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 calibration¹. 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.

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.

Artist Bonus Scoring achieved by Robots when they place Pixels to form Mosaics on the Backdrop.

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 Figure C–2 and Figure C–3 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:

a)

Carrying one or more Game Elements.

b)

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

c)

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:

d)

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

e)

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

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.

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-Controlled 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:

a)

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.

b)

Landing Zone 2 — A 144-inch (3.66 m) wide x 24-inch (610 mm) deep Area immediately adjacent to Landing Zone 1.

c)

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 Figure 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 Field Floor.

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-Controlled Period 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 Figure F–2 and Figure F–3 for examples.

a)

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).

b)

A completed Mosaic cannot be in contact with another non-white Pixel.

c)

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.

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 Field Wall, 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) 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 Alliance Station 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) Alliance Specific 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:

a)

Scored as Completed: The achievement is considered Scored the moment it is successfully completed, i.e., all criteria are met.

b)

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).

c)

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 End Of The Match.

Scoring Elements Objects that Robots manipulate to earn points for their Alliance. The Scoring Elements for CENTERSTAGE^SM 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 Playing Field (see Figure C–6 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 Field Floor. Incidental contact with Scoring Elements, the Truss, another Robot or the Stage Door is allowed (for example, Possession of Scoring Elements 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 Autonomous Period. 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 Game Elements 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.

<S01> Unsafe Robot or Playing Field Damage — 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.

<S02> Robot Extension Outside the Playing Field Perimeter — If any portion of the Robot contacts anything Outside the Playing Field Perimeter, 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.

<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.

<G01> Autonomous to Driver-Controlled Period Transition — At the conclusion of the Autonomous Period, Robots will remain in a hands-off state. Field personnel will not enter the field and will not touch Robots on the field during the Autonomous to Driver-Controlled transition. The scoring system display will provide visual and audio cues for Drive Teams to pick up their Driver Stations. Drive Teams will have five (5) seconds to pick up and prepare their Driver Station. After five (5) seconds, there will be a “3-2-1 go” countdown and the Driver-Controlled Period of the Match will begin.

<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.

<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.

<G09> Match Replay — Matches are replayed at the discretion of the head referee only for a failure of a non-Team supplied Game 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 4.4.1. When retrieving Robots, Teams may not verify the Scoring of Game Elements. The consequences for violating this rule are:

a)

Minor Penalty for violations during Match setup or following the End of the Match.

b)

Major Penalty for violations that delay the start of the Match.

c)

Violations of this rule outside of normal Match play will result in a Yellow Card.

<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.

a)

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.

b)

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.

c)

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.

d)

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.

e)

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.

<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.

a)

Drive Teams may be anywhere in their respective Alliance Station.

b)

The first instance of leaving the Alliance Station will result in a Warning, with any following instances during the Match resulting in a Minor Penalty. Leaving the Alliance Station for safety reasons will not result in a Warning or Penalty.

c)

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 Major Penalty and a possible Yellow Card.

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.

d)

After Robots are set up on the Playing Field, and before the Match starts, Drive Teams must stand Inside their respective Alliance or Human Player 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 Minor Penalty. Repeated violations of this rule will be handled per rule <G30>.

<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.

<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 Minor Penalty 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 Robot’s following actions 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 the Autonomous 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 Playing Field, a Game Element, or a Robot for safety reasons will not result in a Warning or 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.

<G25> Robots Grasping Game Elements — Robots may not 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 unless specifically allowed by Game-Specific rule(s) listed in section 4.5.3. 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 Playing Field 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.

<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.

<GS01> General Rule Exceptions — The following instances of gameplay are Game-specific exceptions to General Game Rules in section 4.5.2:

a)

Robot contact with a Pixel in a Backstage is allowed as an exception to rule <G06> if the Pixel is not Possessed by the Robot.

b)

Robots are allowed to Grasp the Rigging as an exception to rule <G25>.

c)

A Robot may Launch their Drone to the Outside of the Playing Field as an exception to rule <G27>.

d)

Rule <GS06>.f modifies the application of rule <G28>.

e)

Rule <GS07> constraints are an exception to rule <G07>.

f)

Rule <GS08>.c is an exception to rule <G07>.

g)

The rule <GS09> consequence for a Disabled Robot In a Wing is an exception to rule <G07>.

<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:

a)

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.

b)

Interfering with the opposing Alliance’s Randomization Task setup or Randomization Task Scoring.

<GS04> Descoring — Robots may not descore Pixels from the opposing Alliance’s Backdrop or Backstage. A Minor Penalty will be assessed for each Pixel that is descored.

<GS05> Robot Control/Possession Limits for Scoring Elements —  

a)

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.

b)

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.

c)

Control/Possession limit exceptions:

i.

Knocking over a stack of unscored 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 any quantity of Scoring Elements is allowed.

iv.

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.

v.

Pixels On the Backdrop are exempt from the Control/Possession limit.

<GS06> Truss Constraints —  

a)

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.

b)

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.

c)

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.

d)

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>.

e)

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.

f)

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.

a)

Robots may not Grasp the Stage Door. Violation of this rule results in a Major Penalty.

b)

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:

i.

Robots may not limit the upward motion of the Stage Door.

c)

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.

i.

Disrupting the transit of an opposing Alliance Robot through the Stage Door is not allowed.

ii.

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.

<GS08> Backdrop and Backstage Constraints —  

a)

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.

b)

Robots may not Block access to the opposing Alliance’s Backstage or Backdrop. 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 affected Robot(s).

c)

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>.

d)

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 —  

a)

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.

b)

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.

c)

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>.

d)

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 —  

a)

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 Driver Controlled Period via the Wing.

b)

A Robot may not Possess a Drone provided by another Team. A Major Penalty will be assessed for violating this rule.

c)

Drones Launched before the End Game have zero (0) Score value.

d)

Drones may be Launched from Suspended Robots.

e)

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.

f)

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.

g)

Drone Interference:

i.

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.

ii.

Contact between two or more Drones in flight or In a Landing Zone is not penalized.

iii.

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.

iv.

A Drone that contacts field personnel In a Landing Zone is awarded Landing Zone 1 Score value regardless of the final Parking location.

v.

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.

<GS12> Human Player Constraints — Each violation of this rule results in a Minor Penalty.

a)

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 Scoring Elements.

b)

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.

c)

Human Players may place a maximum of two (2) Pixels or one (1) Drone In a Wing at a time.

d)

Once a Pixel or Drone has been placed in the Wing, a Human Player may not pick it up or reposition it.

e)

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.

f)

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.

g)

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.

h)

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 Playing Field 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.

i)

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 Stage Door. 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>.