstructing ALL paths of travel to the object or Area. Active defense played by a Robot shadowing an opposing Alliance Robot that eliminates all paths of travel between the opposing Alliance Robot and an Area or Alliance Specific Game Element or all remaining Alliance Neutral Game Elements is considered Blocking, even though at a given moment there is an open path. See also the definition of Trap / Trapping.

Coach

A Student Team member or adult mentor designated as the Drive Team advisor during the Match and identified by wearing a Coach badge or identifying marker

Competition Area

The Area where all the Playing Fields, scoring areas, Alliance Stations, scoring tables, on-deck queuing tables, event officials, and other competition items relating to Match play are located. The Team Pit area and practice Playing Fields are not part of the Competition Area.

Control / Controlling

An object is Controlled by a Robot if the object is following the movement of the Robot. Objects that are Controlled by a Robot are considered to be a part of the Robot. See also the definition of Possess / Possessing. Examples of interaction with Game Elements that are Controlled include, but are not limited to:

• Carrying one or more Game Elements.

• Herding of Game Elements. See also the definition of Herding in this section.

• Propelled Game Elements are considered Controlled until they make contact with something other than the Playing Field Floor or come to rest. See also the definition of Propelled in this section. Inadvertent loss of Control of a Scoring Element is not considered Propelling.

Examples of interaction with Game Elements that are not Controlled include, but are not limited to:

• Plowing of Game Elements is not considered Control. See also the definition of Plowing in this section.

• Inadvertent contact with a Propelled Game Element as it bounces off the Playing Field or a Robot. See also the definition of Inadvertent in this section.

Disable / Disabled

A Robot that is no longer active for the remainder of the Match due to a Robot failure or by the request of a referee. Only a Referee can declare a Robot Disabled. If a referee Disables a Robot during a Match, they may ask the Team to drive their Robot to a neutral position on the Playing Field, issue a stop command with the Driver Station, and place their Driver Station in a hands-off location on a competition provided structure or the Alliance Station floor.

Disqualified / Disqualification / Disqualify

A Team that is ineligible to compete in a Match. A Team that is Disqualified from a Match will not receive credit for the Match (that is, no Score, no Ranking and no TieBreaker points).

Drive Team

Up to four (4) representatives; two (2) Drivers, one (1) Human Player and one (1) Coach from the same Team. Only one (1) Human Player represents an entire Alliance in a Match.

Driver

A Student Team member responsible for operating and controlling the Robot and identified by wearing a competition supplied Driver badge or identifying marker.

Driver Station

Hardware and FIRST supplied software used by a Drive Team to control their Robot during a Match. A detailed description of the Driver Station rules is listed in Game Manual Part 1 – Traditional Events.

Driver-Controlled Period

The two-minute Match time in which the Drivers operate the Robots.

Drone

A paper airplane Scoring Element built and supplied by a Team. The Drone must be constructed using materials and methods described in Game Manual Part 1 – Traditional Events and have passed inspection.

End Game

The last thirty (30) seconds of the two-minute Driver-Controlled Period.

End of the Period/Match

The moment when the Match timer reaches 2:00 for the Autonomous Period or 0:00 for the Driver-Controled Period and which coincides with the start of the sound that designates the End of the Period.

Game Element

Any item Robots interact with to play the game. Game Elements for this year’s game include Pixels, Backdrops, Trusses, Stage Door, Riggings, Team Prop, and Drone.

Grasp

Securely holding an object.

Herding

Pushing or moving one or more Scoring Elements to a desired location or direction that gains a strategic advantage beyond moving the Robot around the Playing Field. See also the related definition of Plowing in this section.

Human Player

A Student Team member responsible for handling Scoring Elements and identified by wearing a competition supplied Human Player badge or identifying marker.

Human Player Station

The designated red or blue Area adjacent to the Playing Field where the Human Players are located during a Match.

In (Inside) / Completely In (Completely Inside)

An object that has crossed into the upwards vertical extension (i.e., at a right angle to the Playing Field Floor) of a defined Area’s boundary is Inside the Area. An object that is entirely within the upwards vertical extension of a defined Area’s boundary is Completely Inside the Area. The boundary element (tape, wall, markings, etc.) is part of the Area for the purposes of determining Inside and Outside, unless otherwise specified.

Inadvertent

An unintended side effect of a Robot action. Unforced or unexpected Robot actions based on software commands are not considered to be Inadvertent.

Inconsequential

An outcome that does not influence Scoring or gameplay.

Interference

Interaction between opposing Alliance Robots that amplifies the difficulty of a Scoring activity. Actions that constitute Interference should not be considered illegal except as specified by a game rule.

Landing Zone

Alliance Neutral Areas outside the Playing Field Perimeter on the audience side of the Playing Field Wall. There are three (3) Landing Zones:

1. Landing Zone 1 – A 144-inch (3.66 m) wide x 24-inch (610 mm) deep Area immediately adjacent to the audience side Playing Field Wall.
2. Landing Zone 2 – A 144-inch (3.66 m) wide x 24-inch (610 mm) deep Area immediately adjacent to Landing Zone 1.
3. Landing Zone 3 – A 144-inch (3.66 m) wide x 24-inch (610 mm) deep Area immediately adjacent to Landing Zone 2.

The first white tape line from the Playing Field Wall is part of Landing Zone 1, the second white tape line is part of Landing Zone 2, and the third white line is part of Landing Zone 3. (see Appendix C-9).

Recognize that Landing Zone surfaces and marking materials may vary from event to event. Potential surfaces include hardwood floors, carpeting, gym tarp, cement, tiles, mats, etc. Potential marking materials include tape, paint, etc. Teams should plan for these variances when competing at different events.

Launch / Launching

Propelling Game Elements through the air or water above the Playing FieldFloor.

Match

A head-to-head competition between two Alliances. Matches are made up of several periods totaling two minutes and thirty seconds (2:30). There is a thirty (30) second Autonomous Period, followed by a two (2) minute Driver-Controlled Period. The last thirty (30) seconds of the Driver-ControlledPeriod is called the End Game. There is an eight-second transition between the Autonomous Period and the Driver- Controlled Period for Teams to pick up the controllers and switch programs

Mosaic

A cluster of three (3) non-white Pixels Scored On a Backdrop. See Appendix F, figures F-2 and F- 3 for examples.

1. A Mosaic consists of three (3) non-white Pixels, either all the same color (all green, all purple or all yellow) or each Pixel a different color (one (1) green, one (1) purple, and one (1) yellow).
2. A completed Mosaic cannot be in contact with another non-white Pixel.
3. Each Pixel in a Mosaic must be in contact with the other two (2) Pixels of that Mosaic.

Navigating

A Scoring task where a Robot is Parked In or Completely In a specified Area.

Off / Completely Off

Not physically in contact with or Supported by an object, surface, etc. Objects that are Off are also considered Completely Off.

On / Completely On

An object that is physically in contact with and at least partially Supported by an object, surface, etc. is considered On. An object that is entirely Supported by an object, surface, etc. is Completely On.

Out / Outside

An object that does not extend into any part of a defined Area is Outside the Area.

Park / Parked

The condition where a Robot or Drone is motionless.

Penalty

The consequence imposed for a rule or procedure violation that is identified by a referee. When a Penalty occurs, points will be added to the non-offending Alliance’s Score. Penalties are further defined as Minor Penalties and Major Penalties. Penalties may also escalate to the issuing of a Yellow Card or Red Card as a result of a continued occurrence of a rule violation and upon discretion of the Referee.

Yellow Cards and Red Cards

In addition to rule violations explicitly listed in section 4.5, Yellow Cards and Red Cards are used in the FIRST Tech Challenge to manage Team and Robot behavior that does not align with the mission of FIRST. Yellow and Red Cards are not limited to just the Competition Area. Teams that display egregious behavior in the pit area, judging rooms, stands, or any other location of the competition can be issued a Yellow or Red Card for egregious behavior.

Illegal behaviors that are repeated (3 or more times), or egregious behaviors by a Robot or Team member at the competition can result in a Yellow and/ or Red Card. 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, for example, earning a second Yellow Card during a single Match.

Yellow and Red Cards may be issued on or off the competition field. For details, please make sure to read the Competition Rules outlined in section 3.5 of the Game Manual Part 1 – Traditional Events.

Pin / Pinning

Preventing the movement around the Playing Field in all directions of an opposing Alliance Robot while it is in contact with the Playing FieldWall, one or more Game Elements, or another Robot.

Pixel

A hexagonal shaped Scoring Element, 3-inches (76.2 mm) across by 0.5-inches (12.7 mm) thick. There are sixty-four (64) white Pixels, ten (10) yellow Pixels, ten (10) green Pixels, and ten (10) purple Pixels.

Pixel Storage

The designated Alliance Specific area outside of the Playing Field Wall directly adjacent to the Wing (see Figure 4.2-2) where Pixels are stored to be introduced by the Human Player. There are two (2) Alliance Specific Pixel Storage areas, one (1) red and one (1) blue.

Playing Field

The part of the Competition Area that includes the 12 ft. x 12 ft. (3.66 m x 3.66 m) field, the Landing Zones, and all the Game Elements described in the official field documents. From the audience viewpoint, the Red AllianceStation is on the right side of the Playing Field.

Playing Field Damage

A physical change to a Game Element or Playing Field that affects gameplay.

Playing Field Floor

The top surface of the Tiles that make up the base of the Playing Field.

Playing Field Perimeter

The boundary defined by the outside edge of the extrusion that holds the Playing Field Wall panels.

Playing Field Wall

An approximate 12-inches (30.5 cm) tall, 12 ft. (3.66 m) long by 12 ft. (3.66 m) wide wall surrounding the Playing Field Floor. The height of the Playing Field Wall and inside dimensions will vary depending on which manufacturer’s Playing Field Wall is being used at the event. Robots should be built to interact with all legal Playing Field Walls.

Plowing

Inadvertent contact with Game Elements while in the path of the Robot moving about the Playing Field that provides no additional advantages beyond field mobility. See also the definition of Herding in this section.

Possess / Possessing

An object is Possessed by a Robot if, as the Robot moves or changes orientation (for example, moves forward, turns, backs up, spins in place), the object remains in approximately the same position relative to the Robot. Objects Possessed by a Robot are considered to be Controlled, and they are part of the Robot. See also Control / Controlling.

Pre-Load

A Game Element that a Drive Team positions during pre-Match setup so that it touches a Robot or is Possessed by a Robot at the start of the Autonomous Period.

Propel / Propelling

Giving Game Elements enough force such that they move independent of contact with the Robot or Human Player. Movement solely due to gravity is not Propelling. Launching, Rolling, and Sliding are forms of Propelling.

Queuing Area

The location in the Competition Area where Drive Teams, Robots, and optional Robot transportation carts are staged until directed by competition personnel to set up their Robots on a competition Playing Field.

Randomization Object

A white Pixel or Team Prop that is placed in one of three randomly chosen locations. There are four (4) Randomization Objects, one (1) placed opposite each Robot.

Randomization Task

An Autonomous Period Scoring achievement designated by the target Randomization Object.

Rigging

Part of the Truss from which Robots Suspend. There are four (4) AllianceSpecific Riggings, two (2) red and two (2) blue.

Robot

Any mechanism that has passed Robot inspection and a Drive Team places on the Playing Field prior to the start of a Match. A detailed definition of Robot is in the Robot rules section in the Game Manual Part 1 – Traditional Events.

Rolling

Propelling Game Elements along the Playing Field Floor.

Score / Scoring

Robots earn points for their Alliance by interacting with Scoring Elements and Navigating to specific Areas of the Playing Field.

The specific method for each Scoring achievement is stated in the achievement’s description in Section 4.4. Individual Scoring achievements are determined by one of three methods:

1. Scored as Completed: The achievement is considered Scored the moment it is successfully completed, i.e., all criteria are met.
2. Scored at End of the Period: The achievement’s Scoring status is determined based on the Robot or Scoring Element’s position at the End of the Period (Autonomous or Driver-Controlled).
3. Scored at Rest: The achievement is considered Scored based on the position of the Robot or Scoring Element when the entire field has come to rest after the Period (Autonomous or Driver-Controlled) ends.

Use of the real-time scoring system display is intended to help the audience and Teams keep up with the action on the Playing Field and give a general sense of the Match Score. Those watching should keep in mind that the Scoring for the Match is not official until the referees finalize the Score after the Endof the Match.

Scoring Elements

Objects that Robots manipulate to earn points for their Alliance. The Scoring Elements for CENTERSTAGE℠ are Pixels and Drones.

Set Bonus

Scoring achieved by Robots when they place Pixels that cross the bottom edge of a Set Line on the Backdrop.

Set Line

A line on the Backdrop that indicates a height achievement. There are three (3) Set Lines on each Backdrop.

Slide / Sliding

Propelling Game Elements along the Playing Field Floor.

Spike Mark

A one (1) inch by twelve (12) inch long tape line. There are three (3) Spike Marks in each of the Tiles B2, B4, E2, and E4. They are positioned on the left, center, and right of the Tiles from the corresponding Alliance Station perspective. The Spike Marks identify locations for the Autonomous Randomization Task outlined in section 4.4.2.

Stage Door

A horizontally hinged, height restricting barrier that spans the gap between the Trusses. Robots can manipulate to allow their passage from one side of the Playing Field to another. The Stage Door opens towards the rear of the PlayingField (see Appendix C for a drawing of the Stage Door’s range of motion).

Student

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

Support / Supported / Completely Supported

An object (i.e., Robot, Scoring Element, Game Element, etc.) is Supported by another object if the second object is bearing at least some of the weight of the first object. If the second object is bearing all the weight of the first object, it is Completely Supported by the second object.

Suspend / Suspended

A Robot is Suspended when it is Completely Supported by the Rigging and is not in contact with any other Game Element, Robot, or the Playing FieldFloor. Incidental contact with Scoring Elements, the Truss, another Robot or the Stage Door is allowed (for example, Possession of ScoringElements is allowed). Teams are encouraged to make these actions obvious and unambiguous.

Team

Mentors, supporters, and Students affiliated with an entity registered with FIRST and for the competition.

Team Prop

A Team designed and supplied Game Element used during the AutonomousPeriod. The Team Prop must meet the specifications described in Game Manual Part 1 – Traditional Events.

Tile

An approximate 24-inch x 24-inch (610 mm x 610 mm) foam rubber mat. The Playing Field Floor has thirty-six (36) Tiles. Tile size may vary depending on which manufacturer’s Tile is used at the event. Robots should be built to interact with all legal Tiles. Tile size variation may affect locations of GameElements and gap sizes between the Tile and Playing Field Walls.

Trap / Trapping

Preventing an opposing Alliance Robot from escaping a constrained Area of the Playing Field for an extended period of time by obstructing all paths of travel from the object or Area. See also the definition of Block / Blocking in this section.

Truss

A structure that contains two (2) Alliance-specific Riggings. There are two (2) Alliance Specific Trusses on the Playing Field, one (1) red and one (1) blue. The Stage Door connects the two Trusses.

Warning

An alert given by a referee to an individual or group. Warnings are applied to the entire Team, and they have no effect on an Alliance’s Score. Warnings are used as a way to point out rule violations while not issuing formal Penalties. Repeated Warnings throughout a Competition may escalate to Penalties and/or Yellow/Red Cards.

Wing

Taped off locations on the Playing Field Floor where a Human Player places Pixels and Drones. There are two (2) Alliance Specific Wings, one (1) red and one (1) blue.

S02: Robot Extension Outside the Playing Field Perimeter

If any portion of the Robot contacts anything Outside the Playing FieldPerimeter, the Team will be issued a Yellow Card and the Robot may be Disabled immediately for the remainder of the Match, unless allowed by Game- Specific rule(s) listed in section 4.5.3. See the game definitions in section 4.3 for a complete description of the Playing Field Perimeter.

The intent of this rule is not to Penalize an Alliance for Inadvertent, safe Robot extension Outside the Playing Field Perimeter. Intentional Robot extension Outside the Playing Field is not permitted.

S03: Safety Gear

All members of the Drive Team are required to wear approved eye protection and shoes with closed toed and a closed back. If any member of the Drive Team is not wearing these safety items, the referee will issue a Warning to the Team member(s) and if the situation is not remedied within thirty (30) seconds, the offending member(s) of the Drive Team must leave the Competition Area for the remainder of the Match and may not be replaced by another Team member. Failure to comply with a request to leave the Competition Area violates rule <G30>. Repeated Team violations during the competition will escalate to an entire Team Warning. Following the Team Warning, subsequent violations by any member of the Team will result in a Minor Penalty for the Alliance.

S04: Competition Area Safety

When a competition has venue-specific safety rules for the Competition Area, all members of a Team are required to abide by those rules. Initial violations will result in a verbal Warning. Subsequent violations at a competition will result in a Yellow Card.

G02: Score Certification at the End of the Match

Scores will be tracked by field personnel throughout the Autonomous and Driver-Controlled Periods of the Match. At the End of the Match, the final Score will be certified as quickly as possible. A change in state of a Game Element or Robot at the End of the Match after its final Score is recorded will not change an already-recorded Score. Scoring Elements will not be recounted after the End of the Match unless otherwise specified by a Game-Specific rule.

G03: Forcing an Opponent to Break a Rule

The actions of an Alliance or their Robots shall not cause an opposing Alliance or Robot to break a rule and thus incur Penalties. Any forced rule violations committed by the affected Alliance shall be excused, and no Penalties will be assigned to the affected Alliance.

G04: Robot Manipulation of Scoring Elements

Scoring Elements that are Controlled or Possessed by a Robot are part of the Robot except when determining the location of the Robot or otherwise specified by a Game-Specific rule.

For Example: If a Robot Possesses a Scoring Element, and only that Scoring Element breaks the plane of a Scoring Area, the Robot does not receive points for being In that Area.

G05: Robot or Scoring Elements In Two or More Scoring Areas

Robots or Scoring Elements that are eligible for two or more Scoring achievements earn points only for the highest value achievement. If the achievement values are equal, only one achievement counts as Scored.

G06: Scoring Elements in Contact with Robots

Scoring Elements in a Scoring Area that are in contact with or Controlled by a Robot on the corresponding Alliance for the Scoring Area have zero Score value.

G07: Disabled Robot Eligibility

If a referee Disables a Robot, it will not be eligible to Score or earn points for the remainder of the Match. A Disabled Robot (whether referee induced or Robot failure) does not earn Penalties after being declared Disabled unless otherwise specified by a Game-Specific rule.

G08: Playing Field Tolerances

Competition provided Playing Field and Game Elements will start each Match with tolerances that may vary by +/-1.0 inch (25.4 mm). Teams must design their Robots accordingly.

Playing Field and Game Elements are expected to be manufactured, assembled, and set up using a high standard for dimensional and location accuracy. The intent of the generous +/- 1.0 inch tolerance is to accommodate unintentional size and location variations that may occur. The tolerance is not an excuse for intentional or imprecise accuracy in construction or setup.

G09: Match Replay

Matches are replayed at the discretion of the head referee only for a failure of a non- Team supplied Game or Field Element or verified Wi-Fi interference that was likely to have impacted which Alliance won the Match.

Unexpected Robot behavior will not result in a Match replay. Team-induced failures, such as low battery conditions, processor sleep time-outs, Robot mechanical, electrical, software, or communication failures, etc. are NOT valid justifications for a replaying of a Match.

G10: Inadvertent and Inconsequential

Robot actions that violate a rule may be ruled at the referee’s discretion to be Inconsequential and Inadvertent and will not be Penalized.

G11: Illegal Match Communication

Electronic communication (cell phone, two-way radio, Wi-Fi, Bluetooth, etc.) by Drive Team members after an Alliance has been called from the queue to the Playing Field for its Match is not allowed. The first instance of violating this rule will result in a Warning, with any following instances during the competition resulting in a Minor Penalty. Items that may be mistaken by a casual observer as being in violation of this rule should not be brought to the Playing Field. The Driver Station is exempt from this rule but must be used only for operating the Robot.

G12: Playing Field Access

Team members must not enter the Playing Field for any reason other than to place/retrieve their Robots. While placing Robots, Teams may not measure, test, or adjust Game Elements Inside or Outside of the Playing Field unless allowed by Section 4.4.1. When retrieving Robots, Teams may not verify the Scoring of Game Elements.

The consequences for violating this rule are:

1. Minor Penalty for violations during Match setup or following the End ofthe Match.
2. Major Penalty for violations that delay the start of the Match.
3. Violations of this rule outside of normal Match play will result in a Yellow Card.

If a Team feels the Playing Field is not set up correctly, Teams should notify a referee or FIRST technical advisor prior to the start of the Match.

G13: Pre-Match Robot Placement

At the beginning of a Match, each Alliance Robot must be set up on the Playing Field according to section 4.4.1 Pre-Match. After Robots are set up on the Playing Field, Drive Teams must stand Inside their respective Alliance Station.

1. During the Qualification Matches, the blue Alliance Robots are set up on the Playing Field first, unless the red Alliance waives their right to set up on the Playing Field second.

2. During the Elimination Matches, the 3rd and 4th seeded Alliance Robots are set up on the Playing Field first, unless the higher seeded Alliance waives their right to set up on the Playing Field second. Alliance color doesn’t change the seeding of a Team during the Elimination Matches. If the 4th seed defeats the 1st seed in the Semi-Finals, they will still have to place their Robot on the field first in the finals because their seeding will be lower than the 2nd or 3rd seed.

3. During Elimination Matches, three Team Alliances may only place two Robots that are intended to compete in that Match. After the Robots are placed, the Alliance cannot swap in the 3rd Alliance’s Robot for a Robot already placed.

4. Teams may implicitly waive their right to place their Robots on the Playing Field last by placing their Robots on the Playing Field before or with the opposing Alliance. There is no need to tell the referees; Teams waive their right by the act of placing their Robots on the Playing Field.

5. Teams that unnecessarily delay the beginning of a Match and/or field reset will incur a Minor Penalty for each offense. Significant delays may escalate to a Major Penalty at the discretion of the head referee.

Drive Teams are expected to stage their Robots for a Match, and remove it from the Playing Field afterwards, safely and swiftly. Drive Team efforts that either intentionally or unintentionally delay the start of a Match or the Playing Field reset are not allowed. Examples include, but are not limited to:

• Late arrival to the Playing Field.
• Robot maintenance once on the Playing Field.

If the field is waiting for the Team, they would be subject to this Penalty.

G14: Robot Starting Volume

Before the start of a Match, each Robot in its starting location must not exceed a volume of 18 inches (457.2 mm) by 18 inches (457.2 mm) by 18 inches (457.2 mm). Flexible materials (i.e., zip tie, surgical tube, string, etc.) may extend up to 0.25 inches (0.635 cm) beyond the 18-inch (45.72 cm) size constraint. A Pre-Loaded Scoring Element may extend Outside the 18-inch (457.2 mm) cube volume constraint. Once a violation has been identified, if the Team cannot fix the violation within thirty (30) seconds, the offending Robot will be removed from the Playing Field. Robots removed from the field are not subject to a delay of game (<G13>e) Penalty. The Team remains eligible to earn Ranking and TieBreaker Points if a member of the Drive Team is in their Alliance Station during the Match.

After the start of a Match, the Robot may extend in any direction unless otherwise specified by the Game-Specific rules detailed in section 4.5.3.

G15: Robot Setup Alignment

Teams may align their Robots during Pre-Match setup if they do so with legal components that are part of the Robot and can be reset to be within the 18-inch (457.2 mm) cube starting volume constraint. Robot setup alignment devices that extend outside the 18-inch starting volume constraint cannot be powered. A single member of the Drive Team may also align the Robot by sight if they are next to the Robot and their action does not delay the start of a Match. A Minor Penalty will be assessed to the Alliance for violation of this rule.

G16: Alliance Stations

During a Match, the Drive Team must remain In their Alliance Station.

1. Drive Teams may be anywhere in their respective Alliance or Human PlayerStation.
2. The first instance of leaving the Alliance or Human Player Station will result in a Warning, with any following instances during the Match resulting in a Minor Penalty. Leaving the Alliance or Human Player Station for safety reasons will not result in a Warning or Penalty.
3. Opposing Alliance’s Drive Team members cannot distract/interfere with each other or the off-field Scoring Elements (if present in the current season’s challenge). Violations of this rule will result in an immediate MajorPenalty and a possible Yellow Card.
4. After Robots are set up on the Playing Field, and before the Match starts, Drive Teams must stand Inside their respective Alliance or HumanPlayer Station. Once the Match starts, the members of the Drive Teams may stand, sit, or kneel for the remainder of the Match. Violations of this rule (for example, lying down in the Alliance Station) will result in a MinorPenalty. Repeated violations of this rule will be handled per rule <G30>

The intent of this rule is to prevent Drive Team members from leaving their assigned Station 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 Station during normal Match play is not a Penalty.

G17: Post-Match Removal of Robots

Robots must be designed to permit easy removal of Game Elements from the Robot after the Match. Robots should also be able to be removed from the Playing Field without unnecessary delay or damaging the Playing Field. A Minor Penalty will be assessed for violations of this rule.

The intent of this rule is to have timely removal of Robots from the Playing Field following a Match. Drive Teams are expected to stage their Robots for a Match, and remove them from the Playing Field afterwards, safely, and swiftly. Drive Team efforts that either intentionally or unintentionally delay the start of a Match or the Playing Field reset are not allowed. Examples include, but are not limited to:

1. Failing to exit the Playing Field once instructed by a referee.
2. Failing to remove Driver Stations in a timely manner.

G18: Starting Gameplay Early

Robots that start playing the game (Autonomous or Driver-Controlled Period) prior to the start of a Match Period receive a Minor Penalty. Referees have the option of issuing a Major Penalty in place of the MinorPenalty if the early start results in a competitive advantage for the offending Alliance.

G19: Late Start of the Autonomous Period

A Drive Team that starts their Robot’s Autonomous Op Mode late will receive a Minor Penalty. Any delay in Robot movement must be done by its programming. Referees have the option of issuing a Major Penalty in place of the Minor Penalty if the late start results in a competitive advantage for the offending Alliance.

G20: Robot Actions at End of the Period

1. Robots must Park at the end of the Autonomous and Driver-Controlled Periods. Robots that are not Parked at the conclusion of the “game sound” receive a Minor Penalty and the following actions of the Robot do not count towards their Alliance’s Score. Drive Teams should make their best effort to stop gameplay immediately when the End of the Period game sound begins. Referees have the option of issuing a Major Penalty in place of the Minor Penalty if the late stop results in a competitive advantage (other than Scoring) for the offending Alliance.
2. Scoring achievements that were started (unless disallowed by Game-Specific rules) before the End of the Period are eligible to be counted as Scored.
3. Robot Scoring achievements that occur after the announced End of theAutonomous Period and before the start of the Driver-Controlled Period do not count towards the Score for the Autonomous or Driver- Controlled Periods.

G21: Robot Control During Autonomous Period

During the Autonomous Period, Drive Teams may not directly or indirectly control or interact with Robots or Driver Stations. Early stopping of the Robot while running its Autonomous code is not allowed, except in cases of personal or equipment safety, and any achievements earned due to early stoppage will not Score points. A Major Penalty will be assessed for violating this rule. Teams that stop their Robots during the Autonomous Period are allowed to participate in the Driver-Controlled Period provided it can be done safely.

G22: Drive Team Contact with the Playing Field or Robot

During a Match, the Drive Team is prohibited from making contact with the Playing Field, any Robot, or any Game Element unless allowed by Game- Specific rules. The first instance of contact will result in a Warning, with any following instances during the competition resulting in a Minor Penalty. Contact that affects Scoring and/or gameplay will result in issuance of a Yellow Card at the discretion of the referees. Contact with the PlayingField, a Game Element, or a Robot for safety reasons will not result in a Warning or Penalty.

For example, a Game Element is Launched from a Robot on the PlayingField and it Inadvertently hits a Team member in the Alliance Station and is deflected back onto the field. The Team would not receive a <G22> Penalty because the Team member was protecting themself (safety). However, if that same Game Element is caught and/or directed to a specific location on the Playing Field, the Team may be issued a <G22> Penalty.

G23: Drive Team Coach Driver Station Control

During the Driver-Controlled Period, Robots must be remotely operated only by the Drivers using the Gamepads connected to the Team’s Driver Station and/or by software running on the on-board Robot control system. The first instance of the Coach operating a Gamepad will result in a Warning, with any following instances during the competition resulting in a Major Penalty. During the Driver-Controlled Period, Drive Team Coaches and/or Drivers are allowed to hold the Team’s Driver Station Android device and interact with it to select an Op Mode, view information displayed on the screen, and initialize, start, stop, and reset the Robot.

G24: Robots Deliberately Detaching Parts

Robots may not deliberately detach parts during a Match or leave mechanisms on the Playing Field unless permitted by a Game-Specific rule. Possessed or Controlled Scoring Elements are not considered to be a part of the Robot for the purpose of this rule. The consequence of deliberately detaching a part is a Minor Penalty if it does not Block an opposing Alliance Robot, Alliance Specific Scoring Element or Scoring Area. If a deliberately detached component or mechanism affects gameplay by any Robot, the offending Robot will receive a Major Penalty and will be issued a Yellow Card. Robot parts that are released but remain connected by a tether are considered detached for the purposes of this rule.

Tethered components that move independently of the main Robot are considered a detached component and are illegal.

G25: Robots Grasping Game Elements

Robots may not grab, grasp and/or attach to any Game Element, Robot, or structure other than Scoring Elements, unless specifically allowed by Game- Specific rule(s) listed in section 4.5.3. The first instance will result in a Warning with any following violations during the competition resulting in a Major Penalty.

G26: Destruction, Damage, Tipping, etc.

Robot actions aimed at the destruction, damage, tipping over, or entanglement of Robots or Game Elements are not in the spirit of the FIRST Tech Challenge and are not allowed unless permitted by Game-Specific rules. However, FIRST Tech Challenge games are highly interactive. Robot-to-Robot contact and defensive gameplay should be expected. Robot interactions that result in tipping, entanglement, or impair the functions of an opposing Alliance’s Robot may result in a Major Penalty and/or a Yellow card.

G27: Removing Game Elements from the Playing Field

Robots may not deliberately remove Game Elements from the Playing Field during a Match. Game Elements that Inadvertently fall Outside the Playing Field will be returned to the Playing Field by field personnel at the earliest safe and convenient opportunity at a non-Scoring location approximately where it left the field. Game Elements removed from the PlayingField in an attempt to Score are also not subject to this Penalty. Teams deliberately removing Game Elements from the Playing Field will incur a Minor Penalty per Game Element removed from the Playing Field. Game- Specific rules listed in section 4.5.3 that address the removal of specified Scoring Elements from the Playing Field take precedence over this general game rule.

G28: Pinning, Trapping, or Blocking Robots

A Robot may not cause an opposing Alliance Robot to become Pinned, Trapped, or Blocked.

Once a referee determines this rule is being violated, a Minor Penalty will be assessed for every 5 seconds the violation continues.

A Robot is in violation until it has moved at least 3 feet (0.9 m), approximately 1.5 Tiles, from the Pinned, Trapped, or Blocked Robot.

During the Autonomous Period, Robots will not incur this Penalty unless it is determined by the referee to be part of a deliberate strategy, which will then be penalized as described above. If the violation happens during the Autonomous Period, the first action done by the offending Robot during the Driver-Controlled Period must be to move away from the Pinned, Trapped, or Blocked Robot or a Minor Penalty will be assessed immediately and again for every five-seconds that they are in violation. Game-Specific rule(s) listed in section 4.5.3 that further define Pinning, Trapping, or Blocking take precedence over this general game rule

The intent of this rule is that Drive Teams begin to immediately move their Robots away and have a five second grace period to move the required distance. The grace period is not permission to intentionally Block/Pin/Trap for up to five seconds.

G29: Illegal Usage of Game Elements

Robots may not deliberately use Game Elements to ease or amplify the difficulty of any Scoring or game activity. A Major Penalty will be assessed for violations of this rule. Continued violations of this rule will quickly escalate to a Yellow Card at the discretion of the Head Referee.

G30: Egregious Behavior

Egregious Robot or Team member behavior is not in the spirit of Gracious Professionalism and will not be tolerated at a FIRST Tech Challenge event. Egregious behavior includes, but is not limited to, repeated and/or flagrant violation of rules, unsafe behavior or actions, or uncivil behavior towards volunteers, Drive Team, competition personnel, or event attendees. In most cases, as determined by the referees, the offending team will result in a Major Penalty and issuance of a Yellow Card and/or Red Card. Subsequent violations may result in Team disqualification from the competition.

Continued and repeated 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.

In cases where the egregious behavior is deemed to be unsafe, such as physical contact or threatening behaviors to other event attendees, event staff will work with FIRST Headquarters to determine if the behavior warrants immediate removal of the team from the event.

GS02: Drive Teams Touching Robots or Driver Stations after Randomization

Drive Teams are not allowed to touch or interact with their Robots or Driver Stations once field personnel have begun the Playing Field randomization process. If this occurs, a Minor Penalty will be assessed to the Alliance. The offending Robot is not eligible to earn points for the Randomization Tasks in the Autonomous Period. The non-offending Alliance partner Robot remains eligible for the Randomization Tasks Scoring achievement.

GS03: Autonomous Interference

During the Autonomous Period a Major Penalty is assessed for the following actions:

1. Interfering with an opposing Alliance Robot In the opposing Alliance’s half of the Playing Field. Tiles A, B, C constitute the blue side of the Playing Field, Tiles D, E, F constitute the red side of the Playing Field. The tabs joining Tiles C and D are neutral.
2. Interfering with the opposing Alliance’s Randomization Task setup or Randomization Task Scoring.
3. Robots moving the pre-placed white Pixel stacks in the opposing Alliance half of the Playing Field that impacts or impedes the opposing Alliance's Autonomous Period Scoring actions.

The intent of this rule is to protect Robot actions performed while Completely In their Alliance's side of the Playing Field. Navigating into the opposing Alliance's side of the Playing Field is a risky gameplay strategy.

GS04: Descoring

Robots may not descore Pixels or affect scoring achievements from the opposing Alliance’s Backdrop or Backstage.

1. A Minor Penalty will be assessed for each Pixel that is descored.
2. An additional Minor Penalty is assessed for each affected completed Mosaic and/or Set Line Bonus scoring achievement.

Examples:

1. A Robot descores a Pixel from the opposing Alliance’s Backdrop. The opposing Alliance’s Mosaic or Set Line points are unaffected. The offending Robot that descored the Pixel receives one Minor Penalty.
2. A Robot descores a Pixel from the opposing Alliance’s Backdrop. The opposing Alliance’s Mosaic score is affected by the descore. The offending Robot that descored the Pixel receives two Minor Penalties.
3. A Robot repositions a Pixel on the opposing Alliance's Backdrop. This causes the affected Alliance to lose points for an already achieved Set Line bonus. The offending Robot receives one Minor Penalty.

GS05: Robot Control/Possession Limits for Scoring Elements

1. Robots may Control or Possess a maximum of two (2) Pixels and one (1) Drone at a time. Controlling or Possessing more than the allowed quantity of Scoring Elements is an immediate Minor Penalty for each Scoring Element above the limit plus an additional Minor Penalty per Scoring Element in excess of the limit for each 5-second interval that the situation continues.
2. Scoring a Pixel while in Control or Possession of more than the allowed quantity of Scoring Elements will result in a Minor Penalty per Element Scored.
3. Control/Possession limit exceptions:
4. Knocking over a stack of unscored Pixels is allowed.
5. Inadvertent and Inconsequential movement of a pre-set stack of unscored Pixels is allowed. Moving the stack Completely Off the tape is considered consequential.
6. Plowing through any quantity of Scoring Elements is allowed.
7. Pixels In the Backstage that are directly Supported by the Playing Field Floor or Supported by a Pixel that is directly Supported by the Playing Field Floor, are exempt from the Control/Possession limit. The intent of this rule is to prevent penalizing a Robot maneuvering In the Backstage.
8. Pixels On the Backdrop are exempt from the Control/Possession limit.

GS06: Truss Constraints

1. Robots may only Grasp one of either Rigging of their corresponding Alliance Specific Trusses. Contact with the other parts of the Truss is allowed for stabilization of the Robot while Suspended. The intent is that the Rigging is the primary support for the Robot. Violation of this rule results in zero Score value for the Suspend task.
2. Robots may not Grasp or Suspend from any other part of the Truss structure. Violation of this rule results in a Minor Penalty per occurrence.
3. There is a limit of one (1) Supported Robot per Rigging. Additional Robots Supported by a Rigging or by a Robot Supported by that Rigging earn a Major Penalty.
4. A Robot may not impede or obstruct an opposing Alliance Robot from Suspending during the End Game Period. Each violation of this rule results in an immediate Major Penalty and additional Blocking Penalties per rule <G28>.
5. Contact with a Suspended opposing Alliance Robot will not invalidate the Suspend. The action will also result in a Minor Penalty per occurrence for contacting the Suspended Robot.
6. During the End Game, the height restricted paths leading to the Rigging are not an open path of travel when applying rule <G28>.

GS07: Stage Door Constraints

Stage Door constraints apply to both operational and Disabled Robots.

1. Robots may not Grasp the Stage Door. Violation of this rule results in a Major Penalty.
2. Preventing the Stage Door from operating normally while an opposing Alliance Robot attempts to travel through the Stage Door is not allowed. Violation of this rule results in a Major Penalty. For example:
3. Robots may not limit the upward motion of the Stage Door.
4. Transit constraints: Violations of this rule are addressed per rule <G28>. Repeated violations will quickly escalate to a Yellow Card at the discretion of the Head Referee.
5. Disrupting the transit of an opposing Alliance Robot through the StageDoor is not allowed.
6. Robots passing through the Stage Door from the audience side of the Playing Field to the back have transit priority. Robots traveling from the back of the Playing Field to the audience side of the Playing Field must yield a free path of travel.

The Stage Door is wide enough for two Robots to pass through at the same time without disruptions. Robots that allow a free path of travel to faster Robots are less likely to incur transit constraint Penalties.

GS08: Backdrop and Backstage Constraints

1. A Robot may not impede or obstruct an opposing Alliance Robot that is In the Backstage from Scoring a Pixel. Each violation of this rule results in an immediate Minor Penalty.
2. Robots may not Block access to the opposing Alliance’s Backstage or Backdrop. Once a referee determines this rule is being violated, a MajorPenalty will be applied. A Minor Penalty will be added for every 5 seconds the violation continues. A Robot is in violation until it has moved at least 3 feet (0.9 m), approximately 1.5 Tiles, from the affected Robot(s).
3. A Disabled Robot In the opposing Alliance’s Backstage remains eligible for all Penalties associated with <GS08>. This is an explicit exception to rule <G07>.
4. Robots located In Tile rows 1, 2, or 3 may not Score into the Backstage or Backdrop. Each violation will receive a Minor Penalty.

GS09: Wing Constraints

1. A Robot may not impede or obstruct an opposing Alliance Robot that is In the corresponding Alliance’s Wing. Each violation of this rule results in an immediate Minor Penalty.
2. Robots may not be In or Block access to the opposing Alliance’s Wing. Once a referee determines this rule is being violated, a Major Penalty will be applied. A Minor Penalty will be added for every 5 seconds the violation continues. A Robot is in violation until it has moved at least 3 feet (0.9 m), approximately 1.5 Tiles, from the Blocked Wing.
3. A Disabled Robot In a Wing is not considered a safety hazard, therefore Scoring Elements may continue to be placed. However, a Disabled Robot In the opposing Alliance’s Wing remains eligible for all Penalties associated with <GS09> including escalation to |Yellow Cards. This is an explicit exception to rule <G07>.
4. There can be a maximum of six (6) Pixels In the Wing at any one time. A Minor Penalty will be assessed for each additional Pixel beyond the maximum. Pixels in the Possession of a Robot do not count towards this limit.

GS10: Pixel Constraints

Pixels may not be Propelled. Each violation of this rule results in a Minor Penalty.

GS11: Drone Constraints

1. Drones are pre-loaded onto the Robots during Pre-Match setup as described in section 4.4.1 or introduced into the Playing Field during the DriverControlled Period via the Wing.
2. A Robot may not Possess a Drone provided by another Team. A MajorPenalty will be assessed for violating this rule.
3. Drones Launched before the End Game have zero (0) Score value.
4. Drones may be Launched from Suspended Robots.
5. For each scoring attempt (Launch, fly, land), a Launched Drone must pass over a Rigging or top pole of the Stage Door before it is eligible to Score points.
6. To Score a Drone, the Drone must be in a legal configuration. Altering a Drone after inspection or during Match play to better the chance of Scoring is not in the spirit of this rule and will not be considered a Scored Drone.
7. Drone Interference:
8. A Robot may not affect the flight of an opposing Alliance's Drone that is flying at a height above the height of the Playing Field Wall, approximately 11.5 inches (295 mm). The Drone that is affected will be awarded Landing Zone 1 points.
9. Contact between two or more Drones in flight or In a Landing Zone is not penalized.
10. Drive Teams may not directly or indirectly affect the flight of a Drone. Affecting an opposing Alliance Drone will result in that Drone earning Landing Zone 1 points. Affecting their own Drone’s flight results in no points for that Drone.
11. A Drone that contacts field personnel In a Landing Zone is awarded Landing Zone 1 Score value regardless of the final Parking location.
12. A Drone that contacts field personnel that are Outside a Landing Zone or any object Outside the Playing Field has zero Score value regardless of the final Parking location.
13. Drones must be Parked Completely Outside the Playing Field Perimeter to be eligible to Score points.

GS12: Human Player Constraints

Each violation of this rule results in a Minor Penalty.

1. Drones and Pixels In the Pixel Storage Area may not be handled until after the Match has begun with the exception of the Pre-Load ScoringElements.
2. Drones and Pixels may be placed or dropped only In the Wing and only during the Driver-Controlled Period. Drones and Pixels can be in any orientation and may be in contact with other Drones or Pixels In the Wing.
3. Human Players may place a maximum of two (2) Pixels or one (1) Drone In a Wing at a time.
4. Once a Pixel or Drone has been placed in the Wing, a Human Player may not pick it up or reposition it.
5. Human Players may not Propel Pixels or Drones Out of the Wing.

Human Players should take care when releasing Scoring Elements into the Wing. The final resting place of the Pixel or Drone is the responsibility of the Human Player, regardless of what the Pixel or Drone hits as it is released. 6. The Human Player may enter the area between the Human Player Station and the adjacent Playing Field Wall while placing a Pixel or Drone In the Wing, provided that it is done safely. 7. The Human Player may not use tools or devices (including another Pixel) to manipulate a Pixel or Drone. Accommodations and exceptions for Human Players with disabilities or extenuating circumstances will be made at the discretion of the Tournament Director. 8. For safety reasons, a Human Player cannot break the vertical plane of the Playing Field Perimeter or hand-deliver a Pixel or Drone to the PlayingField when there is a Robot In the Wing. A Disabled Robot In an Alliance Wing is not considered a safety hazard to the Human Player, therefore Drones and Pixels may continue to be placed. 9. A Robot cannot enter the Wing while a Human Player is In the Wing. The intent of this rule is to prevent Robot to human contact and is meant to ensure Human Player safety.

GS13: Truss/Stage Door Safety

Drive Teams may never step/jump over any section of the Truss and/or StageDoor. The first instance will result in a Warning to the Team. Subsequent violations at a competition will result in a Yellow Card. Further violations beyond will be addressed per <G30>.

Q002: Spitting out a third pixel

Q: Per rule GS05 robots can’t possess/control more than 2 pixels, and doing so results in a minor penalty for each additional pixel as well as another minor penalty after every 5 seconds.

Q1: We were wondering if there is an exception to be made for intaking a 3rd pixel and immediately spitting it back out.

Q2: Additionally, if such an exception is the case, are there limitations on our actions while the 3rd pixel is in our possession/control? (ex. driving)

A: A1: Yes there is an exception. The Robot in this scenario is unlikely to be Penalized for Controlling too many Pixels. The referee should view the Robot's actions as being both Inadvertent and Inconsequential and not call a rule GS05 Penalty as allowed by rule G10.

A2: Yes, for this scenario, there are limitations to being excused for a rule GS05 Penalty. The Robot is unlikely to receive a rule GS05 Penalty if the Robot satisfies the following two conditions: 1) It ejects the extra Pixel in a reasonable amount of time and; 2) It refrains from playing the game while Controlling the extra Pixel. Two examples of playing the game are: a) Traveling to a different location and; b) Placing a Pixel In a Scoring Area. If the Robot's actions are clearly focused on removing the extra Pixel and not playing other aspects of the game, it is highly unlikely that it will receive a GS05 Penalty.

Q003: GS06 Rigging clarification

Q: Q1: Are the yellow tubes on the truss considered rigging or just the red / blue tubes? Q2: The rule GS06 states: “There is a limit of one (1) Supported Robot per Rigging.” Is this per tube, or the entire Truss? Q3: Asked another way, is it possible for two alliance robots to hang from the Truss - each on a different alliance colored tube?

A: A1: The red and blue pipes are the Rigging. The yellow pipes are not Rigging. See illustration C-4 in Appendix C of Game Manual Part 2.

A2: The rule GS06.c limitation is per tube. There are four (4) Alliance Specific Riggings, two (2) red and two (2) blue as stated in the definition of Rigging in the game definitions section (4.3) of Game Manual Part 2.

A3: Yes.

Q004: <GS12> Game scoring elements in wing

Q: GS12 line c: Human Players may place a maximum of two (2) Pixels or one (1) Drone In a Wing at a time. This has “or”. Is this in one human action? An action being human placing one or two elements, and pull back outside boundary, Other rule, GS09 line d has 6 elements in wing.

A: Yes, the rule GS12.c limitation is per "human action". The Human Player may place into the Wing either one (1) Pixel, two (2) Pixels, or one (1) Drone during a single action. The Human Player must be Outside the Playing Field Perimeter between cycles of placing objects into the Wing.

Q005: <GS05> line c) Control/Possession limit exceptions:

Q: GS05 line c): i. Knocking over a stack ... Pixels is allowed. ii. Inadvertent and Inconsequential movement of a pre-set stack of unscored Pixels is allowed. Moving the stack Completely Off the tape is considered consequential. iii. Plowing through ... is allowed. Q1: Does the "Moving the stack Completely Off the tape" apply to the entire stack, or is a single pixel on the stack able to be moved past the tape edge? Q2: If knocking over, can more than one pixel?

A: The intent of Rule GS05.c.(i&ii) is to allow reasonable Robot interaction with a Pixel stack without violating the Pixel Control/Possession limits described in rule GS05.a. The Rule GS05.c.i exception is for Pixel(s) knocked off of a stack and onto the Playing Field Floor. The Rule GS05c.ii exception is for the movement of three (3) or more of the pre-set stacked Pixels as a group that stay On the white tape line.

A1: Penalizing the movement of the Pixel stack applies when three (3) or more stacked Pixels are moved all together Off of the white tape line. Moving a "single Pixel from the stack past the tape edge" is allowed because it is less than the two (2) Pixel Controller/Possession limit described in rule GS05.a.

A2: Yes, the rule GS05.c.i exemption applies to any number of Pixels knocked off of the stack onto the Playing Field Floor. The knocked off Pixels are not subject to rule GS05.a constraints, even if they come to rest Off of the white tape line.

Bonus Information: Pixels in the pre-set stacks can't be Propelled per rule GS10.

Q006: Crossing Center Line

Q: Centerstage game setup has stacks of white pixels on both sides of the field. Is a robot able to use the stacks across the field centerline during autonomous?

A: Yes, however, this is a risky Autonomous Period gameplay strategy. A Robot entering the opposing Alliance's half of the Playing Field during the Autonomous Period risks violating rule GS03.

Q007: Pixel stack orientation on location line

Q: Will the pixels be placed on the pixel locations stripes in a known orientation such as flat against the wall or is the orientation random?

A: Based on the Field Reset guide located in the Game and Season Information page (https://www.firstinspires.org/resource-library/ftc/game-and-season-info), "Each stack of 5 Pixels is centered from side to side on each of the white tape lines on the audience side of the field. The Pixels should be touching the field perimeter wall". There is no specification of orientation both collectively and individually in each stack. In other words, Pixels can be in any setup as long as they are each touching the field perimeter wall. Teams should design their intake mechanisms accordingly.

Q008: Launching a Drone from Robot Suspended from Rigging

Q: Section 4.4.4.2 End Game states that launched drones must pass over the rigging and/or stage door to be considered for scoring, which seems reinforced by GS11e. GS11d seems to consider drones launching from suspended robots separately. Does a drone launched from a suspended robot need to pass over the rigging/stage door to score?

A: Yes.

Q009: <GS09> Wing Constraints - Is there a maximum number of drones allowed in the wing?

Q: GS09 Doesn't address the maximum number of drones allowed in the wing. Does this mean there is no limit?

A: A maximum of two Drones are allowed to be placed in their corresponding Alliance's Wing.

Bonus Information: Each Team is allowed to provide only one (1) Drone for a Match.

Q010: Pre-Match configuration - drone storage

Q: 4.4.1 specifies pixel storage but says nothing about drone storage. Are there any constraints on the quantity or starting location/configuration of drones in excess of the one pre loaded prior to the start?

A: Drive Teams are allowed to bring one (1) Drone to the competition Playing Field for a Match. The Drone is either Pre-Loaded or placed into their Alliance's Pixel Storage area during pre-Match set up.

Q011: Section 4.4.4 end game and <GS11> e. Drone must pass over the Truss or Stage Door

Q: Per the rules, for each scoring attempt (Launch, fly, land), a Launched Drone must pass over a Rigging or top pole of the Stage Door before it is eligible to Score points. May a Drone pass over a Rigging or top pole of the Stage Door MULTIPLE times during a launch, fly, land sequence?

A: Yes.

Q012: Legal or illegal build kits.

Q: Can you inform me if Go bilda build kits have been deemed illegal? There is no mention of them in the legal or illegal parts and I spent a lot of money upgrading this winter to try and compete.

A: Teams may acquire parts and materials from any readily available source, including GoBilda, providing they do not violate any robot build rules. Pay specific attention to Rules RM01 and RM02 when purchasing parts and kits.

Q013: GS05 - Robot Control/Possession Limits for Pixels

Q: Please explain if these scenarios will be penalized: Q1: Robot knocks a pixel stack down (GS05.c.i). These pixels are such that they are no longer stacked and are scattered singles. Q2: Robot pushes 3/4/5 of the knocked down pixels into the backstage (GS05.c.iii). Q3: The restriction seems to be, a robot can not move a stack of 3 or more pixels from the white line. Q4: Scattered / knocked off pixels can be plowed. Is that accurate?

A: A1: No Penalty. Rule GS05.c.i allows a Robot to knock over a stack of unscored Pixels.

A2: The Robot will be penalized for violating rule GS05.a because it is Controlling more than two (2) Pixels. The Pixels in this scenario are Herded, a form of Control, by the Robot because the Pixels are pushed to a desired location that gains a strategic advantage beyond the Robot moving around the Playing Field. The Pixels in this scenario do not qualify for the rule GS05.c.iii exception for Plowing. See the definitions of "Herding" and "Plowing" in section 4.3 of Game Manual Part 2 to fully understand the difference between these game-specific terms.

A3: Correct, a Robot will be penalized for moving a stack of three (3) or more Pixels Off of the white tape line per rules GS05.a and GS05c.ii.

A4: Yes, any quantity of "scattered/knocked off Pixels" can be Plowed per rule GS05.c.iii. See the definition of "Plowing" in section 4.3 of Game Manual Part 2 to gain an understanding of how to apply this game-specific term.

Q014: Launching Pixels

Q: Launching is defined as "Propelling Game Elements through the air or water above the Playing Field Floor."

Q1: Are Pixels considered launched if they stay in contact with the floor?

Q2: In other words, can be slid along the floor and not be considered Launched and if so, are there any constraints in how far they can go?

A: An understanding of the game-specific defined terms "Propel/Propelling", "Launch/Launching", and "Slide/Sliding" found in section 4.3 of Game Manual Part 2 is necessary to fully understand Q1, Q2, and their answers. Please take a moment to review these definitions before proceeding.

The "bonus information" following answers A1 and A2 addresses a related gameplay scenario that complements Q1 and Q2.

A1: No, a Pixel that is "in contact with the floor" does not satisfy the definition of "Launched" in section 4.3 of Game Manual Part 2.

A2: A Pixel "slid along the floor" does not satisfy the definition of "Launched" because the Pixel remains in contact with the "Playing Field Floor".

Bonus Information: Rule GS10 states that Pixels may not be Propelled. Each violation of this rule results in a Minor Penalty. To understand how to apply rule GS10 to Pixels that are Slid by a Robot, we need to review the definitions of "Sliding" and "Propelling".

"Sliding" is defined as Propelling Game Elements along the Playing Field Floor.

"Propelling" is giving Game Elements enough force such that they move independent of contact with the Robot or Human Player. Launching, Rolling, and Sliding are forms of Propelling.

Since "Sliding" is a form of "Propelling", a Robot causing a Pixel to Slide violates rule GS10.

Q015: Are light blue and pink legal Prop colors?

Q: TE02 says that the TGE (Prop) may include multiple shades of the assigned color, but can the Prop be made entirely of a shade of the assigned color? So, could a Prop be light blue or pink since those are shades of blue and red?

A: Yes, light blue and pink are acceptable colors providing it is obvious to the field personnel which alliance the Team Prop belongs to.

Q016: Drone Launching

Q: How is "over" defined for the purpose of <4.4.4.2> "Launched Drones must pass over the Truss and/or Stage Door for each scoring attempt to earn points."

Specifically, does the drone need to be fully clear of touching its launching robot before the leading edge of the drone passes the plane over the Rigging or before the trailing edge leaves the plane above the Rigging?

A: A Robot must release the Drone (i.e, no Drone contact with the Robot) before any part of the Drone passes over the Rigging or top pole of the Stage Door.

The following text demonstrates how to use the Game Manual to substantiate the answer.

The answer to the question is found by applying the game-specific definitions of "Launch/Launching" and "Propel/Propelling" found in section 4.3 of Game Manual Part 2 to rule GS11.e.

Rule GS11.e states that "for each scoring attempt (Launch, fly, land), a Launched Drone must pass over a Rigging or top pole of the Stage Door before it is eligible to Score points. The key point is that the Drone must be Launched before passing over the specified Game Elements. Next, we need to understand and apply the definition of "Launch."

"Launch/Launching" is defined as Propelling Game Elements through the air or water above the Playing Field Floor. Okay, now we need to review the definition of "Propelling."

"Propel/Propelling" is defined as giving Game Elements enough force such that they move independent of contact with the Robot or Human Player.

Therefore, a "Launched" Drone is no longer touching the Robot.

Q017: FTC machine learning Tool chain: Start Training Model not getting enabled?

Q: I followed all process mentioned on FTC machine learning Tool chain manual (https://ftc-docs.firstinspires.org/en/latest/ftc_ml/index.html ) to train and creating videos and Datasets with same Label but still "Start Training model" button is disable? Has anyone faced this problem?

A: Welcome to FIRST Tech Challenge! As a new (and even veteran!) team it can be difficult to know where to turn for help. Officially there are four places to get official information and help in FIRST Tech Challenge:

(1) Weekly FIRST Tech Challenge Team Blasts - Every week FIRST Tech Challenge provides the information teams crave! The archive gets updated periodically, but teams receive the emails each week with helpful Weekly Tech Tips (new!) and updates teams need to know.

(2) Periodically FIRST Tech Challenge Blog and FIRST Tech Challenge Social Media - The Blog is FIRST Tech Challenge's place to talk more in-depth about topics of interest to FIRST Tech Challenge teams, and is updated periodically. Also the Social Media (Facebook, Instagram, Twitter/X, etc...) is a way to keep up with topics of interest.

(3) On-Demand FTC-Community Forums - The FTC-Community forums are the official FIRST Tech Challenge forums for technical questions and help. This forum uses the same credentials that you use to access the FIRST Dashboard, and the forum is monitored by FIRST Tech Challenge Engineering Staff as well as the FIRST Tech Challenge Tech Team (as well as the Community!). If you've got a technical question, we technically have an answer! FTC-ML questions are absolutely welcome in the FTC-Community forums.

(4) On-Demand FIRST Tech Challenge Question and Answer System - That's this site you're using right now. This system is designed to help teams get clarification on game-specific questions. No other forum or system can give you official game-specific answers like this! This system also isn't designed for discussions like the FTC-Community forums are.

I hope this helps. Have a great season!

Q018: Suspend at end of the match

Q: Q1: Does a robot have to be suspended at the end of the match to count for suspend points? Q2: Does the robot still get the points for suspending if they suspend from the rigging at end game, make it obvious and unambiguous, and then come down off the rigging and go on the floor?

A: The answers that you seek are found by reading the description of the Robot location tasks in Game Manual Part 2 section 4.4.4 End Game.

A1: Yes, to earn 20 points for being Suspended from the Rigging, a Robot must be Suspended from the Rigging when the scoring system Match timer reaches zero seconds (0:00) remaining in the Match. After the Match ends, the Robot may remain Suspended or lower to the Playing Field Floor without affecting the previously earned 20 points for completing the Suspended from the Rigging achievement.

A2: No, a Robot located on the Playing Field Floor at the end of the Match (i.e., match time equals 0:00) does not satisfy the requirement of being Suspended by the Rigging at the End of the Period.

Q019: GoBilda Motor Legality

Q: Section <RE09> of Game Manual Part 1 does not list any type of GoBilda motor as an allowed motor. Seeing how GoBilda advertises their motors as FTC legal, they have been widely used in previous years, and that they are a selectable option in the robot configuration, are the 5203 Series GoBilda motors FTC legal?

A: goBILDA motor/gearbox combinations utilizing the Modern Robotics/MATRIX 12V DC Motors, along with their attached single degree-of-freedom gearboxes, are legal per rule RE10c. This currently includes motor/gearbox combinations in the goBILDA Yellow Jacket 5201, 5202, 5203, and 5204 series.

Q020: Is it legal to intake 2 pixels while the robot is touching other pixels on a stack

Q: Is it legal to intake 2 pixels, while a robot's other parts (e.g. a beam) are touching other pixels on the pixel stack?

A: Yes, the Robot's actions are legal, provided that the Robot does not already Possess or Control any Pixels when it "intakes 2 Pixels."

Q021: Drone Trajectory

Q: The rule <DR02> states – "... the aerodynamic surfaces cause the Drones to follow a non-ballistic trajectory while flying." There is a non-zero chance that, unintentionally, the drone ends up flying with a near ballistic trajectory. Q: Does the team incur a penalty if this happens?

A: If the Drone has passed inspection and it remains in a legal configuration (rule GS11.f) throughout the Match, a gameplay penalty is not assessed if it flies with a "near ballistic trajectory."

A referee may require the Drone to be reinspected before it is used in a subsequent Match if there is concern that it violates a construction rule.

Q022: Drone construction by cutting up paper sheet into smaller parts.

Q: Rule <DR05> Construction Material Constraints: states - "... The Drone must be made of a single, continuous sheet of paper no larger than a single sheet of 8 ½ x 11 or A4 size uncoated printer paper. ..."

Q1: Can the paper size be smaller than the standard Letter/A4 size paper? Q2: Can the paper be cut up to make individual drone parts that are later attached together? Team members thought of an origami airplane that requires multiple separate parts that need to be joined together.

A: Q1: Yes, a Drone may be made from a single sheet of paper smaller than a standard letter/A4 sheet. Q2: No, multiple pieces of paper, even if in aggregate they are less than a standard letter/A4 sheet, are not allowed.

Q023: Pixel pickup and dropoff to alliance robot?

Q: Can a robot pick up pixels in the wing and then drop the pixels in tile row 3 or 4 for another robot to pick up and place on the backdrop?

A: Yes, the Robot's actions do not violate any gameplay rules.

Q024: Are stacked pixels pinned to the playing field wall considered controlled/possessed?

Q: Are stacked pixels pinned against the playing field wall considered controlled/possessed by the robot?

A: No.

Q025: Exceptions to rule RM02

Q: Good evening. Provided no other rules are violated, which of the following kits are legal COTS items under the <RM02> exception for COTS drive chassis? Assume that a "swerve module" is a collection of parts including a wheel and mechanisms to rotate the wheel in two axis. 1) A single "swerve module." 2) A bundle of 2 or more "swerve modules." 3) A complete "swerve" drivetrain, including 2 or more "swerve modules" and a frame, necessitating no additional parts to be assembled as a drive chassis.

A: Q1: A single swerve module kit does not meet the requirements in Rule RM02 and therefore is not legal.

Q2: A bundle of swerve modules violates Rule RM02and is not legal.

Q3: A complete drivetrain made up of illegal parts is not legal.

Q026: Rule GS05.c.i clarification

Q: <GS05> c) i. Knocking over a stack of unscored Pixels is allowed. Q1: Is knocking over more than one stack allowed? Q2: Is it also allowed to knock over the stacks in the opposing Alliance’s half of the Playing Field? Q3: What is the penalty for knocking over more than one stack (if applicable)?

A: A1: Yes.

A2: Yes this action is allowed during the Driver-Controlled Period. Knocking over a Pixel stack in the opposing Alliance's half of the Playing Field during the Autonomous Period violates rule GS03.

A3: No penalty during the Driver-Controlled Period. During the Autonomous Period, each instance of knocking over a Pixel stack that affects an opposing Alliance Robot during the Autonomous Period is penalized per rule GS03.

Note: The answers were updated on 09/21/2023.

Q027: Adafruit NeoDriver LED controller legality

Q: Is the Adafruit NeoDriver, I2C to NeoPixel Driver Board, https://www.adafruit.com/product/5766 legal to use for controlling addressable LED lights of the WS2812 variety (NeoPixels)

The module would be plugged into and powered by the Control Hub's 5V auxiliary ports. Using a JST SH (Stemma QT) to PH cable, the NeoDriver would be connected to an I2C port on the Control Hub. The NeoPixel wires would be connected to the remaining 3 terminals, 5Vo, GND, and NEO (data).

A: Yes, per RE12.e

Q028: Gobilda linear servos

Q: Are Gobilda linear servos legal?

A: As long as a servo meets the constraints listed in RE10 it is allowed.

Q029: GoBilda Odometry Pods

Q: In past years, we have seen odometry kits banned. Are GoBilda's new odometry pods legal, or do we need to continue to build our own? https://www.gobilda.com/odometry-pod-43mm-width-48mm-wheel-2048-ppr-encoder/

A: Each new season brings a new set of Game Manuals and rules, it's never advised to make assumptions based on prior seasons.

Rule RM02 this season includes a trio of exceptions, one of them allowing odometry kits.

Q030: Drone trajectory height / distance

Q: Rule <RG07> Propelling Game Scoring Elements in GM1 states in part that scoring elements may only propel scoring elements with enough velocity to score and that Robots may not propel a scoring element in the air more than a 18 ft. (5.49 m) distance or more than 5 ft. (1.52 m) in elevation. Q1: Since the field + the scoring zone is 18' what is the penalty if the drone overshoots? Q2: How will the height be measured?

A: A1: The first instance of violating the Drone trajectory constraints during gameplay will not be penalized and the Drone is eligible to earn points for Parking In a Landing Zone. If a referee believes that the Drone exceeded the constraints described in rule RG07, the Drone must be reinspected before it can be used again in a Match.

A2: A typical Drone trajectory testing area will be an open space next to a wall. Tape on the floor and wall will mark the distance and height constraints. The Robot will be positioned so that the Launched Drone's trajectory is along/parallel to the wall. The inspector will observe the Robot Launching the Drone several times to determine compliance with rule RG07.

Q031: Are there any solutions/future plans to ensure metal field elements are grounded?

Q: The middle metal poles holding the truss, rigging, and stage door seem to have no way of electrically grounding themselves to outside of the field, so when metal on the robot touches these elements, there is a static discharge that cannot be avoided by teams. <RG01> i) states robots cannot ground themselves to the playing field, and a grounding strap doesn't help. Will there be any rules that ensure competition fields are set up to remove static build-up on these poles?

A: This may come as a shock (pun intended), but grounding the field may have the opposite effect that you intend. By grounding certain elements of the field you virtually guarantee that ESD shocks will be more intense and more frequent, as there will almost always be a large difference in potential between any floating object sliding/moving on the field (robot, game pieces, etc...) and the grounded elements. Understand also that the common wisdom of “touching metal” also doesn’t apply the same as it may have 5-6 years ago either - realize that virtually all aluminum extrusion on robots today is anodized, which is an electrically non-conducting coating on the extrusion. Older Tetrix anodized aluminum seems to have a thinner anodized layer, so it wears/scratches/rubs off more easily, and thus it was more likely that the aluminum would be electrically conductive and charge-accessible. This means you're not able to consistently rely on "metal" to "electrically connect" areas around the robot (i.e. thinking of the frame as a “wire” isn’t as applicable). Also the grounding strap is not meant to "ground" your robot, it's meant to attempt to equalize the potential between your electronics and areas of static build-up on the robot that the strap is connected to so that when ESD does happen the charge potential is hopefully small and thus has little to no effect. The Managing ESD article on ftc-docs has several recommendations for how teams can protect their robots. No one solution is a silver bullet, though, careful attention is key!

You’ve asked about what event organizers are doing to reduce ESD buildup on the fields. Heavy Duty Staticide is a staple for treating fields, especially those that are at high risk for static charge buildup like areas with extremely low humidity. This Heavy Duty Staticide has been proven to be extremely effective at significantly reducing (or eliminating) static charge buildup.

Q032: What exactly is considered autonomous interference?

Q: Consider these scenarios: Q1: A robot places a pixel in the opposing alliance's half of the playing field and the pixel disrupts an opposing alliance's robot. Q2: A robot knocks over the pixel stacks on the opposing alliance's half of the playing field and their robot is no longer able to pick them up in autonomous. Q3: Are any of these scenarios considered interference as long as my bot doesn't touch their bot or interfere with the randomization task scoring?

A: A1: This scenario violates the Autonomous Interference rule, GS03.

A2: Knocking over a Pixel stack in the opposing Alliance's half of the Playing Field that affects an opposing Alliance Robot during the Autonomous Period, violates rule GS03.

A3: Yes, both of the scenarios in this question thread violate rule GS03, even though there is no direct Robot to Robot contact.

Note: These are great questions that may lead to the Game Design Committee adding clarifying text to the Autonomous Period Interference rule, GS03, in a future release of the Game Manual Part 2. For now, per the text in section 4.5 of Game Manual Part 2, the answers in this question thread take precedence over all information in the game manuals.

Q033: Notch in drone

Q: Are we allowed to cut a notch in the drone in order to attach a rubber band, spring or similar device?

A: There is no rule against cutting a notch in the Drone.

Q034: Drone Folding Lines

Q: <DR05> states that we may use a color printer to achieve the required red and blue colors. In the description, it also says "images." Are we also allowed to print folding lines to assist with the construction?

A: Yes, that is a legal image.

Q035: Drone Placement in the Wing

Q: Q1: A human player can not be in the wing, if a robot is in the wing. Correct?

Q2: If a drone is not pre-loaded on the robot before the match, it can be placed in the wing by the human player. Does the robot have to load the drone itself? I'm assuming that it could not be done by the human player.

A: A1: Yes, this is a correct statement. See rule GS12 to learn all of the Human Player constraints.

A2: Yes, the Robot would need to load the Drone itself without human assistance per rule GS12.h.

Q036: T265 camera legal this year?

Q: Will the Intel T265 Tracking Camera be legal this season 2023-2024? This camera model was legal in the past. A lot of teams purchased and spent a lot of time on them already.

A: No, the Intel T265 is not legal for use. The Intel T265 is a stereoscopic (having more than one image sensor) camera which would violate rule RE13.b.iii in Game Manual 1.

Q037: Will TGE (Team Prop) orientation be maintained during randomization?

Q: GM2 section 4.4.1(4)(c) says that field personnel will move the Randomization Object to the chosen Spike Mark. For teams using TGE (Team Props), will the field personnel attempt to maintain the orientation of the TGE as placed on the field by the Drive Team, or should teams anticipate that the TGE orientation will change as a result of randomization?

A: Yes, field personnel will strive to maintain the Team Prop's orientation when it is repositioned to a different Spike Mark.

Randomization relocation is not a precision activity, Teams should design their Team Prop detection system to tolerate some change in orientation when it is relocated. The Drive Team should immediately alert field personnel if there is a significant change in the Team Prop's orientation. Using the referee question box after the Match ends to alert the Head Referee about a change in Team Prop orientation during randomization is too late to affect any Match outcome and it is not a justification to replay a Match.

Q038: Rigging suspension and robot weight

Q: Our team was discussing the rigging suspension task and thinking about years past about how there was a weight limit for suspending. Q1: Is there going to be an update to a weight limit? Q2: If not, what is the ruling if a pole bends or brakes due to robot weight?

A: A1: No, we feel that the Truss and Rigging will be able to withstand a "maximum" weight Robot. Robot weight was a major consideration when designing the Truss structure and writing the Truss constraints rule, GS06.

A2: Rule S01 in Game Manual Part 2 describes the consequences for Playing Field damage. Some bending of the Rigging is expected while a Robot is Suspended. No Penalty will be administered if the Rigging returns to its nominal shape in time for the next Match on that Playing Field.

Q039: do we have to make a paper airplane?

Q: A drone is defined as a "paper airplane" but it then says that it can be made out of any acceptable building material. Q1) do we have to make it out of paper? Q2) does it have to be in the shape of an airplane?

A: The rules for Drone construction are spelled out in Game Manual 1 Section 7.5 Q1: See Rule DR05 Q2: See Rule DR02

Q040: Follow up to q25 and Exceptions to RM02

Q: In q25, it was asked if a complete swerve drivetrain kit is a legal COTS drive chassis. The given answer was "A complete drivetrain made up of illegal parts is not legal." Follow up questions: 1) Which of the components in the proposed COTS kit are illegal parts? It would comprise entirely of motion components (bearings, shafts, gears) and structural components (mounts, frame, screws). 2) Is a complete swerve drivetrain kit compromising only of parts allowed under <RM02> a legal COTS kit?

A: A swerve drive module, by its very design, takes a one degree of freedom (DOF) motion and adds additional degrees of freedom to change the motion - the total DOF is dependent on the implementation, but it is always more than one. These kinds of components are not allowed by RM02's single DOF restriction for COTS parts, whether bundled in a COTS drive chassis kit or not.

Q041: Non-Ballistic Trajectory

Q: Q1: How will Robot Inspectors define non-ballistic trajectory (from <DR02>)?

Q2: From Q21: How will Referees define "near ballistic trajectory"?

A: A1: Robot Inspectors will evaluate compliance with rule DR02 by focusing on the Drone having the general configuration of an airplane with a defined fuselage and wings. A guide to assist Teams and Robot Inspectors with evaluating Drone designs will be published soon on the Volunteer Resources webpage.

Robot Inspectors are not expected to validate the non-ballistic quality of Drone flight. When asked by a referee, a Robot Inspector will verify that the Drone's trajectory used in gameplay complies with rule RG07 in Game Manual Part 1. The typical setup for verifying rule RG07 compliance is described in the answer to !Q30.

A2: Referees will focus on: a) Compliance with the Drone constraints rule GS10 and; b) Drone trajectory height and distance compliance with rule RG07. The ballistic characteristics of the Drone's trajectory is not a gameplay metric for the referee.

Q042: Pixel moving which is on the floor and not used by alliance.

Q: Action 1. Red alliance robot picks up a pixel from their side of the field. Action 2. Moving it towards their backdrop/backstage, they drop the pixel outside a scoring area in the blue alliance side of field, while on the way.

Q1: Can a blue alliance robot pickup the pixel and use it for their advantage?

Q2: This is not autonomous interference?

Q3: Does it incur any penalty?

A: A1: Yes. During the Autonomous Period it is a non-scored Pixel located in their Alliance's half of the Playing Field. During the Driver-Controlled Period it is available to a Robot on any Alliance because it is not In a Scoring Area or Wing, provided that no other rule is violated (for example, GS05 and GS08 to name a few).

Keep in mind that during the Autonomous Period, Robots may only use its own Pre-Loaded Pixels to earn Randomization Task points per section 4.4.2 item 2.b in Game Manual Part 2.

A2: The red Alliance violates rule GS03 each time the dropped Pixel disrupts a blue Alliance Robot during the Autonomous Period or if the red Alliance Robot directly Interferes with an opposing Alliance Robot that is in its own Alliance's half of the Playing Field. The blue Alliance Robots are not at risk for violating the Autonomous Interference rule, provided that they remain on their Alliance's half of the Playing Field.

A3: See A2.

Q043: Drone in air when time is up

Q: A drone is launched during last couple seconds of the end game phase. Does the score count if the drone is launched right before the game finishes and lands after game time is up? We are talking about 2-3 seconds of margin where the drone might be launched and up in the air and time is up after the match.

A: Yes, the Drone is eligible to earn Landing Zone points per rule G20.b in Game Manual Part 2.

Q044: Backdrop scoring and restriction in Autonomous.

Q: Q1: Do both teams in an alliance get to have their own team prop on each side of the truss? Q2: May both teams on an alliance put pixels on the backdrop and score? That way we have two yellow pixels on the backdrop by end of autonomous. Q3: Is there any way an alliance can put more colored pixels on the backdrop during the autonomous period?

A: A1: Yes, see section 4.4.1 item 3.d in Game Manual Part 2 for how to place a Team Prop on the Playing Field during pre-Match set up.

A2: Yes.

A3: Each Drive Team may Pre-Load exactly one (1) yellow Pixel and one (1) purple Pixel during pre-Match set up as described in section 4.4.1 item 3.b in Game Manual Part 2. This is the only way non-white colored Pixels enter the Playing Field for use during the Autonomous Period.

A highly unlikely, legal way for a Robot to access an additional non-white Pixel would be by picking up a stray non-white Pixel located In its Alliance's half of the Playing Field. Keep in mind that Robots may only use its own Pre-Loaded Pixels to earn Randomization Task points per section 4.4.2 item 2.b in Game Manual Part 2.

Q045: 6.1 Eligibility for Advancement: Home Region

Q: Tennessee Valley Robotics sponsors a State Championship in Tennessee and Alabama. There are the only advancement competitions in Tennessee and Alabama. Can teams in the Tennessee Valley region compete in both the Tennessee and Alabama State Championship for advancement to World and the Inspire Award?

A: Per the eligibility for advancement criteria outlined in section 6.1 of the Game Manual Part 1, teams may only advance from events within their home region. Teams may still compete in events outside of their home region, but are not eligible for advancement.

Teams competing outside of their home region are eligible to be judged for all awards except for the Inspire award. For all awards except Inspire, teams may be considered a finalist or winner of the award but are not eligible to advance. Teams are not eligible for consideration for the Inspire award, including 2nd and 3rd place Inspire spots, outside of their home region.

Q046: Interaction with the Pixel and Props on the spike mark during autonomous

Q: During the autonomous period while traveling to our Alliance's Backstage, is there a penalty or de-scoring if our robot bumps: Q1: Our purple Pixel off the randomly selected Spike Mark. Q2: Our prop off the randomly selected Spike Mark. Q3: Our alliance partner's purple Pixel off the randomly selected Spike Mark. Q4: Our alliance partner's prop off the randomly selected Spike Mark.

A: A Robot is allowed to descore a Pixel from its own Alliance's Scoring Area. The only consequence is the loss of Score value (points) for the descored Pixel.

A1: No Penalty and the Purple Pixel does not earn points for the Spike Mark Randomization Task if it is Off the designated (correct) Spike Mark at the end of the Autonomous Period.

A2: No Penalty.

A3: No Penalty and the Purple Pixel does not earn points for the Spike Mark Randomization Task if it is Off the designated (correct) Spike Mark at the end of the Autonomous Period.

A4: No Penalty.

Q047: Moving pixels from spike marks

Q: Q1: If the purple pixel is placed on the spike mark in the scoring position, but due to movement of robots doing other tasks, if it moves the pixel from the spike mark (alliance robot or opponent robot), how does the scoring work?

Q2: If the achievement score is determined right after autonomous, in the driver-controlled period, can we use that spike mark pixel for badkrop/backstage scoring purpose?

A: A1: Autonomous Period tasks are Scored at Rest per section 4.4.2 in Game Manual Part 2. "Scored at Rest" is defined in section 4.3 in Game Manual Part 2. Applying the definition to the Pixel placed on the Spike Mark, the Pixel is considered to be Scored if it is On the designated (correct) Spike Mark when the entire field has come to rest after the Autonomous Period ends.

In the Q1 scenario, the purple Pixel is not On the correct Spike Mark, therefore, the Pixel's Score value is zero.

There is no Penalty if a Robot descores its own Alliance's Pixel. Rule GS03 is violated If an opposing Alliance Robot descores the Spike Mark Pixel.

A2: Yes.

Q048: Moving pixels from spike marks

Q: Q1: If the purple pixel is placed on the spike mark in the scoring position, but due to movement of robots doing other tasks, if it moves the pixel from the spike mark (alliance robot or opponent robot), how does the scoring work?

Q2: If the achievement score is determined right after autonomous, in the driver-controlled period, can we use that spike mark pixel for badkrop/backstage scoring purpose?

A: We believe !Q47 answers your question. If it does not, please rephrase your question and resubmit.

Q049: Moving pixels from spike marks

Q: Q1: If the purple pixel is placed on the spike mark in the scoring position, but due to movement of robots doing other tasks, if it moves the pixel from the spike mark (alliance robot or opponent robot), how does the scoring work?

Q2: If the achievement score is determined right after autonomous, in the driver-controlled period, can we use that spike mark pixel for badkrop/backstage scoring purpose?

A: We believe !Q47 answers your question. If it does not, please rephrase your question and resubmit.

Q050: Followup Q13

Q: I am still not clear on Q13, as well as the how to apply rule GS05 in the game manual part 2.

1. GS05c. iii. - Plowing through any quantity of Scoring Elements is allowed.

2. GS05a. - Controlling or Possessing more than the allowed quantity of Scoring Elements is an immediate Minor Penalty.

I am looking for one example where plowing a robot through 3/4/5 elements does not violate rule GS05a, or does not belong to herding. I am unable to understand the use of GS05.c.iii.

A: Before proceeding with reading the following information, please review the game-specific definitions of the terms Control, Possess, Herding, and Plowing in section 4.3 of Game Manual Part 2. Applying the common or dictionary definitions of any game-specific term in section 4.3 may result in a misunderstanding of a scoring achievement requirement, rule, procedure, etc. Game-specific terms are easy to identify in the Game Manual because they have italics formatting and the first letter is capitalized. For example, the text "Control" has the correct formatting for a game-specific term. We strive to use this same formatting for defined terms contained in answers to gameplay questions in this forum.

Rule GS05.a limits the number of Pixels and Drones that a Robot can legally Control or Possess. This Team's question (!Q50) asks for an example of where Plowing through 3/4/5 Pixels does not violate rule GS05.a. The definition of Control specifically states that Plowing is not a form of Control. Therefore, all Plowing actions by a Robot do not violate the Scoring Element Control/Possession rule, GS05.a.

The second part of this Team's question asks for a Plowing scenario that is not Herding. Since Plowing actions and Herding actions are mutually exclusive, all Plowing actions are not Herding".

The following are gameplay examples that may be helpful:

Example 1: A Robot collects two Pixels from a Pixel stack. Since these are the only Pixels Possessed or Controlled by the Robot, rule GS05.a is not violated. The Robot drives directly through the Truss or Stage Door and stops In their Alliance's Backstage. Along the way to the Backstage, a stray Pixel on the Playing Field Floor is pushed by the Robot and it winds up In the Backstage. The Robot has now violated rule GS05.a because it Possesses two Pixels and it Controlled (Herded) the stray Pixel for a total of three (3) Controlled Pixels. The stray Pixel was Herded because it was moved to a location that provided the Alliance a strategic advantage since it was Scored In the Backstage.

Example 2: Same as Example 1, except when the Robot encounters the stray Pixel, it pushes the stray Pixel for a short distance. The Drive Team quickly realizes that the Robot just started to Control too many Pixels. The Drive Team changes the Robot's direction of travel so that the Robot sheds the stray Pixel, leaving it behind on the Playing Field Floor while the Robot continues on its way to the Backstage. In this example, the stray Pixel was Plowed (i.e, it was not moved into a location that gave the Alliance a strategic advantage). Therefore, rule GS05.a is not violated.

If there is still uncertainty about how Controlling, Possessing, Herding, and Plowing apply to rule GS05, the Head Referee at your next competition will be happy to answer your questions during the Drivers Meeting. Demonstrating gameplay scenarios on a Playing Field is an excellent way to gain understanding of how to apply rules to complex scenarios.

Pro Tip: Drive Teams have an obligation while driving their Robots around the Playing Field to avoid Controlling stray Pixels that would cause the Robot to violate rule GS05. In other words, Robots should maneuver around stray Pixels if their Herding would cause the Robot to exceed the allowed number of Controlled Pixels.

Warning: Deliberately placing Pixels in locations on the Playing Field Floor to use rule GS05.a constraints as a strategy to increase the difficulty for an opposing AllianceRobot to move around the Playing Field violates rule G29.

Q051: Train Model Button Disabled

Q: I have followed all the steps in the Machine Learning Tutorial Tool Chain and whenever I generate a data set, if I try to train it the start training button does not become active. This is the same issue as described in Q17 but the response to that question does not solve the problem. I have already contacted customer support at FIRST a week ago with no resolution.

A: This is a technical support question, not a game-specific rules clarification. If the issue persists, please seek help on the ftc-community forums. The FIRST Tech Challenge engineering staff is monitoring those forums, and await your questions.

Q052: Randomization Task Spike Mark Location Nomenclature

Q: Q1: For the autonomous randomization task, and placing the yellow pixel on the backdrop, what exactly is meant by “A yellow Pixel on the Backdrop in the location corresponding to the designated Spike Mark”? Is it that spike marks are inferred to be, facing the spike marks, left 1, top/middle 2, and right 3. Q2: Is it the same numbering for both red and blue alliance, in all positions?

A: A1: The answer that you seek is found by viewing illustrations E-3, E-4, and E-5 in Appendix E of Game Manual Part 2.

A2: Yes.

Q053: Autonomous yellow pixel placement on the backdrop

Q: For the randomization in the autonomous period and placing the yellow pixel on the backdrop, it looks as if each location, 1, 2 & 3 all have 2 slots that the pixel can be placed in, or is it only the left most slot of that location?

A: The answer that you seek is found by viewing illustrations E-3, E-4, E-5, and E-6 in Appendix E of Game Manual Part 2.

Each randomization task Spike Mark location (left, center, and right) has two (2) slots on the Backdrop that the Pixel can be placed into.

Q054: Pixel Possession in Autonomous

Q: A robot has a spinning intake that can extend ~3 feet in front of the robot, and in the process of intaking a stack in the autonomous period, the robot intakes 3 pixels. However, after the intake retracts, the 3rd pixel spits out of the robot. Would this be counted as a pixel control/possession limit violation?

A: We believe !Q2 answers your question. If it does not, please rephrase your question and resubmit.

Q056: Are optic flow sensors considered image sensors?

Q: Would a optic flow sensor considered as an image sensor as in the definition of the Vision Camera and Visions Sensor?

A: An optic flow sensor usually combines a camera, distance sensor (sonar or lidar are most common), and sometimes an IMU. This type of device uses these component sensors to make decisions and provides outputs that can be read/used by a control system - this is the very definition of a Vision Sensor as defined by Game Manual 1. Just be sure the device does not violate any Vision Sensor rules in RE13.b, and also ensure that none of the component sensors violate any rules such as RE12.c in the case of optic flow sensors containing lasers (such as lidar sensors).

Q057: Manipulation of pixels after being scored

Q: According to Game Manual 2, specifically <GS05>, it is stated that pixels scored on the backdrop are not subject to the control/possession limit. Does this imply that an alliance can freely manipulate any number of pixels on their backdrop even after they have been scored, as long as these pixels maintain contact with the backdrop?

A: Yes, provided that the Robot is not In Tile rows 1, 2, or 3 per rule GS08.d.

Q058: Rule G05 clarification

Q: <G05> Robots or Scoring Elements that are eligible for two or more Scoring achievements earn points only for the highest value achievement. Q1: Is a Yellow Pixel placed On an Alliance’s designated Backdrop location eligible for both the 20 point randomization task and the 5 point placement task? Q2: Will the Yellow Pixel then earn 3 points at the end of the Driver-Controlled Period? Q3: Are there other scenarios where rule G05 would apply (except Drones In multiple Landing Zones and Navigating)?

A: A1: The short answer is Yes.

The yellow Pixel is in two Scoring Areas, On the Backdrop and In the Backstage. Applying rule G05, the Pixel's highest value achievement is for being On the Backdrop. During the Autonomous Period, all Pixels On the Backdrop earn five (5) points. The yellow Pixel has an additional Randomization Task scoring potential that is dependent upon its location On the Backdrop as described in section 4.4.2 item 2.b. The yellow Pixel may earn both the standard five (5) points for being On the Backdrop and the Randomization Task points for being in the location corresponding to the designated Spike Mark.

A2: Yes, if the yellow Pixel is On the Backdrop at the end of the Match.

A3: For the CENTERSTAGE game, rule G05 applies to: a) Pixels that are On the Backdrop and In the Backstage; b) Robots that are Suspended from the Rigging and are Parked In the Backstage; and c) Drones In two (2) Landing Zones.

Applying rule G05 to the Navigation scoring achievement during the Autonomous Period is not necessary because there is only one location based Scoring Area for the Robot during that Match Period.

Q059: Vision Camera Questions

Q: We are a rookie team so we want to know how many vision cameras are allowed to use this year (one other team told us that only one vision camera can be used). Also are Pixy or Pixy2 Cam allowed?

A: 1. Welcome to FIRST Tech Challenge!

2. There are no rules that specify a maximum quantity on sensors, Vision Cameras, or Vision Sensors.

3. The Pixy and Pixy2 are Vision Sensors, the Pixy2 is specifically called out as a common Vision Sensor in the definition of a Vision Sensor. Note that the Pixy and Pixy2 do not have native software support in SDK 9.0, so teams will need to develop their own software drivers to use them.

Q060: <GS05> Clarification on pixel stack penalties

Q: In the third part of Q13 and in <GS05>c.ii of the game manual, it is mentioned that it is a penalty to move a stack of more than 2 white pixels off the line. My question is how many penalties would this violation cause? Would it cause multiple minor penalties for each pixel more than 2 on the stack, (Ex. 3 penalties for moving a stack of 5), or just one minor penalty for the entire stack moving?

A: Rule GS05.a is restated here with the answer to your question highlighted with bold formatting: "Robots may Control or Possess a maximum of two (2) Pixels and one (1) Drone at a time. Controlling or Possessing more than the allowed quantity of Scoring Elements is an immediate Minor Penalty for each Scoring Element above the limit plus an additional Minor Penalty per Scoring Element in excess of the limit for each 5-second interval that the situation continues."

If the Robot does not Control any Pixels just before it moves the Pixel stack Off the white tape line, the number of Minor Penalties is the quantity of Pixels in the stack minus two (2). For example, if there are five (5) Pixels in the stack, the Penalty is three (3) Minor Penalties for Controlling three (3) Pixels above the allowed quantity of two (2). If the Robot continues to Control more than the allowed quantity of Pixels, an additional Minor Penalty for each Pixel over the allowed quantity of two (2) will be assessed every five (5) seconds that the Robot Controls more than two (2) Pixels.

Q061: Penalty Point Values

Q: After text searches through GM1 and GM2, I have been unable to find point values for penalties in this year's game. What are the point values for minor and major penalties respectively?

A: The answer that you seek is found by reading the "Penalties" section 4.4.6 in Game Manual Part 2.

Section 4.4.6 states in part: "Minor Penalties give the non-offending Alliance ten (10) points per occurrence. Major Penalties give the non-offending Alliance thirty (30) points per occurrence."

Q062: Are solenoid actuators allowed if used as a servo?

Q: Our team is considering using a solenoid (6v) in lieu of a servo. Does this run afoul of regulations?

A: Solenoids are not allowed per RE16.

Q063: How enclosed can the hexagons be in the robot?

Q: How enclosed can the pixels be in the robot? Meaning, do the refs have to see the pixels at all times or can they go into the robot?

A: Yes, Pixels can be in the robot. However, once inside the Robot it is to a team's advantage to keep the Pixels visible so that it is easy for the Ref to determine the quantity of Pixels that a Robot is carrying, but it is not a requirement.

Q064: GS12 - Human player inadvertently and temporarily straying into wing/field

Q: Scenario: There is no robot in the wing. During the gameplay, the human player inadvertently leans her head over the vertical plane of the field perimeter, into the wing/field area, perhaps to enjoy the gameplay. Q1: Does the team incur an immediate penalty in this scenario? Q2: Human player realizes her action and backs her head out of the wing/field within X seconds. Does the team still incur a penalty in this scenario? Q3: If the answer to Q2 is no, what is the value of X?

A: A1: The Human Player should receive a Warning the first time they extend into the Playing Field Perimeter without demonstrating a clear intent to place a Scoring Element into the Wing. Subsequent extensions into the Playing Field Perimeter without the intent of placing Scoring Elements into the Wing should receive a Minor Penalty for each occurrence per rule GS12.

A2: Same answer as A1.

A3: Not applicable.

Q065: GS11.g.i - Tall robots being hit by opposing alliance drone near the audience side wall

Q: Rule GS11>g.i states - "Affecting the flight of an opposing Alliances Drone above Playing Field Wall.... Opposing Alliance Drone receives points for Landing Zone 1." Scenario: A tall RED robot parks itself right along the audience side perimeter wall, during the game play. A BLUE drone hits it during end game and falls into the playing field instead of landing/falling into zone 1/2/3. RED team had no way of knowing the BLUE drone trajectory. Is this scenario a violation of <GS11>g.i?

A: Yes, the red Alliance Robot in this scenario violates rule GS11.g.i.

When a Drone contacts an opposing Alliance Robot that is actively playing the game in the front half (audience side) of the Playing Field, the referee may use their judgement to decide if it was allowed gameplay or if a rule GS11.g.i violation Warning or Penalty should be applied.

In the scenario described in the question, the Parked Robot is not actively playing the game and is likely to be viewed by the referee as a strategy to interfere with a Drone's flightpath.

The following are a few examples of active gameplay that are unlikely to be viewed as violating rule GS11.g.i if the Robot contacts an opposing Alliance Drone.

a) A Robot driving from their Alliance's Wing along an approximate direct path through the Truss or Stage Door towards their Backstage area.

b) A Robot returning from their Backstage area along an approximate direct path through the Truss or Stage Door towards their Alliance's Wing.

c) A Robot preparing to Suspend.

d) A Suspended Robot.

Example scenarios where the referee is likely to issue a rule GS11.g.i Warning or Penalty are:

e) A Robot moving around the front half (audience size) of the Playing Field without an obvious Scoring Element collection, transportation, or Scoring purpose.

f) A Robot Parked in the front half (audience) side of the Playing Field.

Note: Robots have an obligation during the End Game to avoid gameplay strategies that interfere with an opposing Alliance Drone's trajectory. Similarly, a Robot Launching a Drone may not use rule GS11.g protections as a strategy to receive Landing Zone 1 points.

Q066: GS11.b - Inadvertent possession of another Team’s Drone.

Q: Rule <GS11>b - "A Robot may not Possess a Drone provided by another Team. A Major Penalty will be assessed for violating this rule."

Scenario: A RED alliance drone is launched during the end game and lands inside/over a BLUE alliance robot. BLUE robot is unable to shake off the RED drone. Does the BLUE alliance incur a penalty for this inadvertent, and completely out of their control, possession of RED drone?

A: No Penalty should be assessed for this Inadvertent gameplay scenario.

The inadvertently Possessed Drone does not count towards the Robot's one (1) Drone Control/Possession limit (GS05.a). The Robot may continue normal gameplay; trying to "shake off" the stray Drone is not required.

Q067: V-Slot aluminum legal to use?

Q: Hi. Is it legal to use V-Slot Aluminum? There is a picture on page 16 of the "Legal/Illegal Parts" document that has V-Slot piece pictured however it is under the T-slot section. Thanks!

A: Yes, v-slot aluminum is a legal material.

Q068: Is it legal to remove a Motor Mount to use on a robot?

Q: Is it legal to remove a motor mount from a Modern Robotics/MATRIX 12VDC Motor with 8mm REX™ Pinion Shaft (5000-0002-4008) to use on the robot?

A: Yes, it is legal to use a motor in which the motor mount/pinion shaft has been removed.

Q069: Can we power sensors connected to the analog, digital, and i2c port from 5v aux port?

Q: Past interpretation of the prior version of RE11.a allowed for many 5v in, 3.3v out sensors to be connected to the aux 5v port. The new RE11.a seems to clarify where sensors can be connected, but was it intentional to outlaw use of the 5v aux port to power them even though they are otherwise connected to the analog, digital, and i2c ports for all but power? The aux port is used to power other sensor port devices, like I2C lights (see Q27)

A: No. Sensors may only be powered via the ports listed in RE11.a. If your sensor needs 5v, you will need to utilize the REV Logic Level Converter as described in RE11.b

Q070: Drone Curved Glide Path

Q: Q1: The answer to Q30 may imply that only straight drone flights are permitted, what if a drone is meant to follow a curved glide path?

Q2: Is it right to assume that the drone cannot exceed a 12' wide x 18' long x 5' high space flight space?

Q3: If following a curved trajectory, may a drone leave the field space before returning to the Landing Zone?

A: A1: In general, a curved glide path is allowed.

A2: The Game Manual does not specify a lateral (wide) trajectory constraint. The geometry of the gameplay area is the practical limitation for the Drone trajectory. The eighteen (18) ft. long and five (5) ft. high Drone trajectory limits described in rule RG07 will be enforced.

A3: A Drone is allowed to exit the Playing Field in any direction. There are consequences if the Drone impacts something Outside the Playing Field Wall as described in rules GS11.g.iii, GS11.g.iv, GS11.g.v., and S1 if there is a safety hazard.

Note 1: Drone trajectory strategies that exit the Playing Field Perimeter other than through the audience edge of the Playing Field Wall do so at their own risk.

Note 2: A Drone impacting a Drive Team member of either Alliance in a manner that is not interference (i.e., the Drive Team member was not able to avoid being hit) should be treated as a Scoring Element out of bounds and returned to the owning Alliance's Pixel Storage at the earliest, safe opportunity.

Q071: REV grounding strap wiring constraints?

Q: Reading RE14.k, it seems that the only legal connection points for a REV Grounding Strap are the female XT30 ports of a Control Hub, Expansion Hub, XT30 Power Distribution Block, or the female XT30 on a REV PowerPole to XT30 adapter. Q1: Is this an accurate conclusion? Q2: Does the "No other...adapters are permitted" portion of RE14.k also apply to electrical connections "upstream" (towards the Main Power Switch) of the CH/EH/PDB/PP component the grounding strap is connected to?

A: Answer 1: RE14k requires that the REV Grounding Strap be directly connected to a fully-COTS component with XT30 connectors (includes the REV provided XT30/Powerpole adapter). It may not be connected to team manufactured wiring.

Answer 2: No. Teams are allowed to wire their robot as needed as long as the wiring does not violate any of the provisions of RE14.

Q072: Specifications for a team prop

Q: What are the specifications for a team prop

A: Specifications for the Team Prop are listed in Game Manual 1, Section 7.4.

Q073: RM06 and the Prop

Q: Is it correct to conclude that RM06 does not constrain (the design or construction of) the prop?

A: Yes, Rule RM06 applies to the Team Prop. Note that RM06 should be interpreted as pertaining only to the previous season's game elements (Power Play), not every game element from every FTC game.

Q074: DR05 Continuous piece

Q: Would a single, continuous A4 piece of paper, that has a 1" long cut in the center of the paper, such that the paper maintains the same surface area, and remains one piece with continuous edges, meet the requirements of <DR05> ?

A: Yes, that satisfies the single sheet requirement.

Q075: Servo legality

Q: Is this servo legal, https://a.co/d/cFk2HOy? If not, are there any legal servos that have 50-70 kg per centimeter with 270 degree rotation?

A: In general, it is not possible for us to rule on the legality of every possible servo. As long as the servo meets the criteria in RE10 it is legal.

We thought it important to add a few cautions for teams exploring large servos:

• watch your total power budget. the main robot battery is fused at 20A
• the servo power module is over-current limited at 15A
• pay attention to the stall current. the above servo has a 8.5A stall current - a significant percentage of total robot power and of servo power module capacity
• plan for variances in the stated stall currents for servos - a plus/minus 10% variance is likely
• sustained high-current draw can cause the battery to "brown out", with the voltage dropping. large drops can cause loss of connectivity and reboots of control/expansion hubs

Q076: Points when splitting landing zone for Drone landing.

Q: When the Drone lands on a zone line between zones how are points counted? Say if the Drone lands on the zone line separating Zones 1 & 2 and 2 & 3.

A: The answer that you seek is found by reading rule G05 in Game Manual Part 2. Also, Drone Landing Zone Scoring example B1 in Appendix F, illustration F-5, shows how a Drone Parked in two Landing Zones is Scored.

Rule G05 states: "Robots or Scoring Elements that are eligible for two or more Scoring achievements earn points only for the highest value achievement. If the achievement values are equal, only one achievement counts as Scored."

Applying rule G05 to the two scenarios in the question:

A Drone Parked in both Landing Zones 1 & 2 earns 30 points for Landing Zone 1|.

A Drone Parked in both Landing Zones 2 & 3 earns 20 points for Landing Zone 2.

Q077: Can a Team Prop have retroreflective tape as part of its construction?

Q: TE02 specifies the Team Prop must be Red or Blue. TE03 disallows fiducial markers. Can a Team Prop incorporate red- or blue-colored retroreflective tape in its construction, or does that count as a fiducial marker?

A: Per Rule TE03, a Team Prop may not have any retroreflective materials.

Q078: Clarification Q18 Robot Suspension in End Game

Q: Q18, A1 specified that after the 0:00 buzzer, the suspended robots may descend from the rigging without losing the bonus points. The flowchart in Section 4.4.7 of GM2 indicates that pressing stop on the Driver Station is the last action in Driver-Controlled Period. Pressing stop on the robot should depower motors used for hanging which will allow some robots to descend unpowered. Does such unpowered movement negate the ‘at rest’ condition for scoring purposes?

A: The answer that you seek is found by reading the description of the Robot location tasks in Game Manual Part 2 section 4.4.4 End Game.

Per section 4.4.4 in Game Manual Part 2, the Robot location (Suspended and Parked) End Game Scoring achievements are Scored at the End of the Period.

Scored at the End of the Period is defined in section 4.3 of Game Manual Part 2 as: "The achievement’s Scoring status is determined based on the Robot or Scoring Element’s position at the End of the Period (Autonomous or Driver-Controlled)". The End of the Period for the Driver-Controlled Period occurs when the scoring system Match timer reaches zero seconds (0:00) remaining in the Match. The condition "at rest" is intentionally omitted from the definition of End of Period Scoring.

The Game Design Committee (GDC) selected End of Period Scoring for the End Game Robot location Scoring achievements for the reason stated in the question. After the required action of pressing the stop button on the Driver Station, Robots without a mechanical lock to maintain their position, are likely to lower to the Playing Field Floor. The GDC wants Suspended Robots at the End of the Period to earn the Suspended from the Rigging points, even if the Robot lowers and touches the Playing Field Floor after the Match ends and the Driver Station stop button is pressed.

Q079: Solo cups as Team Prop

Q: Are Solo, or other disposable cups allowed to be used as team props this year. In Game Manual 1, Section 7.4. there is no mention of not using Solo or other cups. I recall last year they were not allowed due to many teams using them in Freight Frenzy. Additionally, <RM06> Current Season Game and Scoring Elements does not disallow them either

A: Drinking cups in general are allowed providing they meet all the other Team Prop requirements, specifically size and uniform color. Many cups have a solid exterior color but are white inside. To be used in a Match, the cup would have to be oriented such that no white is visible, i.e. open side down. The cup would have to be inspected in the same orientation it will be used on the field.

Q080: DR05a - are specialty papers allowed as long as they are sold as printer paper?

Q: Are specialty papers like those made with Tyvek allowed for drone construction as long as they are 20lb weight or lower and not "coated"? (Example: https://www.jampaper.com/white-14lb-tyvek-8-1-2x11-paper-item-2179214491).

A: No, specialty papers such as Tyvek are not allowed.

Q082: Are rubber bands legal for shooting the drone?

Q: Are rubber bands legal?

A: Yes, rubber bands are a legal part of the Robot. They are not a legal part of the Drone, so when shooting the Drone, the rubber band must remain attached to the Robot.

Q083: Will the OpenMV Cam RT1062 be allowed?

Q: We were wondering if the OpenMV Cam RT1062 qualifies as a Vision Sensor since you can upload your own code to it, but it doesn't stream images to the control hub if you use it with I2C, however, if you connect it with USB it can. (Section 7.2.1 Game Manual 1)

So is it allowed to be used?

A: No. This is a user programmable microcontroller board and as such falls into the category of "Additional Electronics disallowed by RE16.

Q084: Which previous seasons are disallowed by <RM06> part b?

Q: <RM06> b. says "The following season game and scoring elements are not allowed for Robot construction: ... Team manufactured replicas of COTS current or previous season’s scoring elements." Is the intended meaning of "previous season’s scoring elements" to be "scoring elements of previous season" i.e. prohibiting just POWERPLAY replicas, or (if we reposition the apostrophe) "previous seasons' scoring elements" as in "scoring elements of [ALL] previous seasons"?

A: Rule RM06 should be interpreted as referring to only the previous season's game and scoring elements, which for Centerstage means any of the Power Play game and scoring elements.

Q085: Are ethernet cables allowed for cable management?

Q: We have some questions about using an (coiled) CAT 6 ethernet cable to power multiple servos, so we don't need cable extensions, since it is within spec of CAT 6. Could you please clarify if this is allowed, and if so, under what circumstances:

a) Is it allowed to cut the ethernet cable and solder servo mounts to it? b) Can we use a keystone, so you don't need to cut the cable? c) Create a custom PCB connecting an RJ45 connector to multiple servo connectors? (With appropriate insulation)

A: In general, bundled cables could be legal, as long as the individual wires within the bundle meet the requirements of RE14.i as applied to the specific connection being extended.

Be aware that typical CAT6 cables use 23 AWG, thinner than the minimum required for servo interconnections (22 AWG).

If you do end up utilizing bundled cables, be prepared to show documentation for the specifications of bundle and the specific circuits/interconnections made through the bundle.

For your other questions:

a) attaching connectors to allowed wiring is permitted per RE14.e b) keystone connectors fall under RE14.e as well | c) no. a PCB would be an example of a custom circuit and disallowed per RE16

Q086: Placing Pixels On either Backdrop

Q: Q1: Provided no rules are violated, during the Driver-Controlled period may a robot place Pixels On either Alliance's Backdrop during gameplay? Q2: For example, during Driver-Controlled, may a Robot on the Blue Alliance places a Pixel On the Red Alliance's Backdrop?

A: A1: No, placing a Pixel On the opposing Alliance's Backdrop violates rule G29 for amplifying the difficulty of creating a Mosaic.

A2: No, per A1.

Note: The Drive Team needs to be careful not to violate rules G28 (Pinning, Trapping, and Blocking), GS04 (descoring), and GS08 (Backdrop and Backstage constraints) while their Robot is near the opposing Alliance's Backdrop and Backstage.

Q087: Field "April Tags"

Q: When we printed off the field "April Tags" at 100% on our printer, they did not measure 2" and 5" square, respectively. So we printed them off at 106%, and the sizes were correct, but the right (Tag ID: 10) and left (Tag ID: 7) dashed edges of the graphics were cut off. Does this matter?

A: Good job verifying the AprilTag size! All printers print differently, so this is a great pointer to all teams to verify the printed area for your printer. The dotted lines themselves are not critical to the detection of the AprilTags, they're there mostly as an indicator of the recommended whitespace around the tag. In our testing as long as there is still at least 50% of the whitespace remaining on the truncated side of the black square of the AprilTag body (compare the whitespace on the truncated side with the other sides) there should be no problem.

Q088: Indirect Penalties

Q: Rule G03 only mentions the case where an alliance forces another alliance to break a rule, but does not receive a penalty. Q1: What happens, for example, if a RED robot pushes/bumps a BLUE robot into the BLUE Backdrop, causing pixels to be descored? Does the RED robot receive penalties as if it were the one to directly descore the pixels? Q2: If the answer to Q1 is that the RED robot will receive penalties, how will it be determined if the RED robot's actions are enough to warrant a penalty?

A: A1: Yes, the red Alliance will receive one Minor Penalty for each affected Pixel, completed Mosaic, and Set Bonus. For example, descoring two Pixels that are part of a completed Mosaic and a Set Bonus achievement. Receive four Minor Penalties as described below:

a) Two (2) descored Pixels = Two (2) Minor Penalties.

b) Two (2) Pixels from the same Mosaic = One (1) Minor Penalty.

c) One (1) or two (2) Pixels eliminating one (1) Set Line achievement = One (1) Minor Penalty.

A2: Any direct Robot contact initiated by the red Alliance Robot should be penalized if Pixels are descored. Maneuvering close to an opposing Alliance Robot that is close to their Alliance's Backdrop and/or Backstage is a risky gameplay strategy that does not have an obvious strategic gameplay advantage other than to disrupt the opposing Alliance Robot. In the scenario described in the question, the referee should penalize the red Alliance Robot for violating the descoring rule GS04.

Q089: Grappling Hook

Q: Does the interpretation of <RG06> include grappling hooks? In other words if a hook mechanism is attached to the Rigging, then released form the robot so that it is only held by aircraft cable and then that cable is winched back in order to lift the robot, is this allowed?

A: A mechanism that operates as described is legal. Note that launching the hook is not legal.

Q090: What is the exact definition of "preloaded" pixels for autonomous?

Q: Can we place the purple pixel for randomization task on the field mat and push it to the spike mark, or the pixel has to be loaded onto the robot?

A: The answer that you seek is found by reading section 4.4.1 item 3.b and the definition of Pre-Load in section 4.3 of the Game Manual Part 2.

Yes, the Drive Team may set up their Robot on the Playing Field with their allowed Pre-Load purple Pixel on the Playing Field Floor provided that the Pixel is touching their Robot.

Q091: Robot pushes team prop away from the spike mark

Q: Will there be a penalty if a robot pushes their alliance's team prop away from the spike mark during the autonomous or driver-controlled period?

A: No.

Q092: Placement of Team Prop on the spike mark by field personnel

Q: Will the field personnel always try to place the team prop in the middle of the selected spike mark segment during randomization?

A: Yes.

Note: Randomization relocation is not a precision activity, Teams should design their Team Prop detection system to tolerate some variation in placement location and/or orientation when it is relocated by field personnel to a different Spike Mark. The Drive Team should immediately alert field personnel if there is a significant issue with the Team Prop's centered location and/or orientation. Using the referee question box after the Match ends to alert the Head Referee about a significant issue with Team Prop location and/or orientation during randomization is too late to affect any Match outcome and it is not a justification to replay a Match.

Q093: Robot Weight

Q: What is the max that a robot may weigh this year. I believe in the past it was 40 lbs.

A: There is no weight restriction this year. See Q38 for additional details.

Q094: Clarification of rule GS06--Robot stabilization using height-restricting yellow bars

Q: According to rule GS06 in section 4.5.3 of GM2, "Contact with the other parts of the Truss is allowed for stabilization of the Robot while Suspended." Does this rule allow the robot to stabilize itself off of the height-restricting yellow bars below the Rigging?

A: Yes, provided that the Rigging (blue or red pipe) provides the primary support for the Robot per rule GS06.a.

Q095: Grappling Hook - Clarification

Q: This is an clarification on Q89. Which of the following would be considered launching the hook?

a) The hook is propelled from the robot attached with fishing line. b) The hook is propelled from the robot attached with aircraft cable. c) The hook is propelled from the robot attached with #25 chain (a safety hazard, yes, but a great hypothetical as we reduce degrees of freedom) d) The hook is propelled from the robot attached to a spring-loaded linear slide.

A: Placing a hook onto the Rigging by a mechanism (arm, slider, etc.) and then winching on a cable to lift the Robot is allowed. Launching the hook where it travels independent of the Robot is illegal per Rule RG06, regardless of what the connecting cable is made of, and will receive a G24 penalty (major plus yellow card). A1: illegal A2: illegal A3: illegal A4: As long as the hook remains attached to the slide until it is placed on the Rigging, then this mechanism is allowed.

Q096: Gobilda linear slide legality

Q: Is the GoBilda Steel Viper-Slide (https://tinyurl.com/5bdx8rpb) a legal COTS part under RM02?

A: Per RM02, linear slides are a legal COTS. Therefore, the Gobilda Linear Slide is a legal COTs part.

Q097: Drone launch before end game

Q: If for some reason our drone was launched accidentally before the end game starts, do we get a penalty?

A: There is no Penalty for Launching a Drone before the start of the End Game. The Drone is not eligible to earn Landing Zone points per section 4.4.4 in Game Manual Part 2 because it was Launched before the start of the End Game.

If the Drone is accessible Inside the Playing Field Boundary, the Robot may try another Drone Scoring attempt per rule GS11.e.

Q098: Using Motorola phone as a camera sensor with a Control Hub

Q: Are we allowed to use a Motorola phone as a camera sensor connected to a Rev Robotics Control Hub in order to have a video processing stream as opposed to a frame by frame processing stream. We do not want to use the FTC app on the phone as a secondary control hub.

A: The short answer is no.

This type of phone usage would need to fit into either a Vision Sensor model or a Vision Camera model.

RE11.a requires that sensors (including vision sensors) be connected only to I2C, digital I/O, encoder, or analog ports of the REV control or expansion hubs. A USB port is not a valid connection for a sensor. The usage is therefore not a Vision Sensor usage

RE16 disallows additional electronics. Using a phone in the above described fashion is creating a user-programmable device and falls under the guidance of RE16. Vision Cameras cannot be user-programmable devices.

Q099: Follow up to answer to Q88 (descoring pixels)

Q: The answer to Q88 says that "...descoring two Pixels that are part of a completed Mosaic and a Set Bonus achievement. Receive four Minor Penalties as described below". What is the rule basis for the answer? <GS04> says "A Minor Penalty will be assessed for each Pixel that is descored.", which in the given example is only 2 pixels. I see no rule that gives penalties for descoring a mosaic or a set bonus.

A: Descoring is a change of state of a Scoring Element that reduces an Alliance’s total Score. Removing or repositioning a Pixel On the opposing Alliance’s Backstage has three potential descoring impacts on the Score (On the Backdrop, Mosaic, and Set Line Bonus). Per !Q88, a Minor Penalty is assessed for each descoring impact on the Score.

Note: Applying separate Minor Penalties for each affected Scoring achievement properly compensates the Alliance for the descoring impact on their total Score.

Q100: Is this a legal drone?

Q: Is this a legal drone design (assuming it was the correct team color had a team number on it)? It follows a non-ballistic trajectory and has a fuselage and 4 wings (<DR02>). Pictures: https://docs.google.com/document/d/1vxjkC7jRas4xYdUXCO9SUta7wY9F9WxlcpdZV3v545g/edit?usp=sharing

A: No, this is not legal for several reasons. It does not look like a "paper airplane", it does not follow a glide path, and it has 4 fins not wings.

Q101: Clarification for Scoring on Backdrop

Q: According to S02, intentional robot extension outside the playing field perimeter is prohibited and will earn a yellow card if contact is made with any object. Wouldn't this mean robots are not intentionally allowed to extend above the upper half of the backdrop (which is located outside the field perimeter) even to score, and risk earning a yellow card? Given that propelling pixels is illegal (GS10), wouldn't that make scoring on the upper half of the backdrop essentially impossible?

A: Yes, Robot access to the entire Backdrop is necessary to fully play the game. When applying rule S02, the Playing Field Perimeter is extend outward to include the Backdrop boundary.

Q102: Legality of modifying COTS Circuits

Q: As per Game Manual Part I, "Commercial Off the Shelf (COTS) interface modules designed to solely control light sources are allowed between the light sources and the components listed in <RE12>d" Our team wishes to modify a REV Digital LED Indicator to change the color of the LED diodes as to avoid creating a "custom circuit" (RE16). As this is not listed as either an allowed or disallowed modification in RE15, are we allowed to do this, if the replacement diode is of a similar spec?

A: This type of modification is not allowed. This would constitute an internal modification of the circuits in the LED indicator and is not allowed per RE15

Q103: Can a robot go to other side of the truss in autonomous?

Q: I don't know if we heard this improperly, but at a Kickoff event, we heard that robots cannot travel to the other side of the trusses during autonomous. Is this true?

A: Robots are allowed to travel through the Truss and/or Stage Door during the Autonomous and Driver Controlled Periods.

Q104: Wing penalty during autonomous period

Q: GS09 gives major (plus minor) penalties for robots moving in the opposing alliance Wing. However, the wing has no function until driver controlled period and it is in the interference-free half of the field. The robot in the starting location near the wing has very limited spaces to maneuver during autonomous. Should penalties be given for this during autonomous when there is no negative impact to the opposing team (assuming out by end of period)?

A: Rule GS09 applies to all periods of gameplay. However, a limited, brief, and Inconsequential entry into the opposing Alliance’s Wing during the Autonomous Period is likely to be excused by the referee per rule G10.

Q105: Intel T265 request

Q: My team and many others have spent a lot of effort creating software based on Intel T265, not to mention the cost of acquiring it.

Please note that although T265 is stereoscopic, it is not used for vision at all. Teams use the estimated position it provides that s calculated by its internal algorithms that combine its camera views and its IMU. In our view it is essentially a alternate for dead wheel odometry.

We graciously request it be allowed as in previous years.

A: Game Manual Part 1 is the definitive answer as to the allowed use of cameras, either as Vision Cameras or as Vision Sensors. Both usages are limited to a single image sensor. Vision Cameras are additionally limited to provide image/video streams only

As such, the Intel T265 camera is not legal for use as it fails the image sensor limitation and provides other than just image/video stream data.

Q106: Intel T265 request

Q: My team and many others have spent a lot of effort creating software based on Intel T265, not to mention the cost of acquiring it. Please note that although T265 is stereoscopic, it is not used for vision at all. Teams use the estimated position it provides which it calculates using its internal algorithms that combine its camera views and its IMU. In our view it is essentially an alternate for dead wheel odometry. We graciously request it be allowed as in previous years.

A: Game Manual Part 1 is the definitive answer as to the allowed use of cameras, either as Vision Cameras or as Vision Sensors. Both usages are limited to a single image sensor. Vision Cameras are additionally limited to provide image/video streams only

As such, the Intel T265 camera is not legal for use as it fails the image sensor limitation and provides other than just image/video stream data.

Q107: Pixel stack stabilization

Q: The answer to Q20 notes it is legal to intake pixels (from a stack) while the robot is touching other pixels on a stack, provided the robot does not already control any other pixels. We seek clarification that bracing the pixel stack against say the field wall, while extracting a pixel from that stack, does not constitute herding (and thus control), since the manual defines as pushing one/more scoring elements to a desired...direction.

A: We believe !Q24 answers your question. If it does not, please rephrase your question and resubmit.

Bracing the Pixel Stack against the Playing Field Wall, while extracting a Pixel from that stack, does not constitute Control of the Pixel Stack.

Q108: Is there a penalty for moving your prop off of the spike mark suring autonomous?

Q: Is there a penalty for moving your team prop off of the spike mark during autonomous?

A: We believe !Q91 answers your question. If it does not, please rephrase your question and resubmit.

During the Autonomous Period, Robots are allowed to move their Alliance’s Team Prop off of the Spike Mark.

Q109: Pixel Stack Movement During Autonomous Period

Q: Q1: If a robot during the autonomous period rams the wall in a way that knocks over multiple pixel stacks (on both red and blue sides of the field). Would this be deemed a violation of GS03?

Q2: If a robot did this same action but only was able to knock over its own three stacks on its side of the field, would this be disallowed?

A: A1: For this Autonomous Period gameplay scenario, the consequences are dependent upon the location of the knocked over Pixel Stack as described below:

Alliance’s half of the Playing Field: There are no rule GS03 consequences. Robots are allowed to knock over Pixel Stacks on their Alliance’s side of the Playing Field, provided that all of the Pixels remain on the owning Alliance’s half of the Playing Field. Pixels relocated to the opposing Alliance’s half of the Playing Field are treated as described below if the Pixels impact an opposing Alliance’s Robot.

Opposing Alliance’s half of the Playing Field: Rule GS03.c is violated if knocking over or moving the Pixels impacts or impedes the opposing Alliance’s Autonomous Period Scoring actions. Per rule GS03.c, a Major Penalty will be applied for each impacted Scoring action by an opposing Alliance Robot. There are many possible opposing Alliance Robot Scoring actions that are protected by rule GS03.c. One example scenario is a Major Penalty is assessed for each cycle of an opposing Alliance Robot: a) driving up to a pre-set Pixel Stack location (i.e. on the white tape adjacent to the Playing Field Wall) to pick up a Pixel, and then b) moving away to continue playing the game.

A2: See A1.

Warning: The referee will likely have a conversation with the Drive Team about this gameplay scenario. Robot impact with the Playing Field Wall that knocks over a Pixel Stack is likely to be viewed as violating rule S01 for unsafe Robot operation.

Q110: Can Team number on Team Prop be printed on white background?

Q: Game Manual 1 says Team Prop has to be of solid color of red or blue, except for Team number. So is it ok we print team number on a piece of white paper then stick it onto the team prop?

A: No, the only non-alliance color on the Team Prop can be the numbers themselves.

Q111: Communication between Human Player and Drive Team

Q: My drive team is finding it near impossible to view the pixel(s) during intake from the wing (due to large opaque robot size). Is it legal for the human player to communicate with the drive team via: a) short verbal commands (forward, backward, intake, outtake, etc.), b) hand signs (raised finger(s), open palm, closed fist, etc.), c) small colored flags/paper tokens?

A: The Human Player actions described in a), b) and c) are all allowed provided that the Human Player does not:

1. Distract an opposing Alliance Drive Team per rule G16.c.

2. Reach Into the Playing Field per rule GS12.h.

3. Use electronics of any type per rule G11.

4. Dropping or placing signaling aids into the Playing Field are subject to rule G22.

Q112: Knocking pixels off the stack scenarios

Q: Clarification about knocking pixels off the stack. Q1: Autonomous - Is there a penalty if a robot knock pixels off own Alliance's stack while picking them, as long as the knocked-over pixels do not interfere with the opposing Alliance robot. Q2: Driver Control Period - Is there a penalty for ramming into own or opposing Alliance's pixel stack (to knock them over) and then picking up 2 pixels.

A: A1: No Penalty per rule GS05.c.i. A rule GS03.c Penalty does not apply because the scenario description stated that the knocked over Pixels do not interfere with an opposing Alliance Robot.

A2: No Penalty per rule GS05.c.i., provided that no other rules are violated. For example, Pixels may not be Propelled per rule GS10.

Note: All Pixel stacks are Alliance Neutral during the Driver-Controlled Period.

Q113: Ranking Calculations

Q: How calculate the ranking of teams in the competition? is it the same of previous season? (By how many matches did the team win or by points?)

A: The answer you seek is located in section 5.0 of Game Manual Part 1 - both Traditional and Remote.

Q114: Eligibility for Advancement

Q: If there is a team competing in a region other than its home region, it cannot qualify for the World Championship, but if a team from the home region allies with it and they win the final match, does this qualify it to qualify for the World Championship instead?

A: If a team is part of the winning alliance at an event outside of their home region, this does not qualify the team for advancement. The advancement spots available would skip over the out of home region team to the next eligible advancing team within the home region.

Q115: Can the Drone have print on it?

Q: Are you able to have printing on the drone?

If it is unseen?

A: Yes, printing is allowed provided rule DR05 b is satisfied, no other rules are violated and the printing is not offensive. Note that the rules for the Team Scoring Element (Drone) are different than the rules for the Team Game Element (Team Prop). The Drone| only needs to be predominantly red or blue and may have images, symbols, lettering, on it. The reason for the rule requiring predominantly red or blue is so that Field Personnel can easily determine which alliance earns points.

Q116: Parking in the backstage at the end of autonomous

Q: At the end of the autonomous period, the robot can earn 5 points for being parked in the appropriate backstage area. How much of the robot must be within the taped area to earn the bonus points?

A: The answer that you seek is found by reading the the definition of "In" found in section 4.3 of Game Manual Part 2.

The definition of "In" in section 4.3 is: "An object that has crossed into the upwards vertical extension (i.e., at a right angle to the Playing Field Floor) of a defined Area’s boundary is Inside the Area. An object that is entirely within the upwards vertical extension of a defined Area’s boundary is Completely Inside the Area. The boundary element (tape, wall, markings, etc.) is part of the Area for the purposes of determining Inside and Outside, unless otherwise specified."

The Autonomous Navigation task requirements are satisfied if the Robot is Parked (i.e., motionless) and any portion of the Robot has crossed into the upwards vertical extension (i.e., at a right angle to the Playing Field Floor) of the Backstage taped boundary.

Pro Tip: The scoring referee has a short period of time between the end of the Autonomous Period and the start of the Driver-Controlled Period to record all of the Autonomous Period Scoring tasks. Teams can help the scoring referee accurately record an Alliance's scoring tasks by designing their Autonomous software so that their Robot is unambiguously In the Backstage at the end of the period.

Q117: How about making drones like these planes?

Q: Trying to make paper drones like these planes... https://thetravelbible.com/wp-content/uploads/2023/08/tim-samedov-10-1600x900.jpg https://i.stack.imgur.com/orPsV.jpg https://external-content.duckduckgo.com/iu/?u=https%3A%2F%2Ftse1.mm.bing.net%2Fth%3Fid%3DOIP.lA1GE6CtrJyVQyR3W7bc3AAAAA%26pid%3DApi&f=1&ipt=3f426fc713fe25df6dfcd0c4d8b67173bd61612d8953f3bd91dd980372c07826&ipo=images

OK or not?

A: We cannot make a decision on hypothetical Drones. When you have a Drone built from allowable materials please submit the photo and we will rule on the legality of the design.

Q118: Team Prop size

Q: Can the Team Prop be cone or cylinder or water cup of base radius and its height more than 3" but less than 4"?

A: Yes, a cone shaped Game Element with a base between 3" and 4" in diameter and between 3" and 4" tall meets TE04.

Q119: Definition of COTS Battery

Q: Per RE12 F.ii, it states that an external COTS USB battery pack is allowed to power LEDs on the robot. What is considered an external COTS battery pack? What are the limitations on said battery packs? Additionally, are converters designed to pull 12V from the battery pack such as https://www.amazon.com/dp/B08NRM6X2Y allowed? It would be connected to this adapter to allow use with the REV Blinkin https://www.amazon.com/dp/B0BHNNWJMD.

A: The COTS USB battery pack mentioned in RE12.f.ii is a simple USB charging battery intended to allow mobile recharging of USB powered devices (phones, tablets, etc). There are many examples available from many sources.

Thank you for asking about Battery Pack limitations. COTS USB Battery Packs are limited to a capacity of 27,000mAh or less. This is also the standard TSA limit for taking Lithium-containing COTS USB Battery Packs (with 3.7V cells) onto aircraft in the USA.

COTS USB Battery Packs that adhere to the USB-PD or USB-QC specification may be used to provide a 12V source as described. Please ensure that the COTS USB External Battery is in no way connected to the robot's power system.

When using COTS USB External Battery Packs for legal LED and related uses, please observe a heightened level of vigilence in their safe use. The Robot Controller Power Distribution page on ftc-docs has been updated with proper guidance for using COTS USB External Battery Packs. Please review this information prior to using any COTS USB External Batteries.

Q120: Glitter PETG for team prop?

Q: The team prop can not be retroreflective. We 3D print a prop using PETG red transparent with glitter. It does not return a light beam back to it's source. Is this acceptable to use? The glitter in the filament is reflective but it is not retroreflective per the definition of "Retroreflection occurs when a surface returns a large portion of directed light beam back to its source. Retroreflective materials appear brightest to observers nearest the light source"

A: No, this is not a legal material. Red transparent PETG with metal flake does not satisfy rule TE02 for being a uniform color.

Q121: May a team cut a notch in their Drone?

Q: Is it allowed to cut (or tear) a notch in the drone to aid in launching?

A: Yes, Teams may make cuts in their Drones provided no other rules are violated.

Q122: Does the drone have to be red or blue?

Q: <DR05> states that we may use a color printer to achieve the required red and blue colors. I know the drone has to have the team number to be easily identifiable, but does it have to be colored to match our alliance color?

A: Rule DR03 states that "The predominant color of a Drone must match the Team’s assigned Alliance color for the Match (red or blue)".

Q123: I2C to SPI protocol converter legality

Q: Is this COTS I2C to SPI converter legal as per RE11.f? https://www.mikroe.com/i2c-to-spi-click A legal sensor with an SPI interface would be connected to the converter and the converter would be connected only to the I2C port of a Control or Expansion Hub.

A: Yes, this I2C to SPI converter is an example of the types of protocol converters allowed by RE11.f

Q124: Possession of pixels on backdrop clarification.

Q: Q57 makes it clear that pixels on the backdrop do not count toward the possession limit. If a robot is holding two pixels, will it incur possession penalties by removing a pixel from the backdrop (therefore no longer being supported by the backdrop) and placing it back on the backdrop?

A: The answer that you seek is found by reviewing the Robot Control/Possession limits for Scoring Elements rule (GS05).

After removing the Pixel from the Backdrop, the Robot in this scenario is no longer protected by rule GS05.c.v and is therefore Possessing three (3) Pixels, one (1) more than the maximum allowed number of Pixels per rule GS05.a. The Robot/Alliance should receive an immediate Minor Penalty for Possessing one Pixel over the allowed limit of two (2) Pixels. An additional Minor Penalty for the excess Possessed Pixel should be assessed for each 5-second interval that the Robot continues to Possesses three (3) Pixels.

If the Robot Scores a Pixel on the Backdrop or in the Backstage while Possessing three (3) Pixels, the Robot/Alliance will receive an additional Minor Penalty per rule GS05.b.

Q125: Communication Between the Drive Team Coach and the Human Player

Q: Q1: May the drive team coach use a white board or pre-printed signs to communicate with the human player on color and placement of pixels in the wing? Q2: May the drive team coach move around the Alliance Station to be closer to the human player and then return to their drive team?

A: A1: Yes, Drive Team members may use signaling aids that satisfy the restrictions listed below.

!Q111 provides the Human Player with guidance for using signaling aids. Drive Team members in an Alliance Station may also use signaling aids with additional restrictions to address safety and interference issues that arise from six (6) people occupying a confined space. Guidance for the Human Player is less restrictive due to the isolated, single occupant Human Player Station.

Drive Team members may use signaling aids when abiding by the following restrictions:

1. The signaling aids are not a safety hazard. For example, placing a signaling aid on the floor is a tripping hazard.

2. Small hand-held signaling aids, including white boards and pre-printed signs, are allowed.

3. The signaling aid may not be intentionally dropped or placed on the floor.

4. If the signaling aid is accidentally dropped, it will not harm the venue floor.

5. The signaling aid and Drive Team member do not distract an opposing Alliance Drive Team per rule G16.c.

6. The Drive Team member doesn't reach Into the Playing Field per rule GS12.h.

7. The signaling aid doesn't use electronics of any type per rule G11.

8. Dropped or placed signaling aid(s) into the Playing Field are subject to rule G22.

A2: Yes, provided that the Drive Team member remains In their Alliance Station per rules G16 and G16a, and does not distract nor interfere with the opposing Alliance’s Human Player or Drive Team per rule G16.c.

Q126: Drone Construction

Q: (a) Can we use glue or tape on the drone? (b) Can we apply water to the paper during construction to help folds in the paper become sturdy / stiff?

A: A) No, rule DR05d state that no other materials are allowed. This includes tape, glue, paperclips, etc. B) Providing the water has evaporated and it leaves no residue, it is permissible to wet the paper during construction.

Q127: Continue on Q117, how do I submit pictures, a pdf file?

Q: Continue on Q117, how do I submit pictures, a pdf file?

A: There is a new resource "Is your Drone Legal" that contains instructions on how to submit Drone photos. You can find the document at https://www.firstinspires.org/resource-library/ftc/game-and-season-info

Q128: Glide Path and Drone Legality

Q: Q1: In Q100 you cite a "glide path". Is this replacing the "non-ballistic trajectory" Q2: In the new "Is Your Drone Legal?" document, L2 clearly has wings, IL2 clearly has no wings, what is the place where there is "enough wing" between those two designs?

A: A1: Glide path and non-ballistic trajectory are interchangeable terms.

A2: FIRST strives to compose robot construction rules that can be applied objectively and consistently across all FIRST Tech Challenge competitions. Despite our best efforts to try and write a subjective rule, the application of is subjective. The Inspectors will be looking for Drone characteristics that have the general configuration of an airplane with a defined fuselage and wings that have a reasonable potential for providing meaningful aerodynamic lift. The "Is Your Drone Legal" guide and the Robot Inspector's guide are two resources we made available to teams and inspectors to help you in building legal drones.

Q129: Is a drive team coach required for handling the driver station android device?

Q: My team doesn't have enough people able to attend the competitions to have the two people necessary to operate the robot, a coach, and a human player. Can we not have a coach and just have the gamepad operators also manage the driver station android device, or do we need to find another person?

A: Yes, the Drive Team is not required to have a Coach. The Drivers (i.e., gamepad operators) are allowed to hold the Team's Driver Station Android device and interact with it to select an Op Mode, view information displayed on the screen, and initialize, start, stop, and reset the Robot per rule G23.

Note: Only one (1) Human Player represents an entire Alliance in a Match as stated in the definition of "Drive Team" in section 4.3 of Game Manual Part 2. The Alliance selects which Team supplies the Human Player for their Match. The Human Player that does not represent the Alliance during the Match is required to leave the Competition Area before the Alliances are directed by field personnel to approach the Playing Field to set up their Robots.

Q130: Motors moving during initialization

Q: RG02 mentions that servos can move during initialization to fit within the sizing limit. Q1: What about motors? If our robot is too large before initialization, can our initialization routine power motors to make the robot fit? Q2: If so, can the motors stay powered/stalling while the robot size is measured?

A: A1: Yes, provided that the motors do not stall and the same initialization process is used when setting up the Robot for a Match.

A2: No, stalling a DC motor for an extended period of time such as Pre-Match set up and inspection risks damaging the motor (most motors rely on spinning to ensure proper cooling) and consumes a significant amount stored energy from the Robot's main battery. More importantly, stalled motors can create smoke and noxious gases as well as generate extreme heat within the motor that can lead to fire (depending on the motor and materials surrounding the motor).

Q131: Yellow pixel straddling backdrop position corresponding to two spike marks

Q: Improbable as It may seem, this has now happened 2-5% of runs, wherein the yellow pixel delivered by the robot in autonomous period jumps around to settle over a position corresponding to two spike marks! The pixel's edge rests over the crest of the backdrop slots. See https://drive.google.com/open?id=1gIEEtlAQ1KHr4CF19mJkUWxGK5fp-6xP&usp=drive_fs where BLUE robot delivered yellow pixel, for RIGHT team prop location, over a crest. Q: Does the team earn yellow pixel placement bonus points?

A: A: The Pixel shown in the image does not satisfy the Scoring requirements for the Autonomous Period Backdrop Randomization Task. The Pixel is not touching a valid AprilTag Scoring surface; it is balanced on the crest. The Pixel does earn five (5) points for being On the recessed Scoring area of their Alliance Backdrop.

See illustrations E-3, E-4, E-5, and E-6 in Game Manual Part 2 for examples of legally Scored Pixels for the Autonomous Period Backdrop Randomization Task.

Q132: How to set camera exposure

Q: How do you use the ExposureControl classes with the Camera now that Vuforia has been removed from the Library?

A: This is not a rule clarification question, but a technical support question. As such, this question should be asked on the FTC-Community forums where the FIRST Tech Challenge engineering staff and community members are ready to take your questions.

Q133: Outside home region league event rule

Q: May a team participate in another region's league events and their State Championship, if the home region has only the State Championship event? Understand that teams can only advance from their home region and can participate in one league tournament.

A: A team can participate in a League outside their region, provided that is the only League they participate in. A team may not advance from a League Tournament to a Regional Championship that is outside of their region unless the Program Delivery Partners in both regions have agreed to move a team to a new region for the entire season.

Q134: Stacking Pixels on Spike Marks

Q: May the robot place a pixel on top of another pixel on the designated spike mark for both pixels to score?

A: The answer that you seek is found by reading the Randomization Task description in section 4.4.2 of Game Manual Part 2.

No, the Pre-Loaded purple Pixel is the only Pixel that is eligible to earn the Spike Mark Randomization Task points. All other Pixels on the Spike Mark have zero Score value.

Note: A purple Pixel On another Pixel or Team Prop that is located On the Spike Mark is eligible to earn points for the Spike Mark Randomization Task.

Q135: Legal or not drone not answered yet

Q: I have submitted the pdf file for a design through the special link to upload file, no answer yet, or I am not looking at the right place? Q117, Q127

A: The review process is now operational. Please remember that all submissions must be of a final, match ready Drone. That means the color must be correct, it must have a Team Number, be made from the allowed materials, and be the correct size and shape. A Drone violating any of the DR rules will be deemed illegal.

Q136: Voltage Sensor

Q: Are digital voltmeters allowed? (This is the one we have been using: https://www.amazon.com/gp/product/B086RHJ95R/ref=ppx_yo_dt_b_asin_title_o00_s00?ie=UTF8&th=1).

A: The referenced voltage sensor is not allowed because it is not powered by a REV Expansion Hub or REV Control Hub via analog, digital, encoder, or I2C ports as required by rule RE05.c in Game Manual Part 2.

Q137: May a Human player place Pixels into the Field during Autonomous period?

Q: In the rulebook we could see no mention of a penalty for the Human Player placing Pixels in their Wing during Autonomous. Is it allowed for a Human Player to place Pixels during Autonomous for the purpose of scoring additional Pixels?

A: The answer that you seek is found by reading the Human Player constraints rule (GS12.b) in Game Manual Part 2.

No, Drones and Pixels may be placed or dropped into the Wing only during the Driver-Controlled Period per rule GS12.b. Each violation of this rule during the Autonomous Period or during the transition between the Autonomous and Driver-Controlled Periods results in a Minor Penalty.

Q138: Follow Up to Q130

Q: We wanted to confirm that the answer to 2) is a change from last year’s response, which said stalling was allowed. For clarification, we wanted to pose another case: during initialization (both during inspection & pre-game) could we have the motors that power our lift move so that the lift is raised to a specific height? In this instance, the motor is not stalling: it is running to a position and then holding that position, the same way a servo holds its position while the robot is initialized.

A: Motors and servos "hold position" very differently. Motors with a load applied to their motor shaft can "hold position" through mechanical friction (via a gearbox/gear train) or through stalling. Servos with a load applied to their splines generally only "hold position" through stalling. If the motor can "hold position" even when power is no longer being applied to the motor, then that is legal. If power must be applied to the motor to hold position, it's not legal.

Q139: Purple Pixel scoring exactly on Spike Mark

Q: 4.2.2 #3a, 4.4.2 #2a and forum answers indicate that the purple pixel must be placed On the randomly selected Spike Mark to score. Appendix E – Randomization E-1 through E-5 show the white pixel on the spike mark Scoring examples E-7, E-8, and E-9 show bonus scored when a purple pixel was on the taped line or on the white pixel; purple pixel was not exactly on the spike mark center line to score bonus. Question: Does the purple pixel score bonus if purple pixel is anywhere On the correct tape?

A: The answer that you seek is found by reading the definition of Spike Mark in section 4.3 and the Scoring requirement stated in section 4.4.2 #2.a in Game Manual Part 2.

From section 4.3, the Spike Mark is the entire one (1) inch wide by twelve (12) inch long piece of tape.

The Randomization Task Scoring task requirement from section 4.4.2 #2.a is that the purple Pixel must be placed On the designated Spike Mark.

Combining the definition of Spike Mark with the Randomization Task Scoring task requirement, the purple Pixel can be anywhere On the correct tape line to be eligible to earn the Spike Mark Randomization Task points.

Q140: Team Numbers on Team Prop

Q: I see that in <TE05> b &c, team numbers must be no more than 0.5 inch in height. and may only appear on the team prop one time. It looks like this rule may apply to team numbers that are on the team prop in a color other than red or blue. If the team has designed & 3D printed a team prop that includes their team number as a part of the 3D print (i.e. completely red or blue 3D printed material), and the team number is larger than 0.5 and/or appears more than one time, would that be acceptable?

A: 3D printed numbers must follow the same rules as any other method. Therefore, a Team Prop that includes their team number as part of the 3D print and is larger than .5 inch or appears more than once is not allowed.

Q141: [GND, 3.3V] Buses

Q: The [GND, 3.3V] pins on the REV Hubs appear to be on the same internal [GND, 3.3V] buses. Is it permissible to connect the [GND, 3.3V] pins to external [GND, 3.3V] buses? External Bus could be two wires of appropriate guage on a slip ring or coiled wire. We feel this would simplify wiring for many applications.

A: No sharing of GND or 3.3v wiring. For two predominant reasons;

• keep the inspection process simple and easy to understand
• not all 3.3v ports are internally connected to the same protections circuit.

Q142: Drone Bond Paper

Q: This paper appears to be legal, 8.5 x 11, 20 LBS, non-coated, Red and Blue, but it says Bond on the label, https://a.co/d/2cAYTTL.

Bond Paper, https://en.wikipedia.org/wiki/Bond_paper, is basically made from high-quality durable fiber pulp.

A: Yes, Bond paper is a common printer paper and is an acceptable material for building Drones

Q143: Energy source/storage by spring-like mechanisms or rubber bands clarification

Q: When RG05 says be careful in the stored energy from spring-like or other mechanisms, Is it then a fair assumption that it is ok to deform a rubber band, spring device, or surgical tubing in a way that stores energy prior to the start of the match. Our intent would be to store energy for the purpose of launching the drone.

A: Yes, rubber bands, springs, etc. are all acceptable methods for launching a Drone. The intent of RG05 is not to eliminate stored energy devices but to ensure that teams use them safely. Remember that during a match FTA's may have to access your robot and we don't want anyone hurt if the energy is accidentally released.

Q144: Landing Zone In Venues

Q: We host in a venue with a stage. The stage is slightly larger than the Playing Field Floor. The Landing Zone will cause us difficulties in hosting. Does the Landing Zone have to be a flat ground or could we erect nets that are placed with PVC pipe at the correct distances. For instance, at 24" there would be a net with the top level with the field. This would allow the Drone to hit it and fall down in the correct zone. Or is it required we build an extension to the stage for the landing zone?

A: The use of nets, either vertically or horizontally placed, would go against the intent of the challenge.

1. Vertical nets would trap/capture drones inside a landing zone.
2. Horizontal nets allow the drones to be "caught" in the net.

An option would be to look over the venue layout and decide if the stage is the best option for the field, or if there may be a better space within the venue to accommodate the landing zones without the need to build an extension. If not, an extension off the stage may be built to accommodate the landing zones. We recommend placing field personnel (not referees) near the locations where stage and the extension zone meet so that no one walks on the extension. Stanchions or another deterrent from the audience approaching the landing zones should be a consideration to ensure audience members are not accidentally hit with launched drones.

Q145: Question About Drone Launching

Q: Would it be acceptable to use a bow string (or similar) to launch the paper drones from the robot?

A: There is no rule against using a bow string as a stored energy device to launch a Drone providing it is done safely. See Q143 for additional details.

Q146: REV Blinkin firmware update and/or customization

Q: REV has instructions for updating the firmware in the Blinkin LED Driver, including how to modify the firmware to create custom light patterns. https://github.com/REVrobotics/Blinkin-Firmware Q1: Could custom firmware following the "Creating a custom function" instructions solely for producing custom light patterns to indicate the color of pixels held in the robot be legal? Q2: If no, would it still be legal to follow REV's instructions to update the OEM firmware without modification?

A: The answer to both questions is no.

Updating the REV Blinkin firmware in the described manner would violate RE15 - for allowed modifications as well as RE16 as the system would now effectively be equivalent to a generic programmable device (i.e. arduino, raspberry pi, etc.)

Q147: Robots peeling tape off playing field tiles

Q: Some robots have been peeling tape off the field, such as those that include ramps to "scoop" pixels off the field. Q1: Would a team be penalized for peeling tape off the field, either partially or entirely? Q2: If yes, what is the penalty? Would it mean the part itself is illegal (violates <RG01>a), or the action of peeling the tape is illegal (violates <S01>)? Q3: For example, would a soft ramp that slides along the floor be legal, provided it never peels off tape or causes any other damage?

A: A1: Yes, rule S01 is violated if the damage is significant enough to require Match delaying repair.

A2: The consequences of violating rule S01 are described in section 4.5.1 of Game Manual Part 2: "If at any time the Robot operation is deemed unsafe or has damaged the Playing Field or another Robot, by the determination of the referees, the offending Robot may be Disabled, and the Team may be issued a Yellow Card. Re-inspection of the Robot is required before it may play another Match. Damage that requires significant repair and/or delays subsequent Match play is likely to escalate to a Red Card."

A3: Ramps are not inherently illegal Robot parts; how the ramp is used in gameplay determines its illegality unless the ramp is identified as having obviously unsafe characteristics during Robot inspection.

Q148: Container for driver control system

Q: Last year at the district championship, a referee warned our team that our driver control box limited the screen view for refereees. We would appreciate a clarification on how much should be visible to the referee. Our container is a “treasure box” which is part of our team’s pirate costume theme. Currently, the treasure box surrounds the driver station on 4 sides plus the bottom, with walls extending to about midway up the REV driver station. Photo link: https://drive.google.com/file/d/1Ro1

A: The driver control box as it is currently configured is not legal. The current design blocks the view of the field and when opened has a possibility of extending into the field. The box can be made acceptable if the lid were removed completely rather than hinged.

Q149: is pneumatics allowed?

Q: One of my FTC student is interested in pursuing a pneumatics solution for the claw mechanism. I am trying to lean in and say YES to ideas right now and am exploring any legal or illegal game rules but don't see any related to pneumatics or dc motors with pump valve attachments?

A: No, Rule RG01 J expressly forbids the use of pneumatic devices.

Q150: Possession Limit Clarification for Pixels on (but not scored on) Backdrop

Q: Do pixels that are in contact with or on the backdrop, but not scored on the backdrop, count towards the possession limit defined in GS05.a? Specifically, are they exempted from the possession limit as defined in GS05.c.v and Q57?

A: The answer that you seek is found by reading rule GS05.c.v and the definition of the defined term "On" in section 4.3 in Game Manual Part 2.

"On" is defined as: "An object that is physically in contact with and at least partially Supported by an object, surface, etc. is considered On. An object that is entirely Supported by an object, surface, etc. is Completely On."

Rule GS05.c.v: "Pixels On the Backdrop are exempt from the Control/Possession limit."

Yes, Pixels On the Backdrop are exempted from the rule GS05.a Possession limit.

Q151: Interference while launching a drone

Q: The rules state that a team may not interfere with the opposing alliance's drone while in flight and the result is the launching team gets 30 points. What happens if an opponent bumps a robot that is in the process of launching (and altering the path of the drone) without actually touching the drone?

A: The gameplay described in the question is not allowed per rule GS11.g.iii. Drive Teams may not directly or indirectly affect the flight of a Drone. The Robot in this scenario is under control of the Drive Team during all valid Drone launching times, Robot interactions that affect Drone flight are controlled by the Drive Teams yielding indirect Interference.

Q152: May a robot shoot pixels into the backdrop?

Q: May a robot use 2 spinning wheels to shoot pixels into the backdrop, while the robot is in the backstage area?

A: A Robot may use spinning wheels to eject Pixels, provided that the Pixels are not Propelled per rule GS10.

A Robot's Pixel manipulator that is adjacent to the Backdrop is allowed to eject Pixels with no more energy than needed to gently place Pixels On the Backdrop. The expectation is that the ejected Pixel is in contact with the Backdrop and the wheels are simply used to release the Pixel from the Robot.

Pixels that are Propelled or ejected with excessive energy for Scoring violates rule GS10.

Q153: Is using a laser mouse sensor for odometry legal?

Q: Our team is wondering if it's legal to use a laser mouse sensor with SPI protocol(like PMW3389 from https://www.tindie.com/products/citizenjoe/pmw3389-motion-sensor/) using a laser, allowed by RE12c and connected to an I2C port on the REV control hub via I2C to SPI bridge(like https://www.mikroe.com/i2c-to-spi-click), because we can't connect the sensor to the hub via USB as it seems it's restricted by RE11a.

A: Yes, as long as the laser module complies with all applicable rules (i.e. RE12.c) and all protocol converters comply with sensor rules (i.e. RE11.f)

Q154: Can the team numbers be on a moving part or the robot?

Q: The most visible part of our robot where we could install the team numbers is on our arm. Would we be allowed to install the team number onto the arm even though it moves? Another point of concern is that at some points in the game the team number might be upside down.

A: Yes, placing numbers on a moving part of the Robot is allowed providing the numbers are always clearly visible through the range of motion of the mechanism. A Team Number that is temporarily upside down is acceptable.

Q155: Clarification on Q78 robot suspension only during buzzer sound

Q: In GM Part 2: 4.4.4 - 1. Robot Location – There are two mutually exclusive location-based Scoring opportunities, <if> Robot Location is Scored at End of the Period Q1: Is it accurate to say that as long as the robot is obviously suspended at some point during the end of match buzzer it should be scored as a suspend? Q2: Or must the robot have begun its suspension by the 2:00 mark which is defined as end of period?

A: A1: Yes, provided that the Robot does not start Suspending before the End Game Period begins.

A2: A Robot is not required to be Suspended before the 2:00 minute time mark.

Q156: Are Tile interlocking tabs considered in?

Q: Do the interlocking teeth on the edge of a foam tile count as part of the tile for the purposes of starting location (i.e, if a robots wheel is on the jagged edge of a tile, would they be considered "Completely In Tile")?

A: No, a Robot that is In a Tile's interlocking teeth is In more than one Tile. The Pre-Match Robot set up requirement is that the Robot is Completely In only one (1) of the required Tiles. See section 4.4.1 item #3 in Game Manual Part 2 for all of the Pre-Match Robot set up requirements.

Q157: 18inch rule in terms of flexible tubing

Q: When flexible (easily bends) tubing is installed on the robot for intake, can the tubing extend slightly (1/2 inch) beyond the 18-inch boundary of the robot?

A: The maximum size of the Robot for starting a Match is 18 inches (wide by 18 inches long by 18 inches high. However, per Rule RG02 b allows for flexible materials surgical tubing to extend up to 0.25 inches (0.635 cm) beyond the 18 inch size constraint. A 1/2" extension is outside of the allowable margin. Consider tucking it in at startup, once the Match starts Robots may expand beyond the starting size constraint.

Q158: Is this a legal way to place Pixels on the Backdrop?

Q: Is this a legal way to place Pixels on the Backdrop? Please see link: https://youtu.be/e8oHDky7nCU?si=VPy0TYTErJ-AJpz2

A: No, the Robot's actions in this video violate rule GS10 because the Pixels are Propelled.

Q159: Question on Digital Break Beam Input Sensors

Q: Can you confirm that the following sensor would be legal. https://www.adafruit.com/product/2168

Its an optical break beam sensor we would like to connect to a digital input on the control hub, can function on either 3.3V or 5V (We understand that for 5V you need Logic Level Converter)

A: In general, it is not possible for us to rule on the legality of all potential sensors. When determining the legality of a particular sensor, apply the constraints imposed by RE11 as a guide to legality.

In this particular case, the "sensor" you are asking about is in two distinct parts; an IR LED emitter and a IR detector.

As long as the IR emitter is connected and powered in accordance with RE12 and the IR detector meets the constraints of RE11, the combination would be allowed

Q160: Can we use previous years game elements

Q: Team props are required to match the team alliance (red or blue). Could we use a game element from a previous year that is already colored red and blue as our team prop provided that it fits within the 4x4x4 sizing range for team props?

A: We believe Q73 answers your question. If it does not, please rephrase your question and resubmit.

Q161: What are the lines at the front of field where pixels are stacked callled?

Q: The team is working on programming and wants to have all the correct terms. We were wondering what the front white tape lines are called where the pixels are stacked?

A: There is no official name for those lines. If you must call them something, use "On-field Pixel Stack lines."

Q162: Alternate level shifter

Q: The Rev level shifters were made for motor encoders and are not connectorized in a way that's easy for other uses. Since use of the 5V Aux port is dis-allowed for sensors, would this equivalent level shifter be considered legal? https://www.adafruit.com/product/5649

A: Yes. This is an example of the types of level-shifters allowed by RE14.j

Q163: Robot signaling to Human Player

Q: Ref. <G11>, Q125, & Q111, Drive Team communication to Robot, for signaling to the Human Player. <G11> permits use of the Driver Station for “operating the robot”. Is it still legal, if its purpose is to signal the Human Player? e.g.: A Driver Station command causes a Robot-mounted servo to raise a colored semaphore flag, or illuminate an indicator light on the Robot. The Human Player sees this signal, and selects a colored pixel to place in the wing, based on the color of the flag, or light.

A: The action described is legal, provided that the signaling device does not distract or interfere with an opposing Alliance Drive Team per rules RE12.b, and G16.c.

Q164: Drone paper modifications

Q: Requesting a clarification on what modifications to the drone paper are allowed. Notches are allowed and paper smaller than 8.5x11 is allowed. Q1: Can the starting sheet of paper be an irregular shape as long as it is smaller than 8.5x11 and a single piece? Q2: During construction, can pieces of the paper be trimmed with scissors and discarded - final drone is still single sheet. Q3: Can the drone have holes cut or punched in the paper assuming the cut-outs are discarded.

A: A1: Yes, the starting size of the paper can be any shape as long as it is equal to or smaller than 8 1/2 x 11 or A4. A2: Yes, the paper can be trimmed as long as the cut off parts are discarded. A3: Yes, holes may be cut out of the paper.

Q165: Autonomous Initialization Routine gamepad control

Q: During pre-match robot setup, is it legal to include code to enable gamepad functionality during the autonomous initialization routine? For example, is it allowed to have the gamepad buttons control a servo to open and close a gripper to preload pixels before the referee signals that pre-match set up is complete.

A: Yes, provided that the operation is performed safely and does not delay the start of a Match (G13.e).

Q166: Clarification on Q155 for robot that begins climb after timer hits 0:00

Q: The answers to Q18 and Q78 make sense to me, but Q155 seems confusing related to a match I saw on webcast. A robot was still touching the ground at 0:00 when the buzzer started and the robot only left the floor while the buzzer was sounding. The definition of "Scored at the End of the Period" makes me think this would not count as a suspended robot, but Q155 makes me think it might.

A: Thank you for identifying the inconsistency between the answers to !Q18 and !Q155. !Q18 was updated on November 6, 2023 to include the end of Match scoring system buzzer length is a "grace period" for completing the End Game Suspension task.

Q167: In alliance's wing during autonomous

Q: During autonomous we want to pass between the spike mark and the wall; however, we move through the opposing alliance's wing. Rule GS09 states that it is a major penalty but does that apply to autonomous?

A: A Robot moving through the opposing Alliance's Wing during the Autonomous Period should be excused from violating rule GS09 per rule G10.

Note: The first action for a Robot that is In or Blocking access to the opposing Alliance's Wing at the start of the Driver-Controlled Period should be to immediately move away per rule GS09.

Q168: Pre-placed white pixels

Q: Rule GS03.c is applicable to pre-stacked white pixels in the opposing alliance half of the playing field. Q1: Is the opposing alliance stack close to their wing / human player or is it the stack closest to their spike marks? Q2: During the driver-controlled period can a robot knock over the pre-placed white pixels in the opposing alliances half of the playing field? Q3: during autonomous can the robot knock over the pre-placed white pixels closest to our spike marks?

A: A1: The answer that you seek is found by reading rule GS03.a. Rule GS03.a states in part: "Tiles A, B, C constitute the blue side of the Playing Field, Tiles D, E, F constitute the red side of the Playing Field." Tile location nomenclature is described in Game Manual Part 2 Appendix B. Therefore, each Alliance's half of the Playing Field contains three (3) Pixel Stacks.

The Pixel Stacks in Tiles B1, B1/C1, and C1 are on the blue Alliance's half of the Playing Field. Pixel Stacks in Tiles D1, D1/E1, and E1 are on the red Alliance's half of the Playing Field.

A2: We believe that !Q112 answers your question.

A3: We believe that !Q112 answers your question.

Q169: Clarification of answer to Q141 - sharing of GND and 3.3v wires.

Q: Q141 says "No sharing of GND or 3.3v wiring." (full stop), which inspectors or officials could read more broadly than we think is intended. We seek to clarify Q141's answer. The analog/digital ports are designed to support two sensor inputs per physical port, e.g. using a REV-31-1386 sensor splitter cable. Q1: Can two or more sensors connected to a common digital/analog physical port share its GND/3.3v wires? Q2: Can multiple I2C devices sharing a common I2C port (bus) share its GND/3.3v wires?

A: !Q141 was meant to clarify that the power/ground bus used by sensors/pathways to provide signals should be scoped to the ports/connectors that provided it. For example, Digital Connector 0/1 on the Control Hub provides a power/ground plane intended to be used to power sensors/pathways to provide a signal for Digital Channel 0 and/or Digital Channel 1 - not for a device/pathway providing signal to Digital Channel 2 nor for Analog Channel 0, and certainly not for powering an I2C device chain.

Q170: Intaking the bottom two pixels off the pixel stack

Q: Our intake uses two spinning wheels to suck pixels off the mat and into our robot.  Q1: During autonomous can our intake suck in the bottom two pixels off the stack of 5 pixels (on our alliance side) leaving the top 3 to fall wherever including off the white line without getting a penalty?  Q2: During driver-control can we do the same thing without getting a penalty?

A: The answers that you seek are found by reading rule GS05.c in Game Manual Part 2.

A1: Yes, subject to the constraints specified in rule GS05; the three (3) Pixels that are not Possessed by the Robot must be: a) no longer stacked (i.e., knocked over); or b) stacked On the white tape line.

A2: Same answer as A1.

Q171: Can a Silver Sharpie be used to add the team number to the drone?

Q: Sharpie offers 2 types of silver pens (1) Sharpie Oil-based Paint Marker and (2) Sharpie Permanent Marker. I believe that the paint marker is not allowed and that the permanent marker is allowed. Can you state if either are legal per <DR05>?

A: A1:Per Rule DR05b, the oil-based paint version of the Sharpie is not allowed.
A2: The standard Sharpie Permanent Marker is legal.

Remember, the reason for requiring a Team Number is so that Drones can be returned to the Teams post Match. Any attempt to "game the rules" by adding weight by the use of excess ink or other marking materials will result in the Drone being disallowed.

Q172: Clarification on powering USB hub for Control Hub (RE13/RE14)

Q: RE13.b.ii specifies that Vision Cameras can connect to REV Control Hub (Robot Controller) using a "powered USB hub", but doesn't mention allowed power sources for the USB hub. RE14.c.ii mentions energy sources for a powered USB hub, but RE14 also says "smartphone" robot controller device and RE14.c.ii refers only to connecting the hub to an Expansion Hub USB. Thus RE14 perhaps excludes the Control Hub USB. Q: Can a USB hub connected to a Control Hub be powered by sources listed in RE14.c.ii?

A: Yes, powered USB Hubs may only draw energy from the sources listed in RE14.c.ii.

Q173: Team Prop in opposing alliance's side of the playing field

Q: Q1: During the autonomous period a robot moves the team prop into the opposing alliance's side of the playing field (e.g., red to blue), is there a penalty?

Q2: If the team prop that was moved hits the opposing robot is that a penalty?

A: A1: A Major Penalty will be assessed if the Robot or the relocated Team Prop impacts or impedes the opposing Alliance’s Autonomous Period Scoring actions per rule GS03.a.

A2: Yes, per rule GS03.a.

Q174: Drone Accidentally Hits Human Player

Q: What happens if the drone accidentally hits one of the human players and lands in Zone 1?

A: The Drone in this scenario has zero Score value. Rule GS11.g.iii does not apply.

Q175: Suspending prior to end game

Q: A robot begins to suspend before the start of the end game period. The drive team realizes their error, returns their robot to the ground and then begins and completes their suspend during the end game portion of the match. How is this scenario scored?

A: The consequence for starting the Suspension task early is described in Section 4.4.4 in Game Manual Part 2: "End Game achievements, other than Navigating, begun before the start of End Game are worth zero (0) points".

The Robot in this scenario may regain its eligibility for the Suspension task by lowering itself to the Playing Field Floor and disengaging from the Rigging.

Note: Disengaging from the Rigging must be obvious and unambiguous.

Q176: Can the team prop have holes in it?

Q: If the team prop is 3D printed and all one solid color (red or blue) can the prop have holes in it? For instance a 4x4 inch cube with the team numbers cut out all the way through the cube?

A: Yes, A Team Prop may have holes in it. Remember, the Team Number must abide by Rule TE05.

Q177: We made a very small drone

Q: Our team has found and optimal drone design for our launch system, but its design is strange and we would like to confirm that It is allowed. It has a clearly defined wings and fuselage, and is 1.5 inches long 2 inches wide (Including wingspan) and 1 1/4 inches tall. Is this and acceptable drone design?

A: We believe !Q178 answers your question about size. If it does not, please rephrase your question and resubmit. As for the shape, please refer to the document "Is your Drone Legal" located at https://www.firstinspires.org/sites/default/files/uploads/resource_library/ftc/is-your-drone-legal.pdf

Q178: Is there a minimum size requirement for the paper drone?

Q: Can we have a drone that only uses half or even smaller portion of the standard 8.5x11 paper?

A: There is no restriction on the minimum size of a Drone, Teams may use as much or as little of the allowed paper as they wish. However, it is to a Team's benefit to be large enough for the Scoring Referee to see it from 12 - 18 feet away. And the Team Numbers must be legible.

Q179: COTS Scissor Lift

Q: Are scissor lifts legal (specifically with regard to RM02)? The scissor lift will move up and down. It will be turned by a handle that rotates. This is the only axis of rotation we can identify. Do the lifts contain more than one axis of rotation or not? Link to scissor lift dimensions and information: https://www.amazon.com/Stainless-Steel-Stand-Table-Laboratory/dp/B07KDXJGX9/ref=sr_1_3?crid=M7CME9QU2WX2&keywords=mini+scissor+lift&qid=1696890453&sprefix=mini+scissor+lift%2Caps%2C99&sr=8-3

A: Update 11/16/223 Yes, this is a legal COTS mechanism. It meets the singe degree of freedom rule. One input (rotation of the leadscrew) for one output (vertical lift of the stage).

Q180: Is the drone part of the robot?

Q: For inspection purposes, is the drone considered part of the robot? Is it required to fit within the 18" sizing tool when preloaded? Or is the robot measured before the drone is preloaded? For example, the robot is 17.25" wide, but when the drone is preloaded and the robot is measured from the tip of the wing to the far side of the robot it is now 18.5" wide - is this legal and will it pass inspection?

A: For sizing purposes, the Drone is not considered part of the Robot. Per Rule RG02a, "Preloaded game elements may extend outside the starting size constraint".

Q181: Field wall keeping robot in starting configuration Rule <RG02>

Q: Can a robot with easily flexible parts (such as surgical tubing or a zip tie) start a match with these parts pressed up against the field wall in such a way that they would bend? If this is allowed, then during inspection could a team bend the parts in the same way which they will be bent on the field when a match starts in order to fit within the 18 inch sizing tool since that would be the configuration in which the robot would start the match.

A: No, the Robot must be within the 18" x 18" x 18" size without relying on any external forces from the sizing box or the wall.

Q182: Can team props be different based on the alliance colors?

Q: Our team wants to use a different team prop based on whether we are on the red or blue alliance for each match. Assuming the team props meet all of the other requirements and both are inspected, is it legal to use two different shaped team props based on the alliance color?

A: There is no rule requiring that the red and blue Team Props be the same design. All Team Props must pass Inspection prior to use in a match.

Q183: <RE01> Allowable Power Switch Label

Q: Rule <RE01> specifies the requirements for the robot's main power switch label. Does the label shown in the rule have to be made from paper or can an appropriately sized and colored 3D printed replica of the label be used in place of the paper label? One example of a 3D printed power label can be found here https://www.thingiverse.com/thing:3097705.

A: A multi-color plastic label is allowed if it is visually identical to the power button image shown in Game Manual Part 1 rule RE01.

The 3D printed power label referenced in the question is allowed because it is visually identical to the required label. The label has a white background, a red dashed line border, and the correct interior elements colored in black.

Q184: Is modifying the case of a webcam legal?

Q: Is modifying the housing of the vision sensor circuit/PCB legal? To be clear, we are not modifying the circuit, only the case of the webcam. The 3D printed housing wouldn’t affect the safety. <RE15> says “Approved electrical and electronic devices may be modified to make them more usable; they may not be modified internally or in any way that affects their safety.” The modification would comply with <RE13 B> and <RE11>. Documentation of the modification could be presented at inspection.

A: Modifications to the housing of a vision sensor are acceptable as long as the modifications don't obscure the identification of the vision sensor for robot inspectors

Q185: How long does the drive team have to start their autonomous op mode?

Q: If we communicate with our alliance and find out that our autonomous modes would collide with each other, would we be able to wait to activate our autonomous until their robot has safely passed the point of collision? Another way of saying it is, how long do we have to start our autonomous after the autonomous period has started?

A: The answer that you seek is found by reading section 4.4.2 and rule G19 in Game Manual Part 2.

No, delaying the start of the Autonomous Op Mode is illegal human operation of the Robot during the Autonomous gameplay period. The Autonomous Op Mode must start immediately following the "3-2-1 Go" Match start countdown.

Q186: Drone flight path height

Q: Rule RG07 states the robot must not propel the drone with enough velocity to exceed 5' in height. If a robot is designed and inspected to follow this rule, but during gameplay the drone exceeds 5' in height, is this a penalty? Is the drone still scored?

A: We believe !Q30 answers your question. If it does not, please rephrase your question and resubmit.

The first instance of violating the Drone trajectory constraints during gameplay will not be penalized and the Drone is eligible to earn points for Parking In a Landing Zone. If a referee believes that the Drone exceeded the constraints described in rule RG07, the Drone must be reinspected before it can be used again in a Match.

Q187: Legality of goBilda linear servo and servo-driven gear rack

Q: Are the following COTS components from goBilda legal under RM02?

1. Hitec Linear Servo (https://www.gobilda.com/hitec-linear-servo-100mm-stroke-4-1mm-sec-22-2kg-thrust/)

2. Servo-Driven Gear Rack Kit (https://www.gobilda.com/servo-driven-gear-rack-kit-single-gear-rack/)

A: A1: Yes, the linear servo is a legal 3 wire servo. A2: Yes, rack and pinions are legal.

Q188: Scoring Alliance's Pixels from their Backstage Area

Q: Are robots allowed to pick up scored pixels from their alliance's backstage area to place them on the backdrop without incurring a penalty?

A: Yes, Robots may move Scored Pixels from their Alliance's Backstage to a Scoring location On their Alliance's Backdrop.

Q189: Penalty for Robot Outside Vertical Plane

Q: If a robot extends beyond the vertical plane of the field is there a penalty incurred? It is only for a moment as it drops a pixel, spins around, and begins cycling again. This happened in autonomous for us, but it could be during driver-controlled as the team controls the bot.

A: Robots that extend Outside the Playing Field Perimeter are potentially unsafe. Per rule S02, Robot contact with anything Outside the Playing Field Perimeter should result in a Yellow Card and if there is danger in allowing the Robot to continue operation, it should be Disabled.

Rarely occurring, Inadvertent, safe extension Outside the Playing Field Perimeter should not be Penalized. Repeated Robot extensions Outside the Playing Field Perimeter is no longer considered to be Inadvertent and is therefore not allowed.

Q190: Double Pixel Claw

Q: We have a claw design that can grab 2 pixels at once from a stack in autonomous. If the claw grabs the top and bottom pixel, then rotates which dumps out the middle 3 pixels, is that legal, or is that considered possessing/controlling? The robot is not, otherwise, moving.

A: The Robot is Controlling five (5) Pixels, a violation of rule GS05.a.

Q191: Roughtop tread used in something other than drivetrain

Q: <RG01> a. says "The following types of...parts are not allowed: Those used in a Robot drive system that could potentially damage the Playing Field and/or Scoring Elements such as high traction wheels and high grip tread." The legal/illegal parts document seems to flat-out ban the HiGrip Wheel and Rough top Tread. If those parts were used in a way that were unlikely to damage anything (say high grip tread as flappy intake), would they be allowed?

A: High grip tread may not be used in any device that contacts the tile floor due to potential damage to the soft rubber tile. However, the tread may be used elsewhere on the Robot, provided that it does not damage Game Elements

Q192: Team prop patterns

Q: What patterns are allowed on the team prop? I know we can't have qr codes and ARUCO codes. But are patterns of lines or circles allowed? As long as they are a shade of red or blue of course

A: Based on the feedback we have received from Teams and volunteers we are clarifying and relaxing the restrictions on the types of images that are allowed on the Team Prop. The intent of rule TE03b is:

1. prevent the use of any object on the field that could confuse or distract other Robots.
2. prevent the use of canned solutions to simplify the task of object identification.

Therefore, any image that resembles a QR code, AprilTag, or coded vision target is not allowed. All other images such as team logos, sponsor logos, raised areas, cut outs, etc. are allowed, providing no other rule is violated.

Q193: GoBilda Servo Voltage range acceptable for rule RE10?

Q: Our team is new and wanted to confirm whether this servo was acceptable for use. RE10 states that servos that are compatible with the REV control hub are acceptable to use (three-wire servo connector, etc). There's also a separate requirement for it to not exceed 6V. The GoBilda servo 2000 Series Dual Servo Dual Mode (SKU: 2000-0025-0002) has a voltage range of 4.8V-7.4V (pulse amplitude of 3-5V). Thank you.

A: We believe the wording of the existing servo rules may be a bit misleading in their intent with respect to operating voltages.

Servos that are compatible with a 5-6v range are allowed. The REV Expansion and Control Hubs produce 5v servo outputs. The REV Servo Power Module produces 6v.

Q194: Team prop for blue side can be purple?

Q: Can our team prop for the blue side be a shade of purple? How about if our Team prop for the red side is pink?

A: Purple is not an acceptable color for the blue side Team Prop.

Q195: Carabiners Allowable?

Q: Are carabiners allowable parts?

A: Yes, carabiners are a legal COTS part.

Q196: Clarification on Wound Springs and Degrees of Freedom

Q: Regarding RM02

Would a sub assembly that contains a wound spring but produces a linear motion be allowed (as a single DOF)? Specific examples being a tape measure and a retractable badge holder. In both cases the body internally contains an inaccessible rotary mechanism, but what extends from the body (metal tape and string respectively) is linear. Would the gimbled fitting on the end of the badge holder be disallowed as an added DOF? If so, could we modify the badge holder to remove?

A: Tape measures and similar devices, like a badge holder, are allowed. There is no need to take off the gimbaled fitting on the badge holder.

Q197: Are team logos considered fiducial markers?

Q: Our team logo is a pair of eyes. Are we allowed to embed our logo into a 3D-printed team prop?

A: Based on the feedback we have received from Teams and volunteers we are clarifying and relaxing the restrictions on the types of images that are allowed on the Team Prop. The intent of rule TE03b is:

1. prevent the use of any object on the field that could confuse or distract other Robots.
2. prevent the use of canned solutions to simplify the task of object identification.

Therefore, any image that resembles a QR code, AprilTag, or coded vision target is not allowed. All other images such as team logos, sponsor logos, raised areas, cut outs, etc. are allowed, providing no other rule is violated.

Q198: Double Sided Tape

Q: Can double-sided adhesive be used on our "pixel-picking up device" on our robot? We've designed a flat plate with double-sided crafting tape that is slightly sticky, leaves no residue and cannot actually reach the playing field. It can release pixels with a push rod system. More than happy to provide photos to help with description.

A: No, double-sided adhesive cannot be used on a "pixel-picking up" device. Any adhesive contact with a game element, scoring element, or field element is prohibited.

Q199: Is it legal to use an inline USB isolator to prevent ESD problems with the Logitech C270

Q: We continue to have control hub crashing issues due to ESD when the Logitech camera is plugged into any of the usb ports. we've identified that it only crashes when the robot makes metal connection with the field elements, and only when the usb camera is connected.
Is it legal to use an inline USB isolator such as an ADUM3160?

A: Yes. This is an example of the types of USB surge protectors allowed by RE14.a.

Q201: Clarification on stack movement penalties.

Q: Given no other rule violations, should these result in a pixel control penalty:

Q1: Plowing over the pre-stacked pixels in driver-controlled?

Q2: Plowing over the pre-stacked pixels on the corresponding alliance's side in autonomous?

A: We believe Q13, Q112, and Q168 answers your question. If they do not, please rephrase your question and resubmit.

A1: No penalty, per rule GS05.c.i.

A2: No penalty, per rule GS05.c.i.

Q202: Fiducial Legality under RM06c

Q: In GM1 RM06c, fiducial images of any type are disallowed for Robot construction. In Q192 and Q197, patterns, logos, and images of any type are interpreted as fiducial and disallowed under TE03 because of this.

a) Does RM06c use the same definition of "fiducial", and thus prohibit use of patterns (such as patterned pocketing) and team/sponsor logos on team robots?

b) Does RM06c concern any fiducial markings on COTS parts? A specific example would be the barcodes on Andymark NeveRest Motors.

A: The answers to Q192 and 197 have been updated as follows. If this does not answer your question please re-submit.

Based on the feedback we have received from Teams and volunteers we are clarifying and relaxing the restrictions on the types of images that are allowed on the Team Prop. The intent of rule TE03b is:

1. prevent the use of any object on the field that could confuse or distract other Robots.
2. prevent the use of canned solutions to simplify the task of object identification.

Therefore, any image that resembles a QR code, AprilTag, or coded vision target is not allowed. All other images such as team logos, sponsor logos, raised areas, cut outs, etc. are allowed, providing no other rule is violated.

Fiducials as part of a COTS label are allowed.

Q203: Pipe height minimum

Q: The game manual 2 C-6 Truss and Rigging (pdf page 36) shows the fixed yellow pipe height to be "~14", allowing some height variation. But how much? 1/8"? 1/4"? 1"? 3"? Can FIRST provide a required minimum height so teams can be sure their robots will travel under the fixed pipe? This is especially important at tournaments where field inspection can be done before matches.

A: We believe that the answers you are looking for can be found by reading and understanding G08 and the explanatory orange box below it in Game Manual Part 2.

The specification for the yellow bar height is approximately 14". Applying the tolerances would suggest that a team should expect possible variations in the height of the yellow bars. Teams should take into account the risks that come with not paying attention to these potential variations.

As is mentioned in the orange box, events strive to setup and maintain a much more accurate setup/placement of their fields and game elements, but teams should take the tolerances into consideration when designing and building their robots.

Q204: Team Prop Design

Q: As an extension to some Team Prop Questions.

Q1:If a 3d printed team prop is designed to look like a cute cartoon robot, may it have eyes engraved/extruded in it since Q176 allows for holes in team props, or would those be considered fiduciary markers as per Q197?

Q2:Are decorative designs engraved/extruded into a prop allowed if not used for vision control?

A: The answers to Q192 and 197 have been updated as follows.

Based on the feedback we have received from Teams and volunteers we are clarifying and relaxing the restrictions on the types of images that are allowed on the Team Prop. The intent of rule TE03b is:

1. prevent the use of any object on the field that could confuse or distract other Robots.
2. prevent the use of canned solutions to simplify the task of object identification.

Therefore, any image that resembles a QR code, AprilTag, or coded vision target is not allowed. All other images such as team logos, sponsor logos, raised areas, cut outs, etc. are allowed, providing no other rule is violated.

A1: Yes this would be legal.

A2: Yes, engraved/extruded designs are allowed provided they do not violate the requirements outlined above.

Q205: During autonomous, can a total of 25 pts be earned w/ a purple pixel (Tape + Backdrop) ?

Q: During autonomous play, after earning 20 points by placing a purple pixel next to the Team Prop on the Spike Tape, can the purple pixel be picked up and placed on the backdrop for an additional 5 points?

A: The answer that you seek is found by reading section 4.4.2 and the definition of "Scored at Rest" in Game Manual Part 2.

No, the Autonomous Period Scoring achievements are "Scored at Rest" (i.e., when the entire field has come to rest after the end of the Autonomous Period). The Score value of the purple Pixel is determined based on its location at the end of the Autonomous Period.

Q206: Are there any penalties for robots colliding with each other during autonomous play?

Q: Are there any penalties for robots colliding with each other during autonomous play?

A: The answer that you seek is found by reading rule GS03 in Game Manual Part 2.

Yes, per rule GS03.a.

Q207: During autonomous play, can points be scored by placing white pixels on Backdrop?

Q: During autonomous play, can points be scored by moving up to 2 pixels at a time from one of the pre-existing stacks of white pixels to the backdrop?

A: The answer that you seek is found by reading section 4.4.2 in Game Manual Part 2.

Yes, All Pixels Scored On the recessed Scoring area of the Backdrop during the Autonomous Period earn five (5) points per Pixel.

Q208: During autonomous play, can 25 points be earned by placing yellow pixel on backdrop?

Q: After placing the purple pixel next to the Team Prop on the Spike Tape, 5 points can be earned by placing the yellow pixel on the backdrop. If the yellow pixel is placed in the position specified by the Spike Tape/April Tag, then will the team earn an additional 20 points for a total of 25 points?

A: The answer that you seek is found by reading section 4.4.2 in Game Manual Part 2.

Yes.

Q209: Venue floor for audience landing zone

Q: What is the intended floor for the Audience scoring zone for the drones? Some venues may have carpet and some are polished gym floors. I have seen some venues put foam tiles in the scoring zone. I have also been to gyms where they put tarps down for the robotics fields. The implications to a teams end game score could be reliant on the friction of the scoring zone? Is there an ideal floor? Say for higher stakes meets, where teams can get eliminated? Like for state, regional or worlds?

A: The answer you seek is found in the definition of Landing Zone in Game Manual Part 2. Quoted here:

Recognize that Landing Zone surfaces and marking materials may vary from event to event. Potential surfaces include hardwood floors, carpeting, gym tarp, cement, tiles, mats, etc. Potential marking materials include tape, paint, etc. Teams should plan for these variances when competing at different events.

It is encouraged for Event Organizers to let teams know what the Landing Zone properties are. We do not have any recommendation for what an ideal surface is.

Q210: Team Prop Interference in Autonomous

Q: When placing the purple pixel and traversing between each half of the field, Robots often displace their Team Prop. If the Team Prop were to be unintentionally displaced in a way that affects the opposing alliance's autonomous movement, would that be regarded as autonomous interference?

A: We believe !Q173 answers your question. If it does not, please rephrase your question and resubmit.

Q211: Pixel in both backstages at once

Q: Q1: Our question is about a pixel that is in both the backstages at ones does this mean it is scored for both alliances? Q2: And if so is it a penalty for moving that pixel to only your backstage (officially descoring it for the opposing alliance)

A: A1: No, a Pixel straddling the small nexus of the two Backstage Areas does not count as Scored for either Alliance.

A2: The question is not applicable since the Pixel is not in a Scored state while it is in both Alliances' Backstage Areas.

Q212: Team Numbers and definition of height

Q: <TE05> b) The Team number may be no more than 0.5 inches (1.27 cm) in height.

The formal definition of height is: the distance from the bottom to the top of something, the distance upward from a given level to a fixed point, or something measured vertically.

Is a 3D-printed cylinder with numbers raised by ~0.25" on the top face be considered legal height for TE05 subrule (b) where a box of dims ~0.75" x ~2.0" would enclose the numbers as viewed from above?

A: Rule TE05 b refers to the height of the text from the bottom edge of the number to the top edge of the number as viewed perpendicular to the text. The rule does not restrict the distance that a number is extruded from a surface. When viewed from above, the numbers must fit into a box no larger than .5" height. The length of the box is dependent on the number of digits in your team number and is not restricted.

Q213: Regarding Team Prop patterns

Q: In Q192 and Q197, it was noted that patterns, logos, or images are prohibited as fidicuial markers under TE03. We are wondering specifically if this will affect our team props depending on the interpretation of "pattern".

We want to ask if this ruling will apply to the circular indentations on our props, which are cubes that have indentations placed on each side to make them look like 6-sided dice (DICE is our team name).

A: The answers to Q192 and Q197 have been updated as follows: Based on the feedback we have received from Teams and volunteers we are clarifying and relaxing the restrictions on the types of images that are allowed on the Team Prop. The intent of rule TE03b is:

1. prevent the use of any object on the field that could confuse or distract other Robots.
2. prevent the use of canned solutions to simplify the task of object identification.

Therefore, any image that resembles a QR code, AprilTag, or coded vision target is not allowed. All other images such as team logos, sponsor logos, raised areas, cut outs, etc. are allowed, providing no other rule is violated.

A Team Prop made as you described is legal providing all other rules are met.

Q214: Autonomous Setup

Q: As long as it doesn't delay the game, can the drive team use one of the pre-loaded pixels to space the robot off the tile teeth, then place it in the robot before initialization?

A: No, per Rule G15, you may not use a Pixel to align the Robot. Pixels are not a legal component of the Robot.