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2020 FIRST ® Robotics Competition

Game and Season Manual

FIRST ® Robotics Competition

CONTENTS
1 Introduction............................................................................................................................................ 1
1.1 About FIRST® ................................................................................................................................ 1
1.1 In Memoriam ................................................................................................................................. 1
1.2 FIRST Robotics Competition......................................................................................................... 1
1.3 Gracious Professionalism®, a FIRST® Credo................................................................................ 2
1.4 Coopertition® ................................................................................................................................. 3
1.5 Spirit of Volunteering ..................................................................................................................... 4
1.6 This Document & Its Conventions ................................................................................................. 5
1.7 Translations & Other Versions ...................................................................................................... 6
1.8 Team Updates ............................................................................................................................... 6
1.9 Question and Answer System ....................................................................................................... 7
2 Game Overview..................................................................................................................................... 9
3 ARENA ................................................................................................................................................ 10
3.1 FIELD .......................................................................................................................................... 10
3.2 Zones and Markings .................................................................................................................... 12
3.3 SHIELD GENERATOR ............................................................................................................... 14
3.3.1 SHIELD GENERATOR Structure ........................................................................................ 15
3.3.2 GENERATOR SWITCH ...................................................................................................... 15
3.3.3 BOUNDARIES..................................................................................................................... 17
3.3.4 SHIELD GENERATOR Lighting .......................................................................................... 18
3.4 ALLIANCE STATION .................................................................................................................. 18
3.4.1 ALLIANCE WALL ................................................................................................................ 18
3.5 TRENCH ..................................................................................................................................... 25
3.5.1 CONTROL PANEL .............................................................................................................. 26
3.6 POWER CELL ............................................................................................................................. 29
3.7 Vision Targets ............................................................................................................................. 29
3.8 The FIELD Management System ................................................................................................ 31
4 MATCH Play........................................................................................................................................ 33
4.1 Setup ........................................................................................................................................... 33
4.1.1 POWER CELLS .................................................................................................................. 33
4.1.2 ROBOTS ............................................................................................................................. 34
4.1.3 Humans ............................................................................................................................... 34
4.2 Autonomous Period ..................................................................................................................... 34

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4.3 Teleoperated Period .................................................................................................................... 35

4.4 Scoring ........................................................................................................................................ 35
4.4.1 POWER PORT Scoring ...................................................................................................... 35
4.4.2 SHIELD GENERATOR Scoring .......................................................................................... 35
4.4.3 CONTROL PANEL Scoring ................................................................................................. 36
4.4.4 GENERATOR SWITCH Scoring ......................................................................................... 36
4.4.5 Point Values ........................................................................................................................ 37
4.5 Rule Violations ............................................................................................................................ 38
4.5.1 Violation Details................................................................................................................... 38
4.6 DRIVE TEAM .............................................................................................................................. 39
4.7 Other Logistics ............................................................................................................................ 40
5 Safety Rules ........................................................................................................................................ 41
6 Conduct Rules ..................................................................................................................................... 43
7 Game Rules: ROBOTS ....................................................................................................................... 49
7.1 Before/After the MATCH ............................................................................................................. 49
7.2 During the MATCH ...................................................................................................................... 49
7.2.1 During AUTO Only .............................................................................................................. 49
7.2.2 POWER CELL Interaction ................................................................................................... 50
7.2.3 Zone Specific Restrictions ................................................................................................... 51
7.2.4 ROBOT Restrictions ............................................................................................................ 53
7.2.5 ROBOT to ROBOT Interaction ............................................................................................ 54
7.2.6 FIELD Interaction ................................................................................................................ 56
8 Game Rules: Humans ......................................................................................................................... 57
8.1 Before the MATCH ...................................................................................................................... 57
8.1.1 During the MATCH .............................................................................................................. 58
8.2 In the ARENA .............................................................................................................................. 59
9 ROBOT Construction Rules ................................................................................................................ 61
9.1 Overview ..................................................................................................................................... 61
9.2 General ROBOT Design ............................................................................................................. 63
9.3 ROBOT Safety & Damage Prevention ........................................................................................ 65
9.4 Budget Constraints & Fabrication Schedule ............................................................................... 66
9.5 BUMPER Rules ........................................................................................................................... 71
9.6 Motors & Actuators ...................................................................................................................... 79
9.7 Power Distribution ....................................................................................................................... 82
9.8 Control, Command & Signals System ......................................................................................... 88

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9.9 Pneumatic System ...................................................................................................................... 92

9.10 OPERATOR CONSOLE ............................................................................................................. 95
10 Inspection & Eligibility Rules ............................................................................................................... 97
11 Tournaments ..................................................................................................................................... 101
11.1 MATCH Schedules .................................................................................................................... 101
11.2 REFEREE Interaction ............................................................................................................... 101
11.2.1 YELLOW and RED CARDS .............................................................................................. 102
11.3 MATCH Replays ....................................................................................................................... 103
11.4 Measurement ............................................................................................................................ 104
11.5 Practice MATCHES ................................................................................................................... 104
11.5.1 Filler Line ........................................................................................................................... 104
11.6 Qualification MATCHES ............................................................................................................ 104
11.6.1 Schedule ........................................................................................................................... 104
11.6.2 MATCH Assignment .......................................................................................................... 105
11.6.3 Qualification Ranking ........................................................................................................ 105
11.7 Playoff MATCHES ..................................................................................................................... 106
11.7.1 ALLIANCE Selection Process ........................................................................................... 106
11.7.2 Playoff MATCH Bracket .................................................................................................... 107
11.7.3 Pit Crews ........................................................................................................................... 109
11.7.4 TIMEOUTS ........................................................................................................................ 109
11.7.5 BACKUP TEAMS .............................................................................................................. 110
11.8 Advancement Through the District Model ................................................................................. 112
11.8.1 District Events ................................................................................................................... 112
11.8.2 District Championship Eligibility ........................................................................................ 115
11.8.3 District Championships with Multiple Divisions ................................................................. 115
11.9 Advancement to the FIRST Championship ............................................................................... 117
11.9.1 Wild Cards ......................................................................................................................... 118
11.9.2 FIRST Championship Eligibility for District Teams ........................................................... 118
11.10 FIRST Championship: Additions and Exceptions ..................................................................... 120
11.10.1 Four ROBOT ALLIANCES ............................................................................................ 120
11.10.2 FIRST Championship Pit Crews ................................................................................... 121
11.10.3 FIRST Championship Playoffs ...................................................................................... 122
11.10.4 FIRST Championship TIMEOUTS ................................................................................ 123
12 Glossary ............................................................................................................................................ 125

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1 INTRODUCTION

1.1 About FIRST ®

FIRST® (For Inspiration and Recognition of Science and Technology) was founded by inventor Dean
Kamen to inspire young people’s interest in science and technology. Based in Manchester, New
Hampshire, FIRST is a 501(c)(3) not-for-profit public charity.

FIRST provides four programs:

• FIRST® Robotics Competition for grades 9-12, ages 14-18

• FIRST® Tech Challenge for grades 7-12, ages 12-18
• FIRST® LEGO® League for grades 4-8, ages 9-14 (ages 9-16 outside of North America)
• FIRST® LEGO® League Jr. for grades K-4, ages 6-10

Please visit our website: [Link] for more information about FIRST programs.

1.1 In Memoriam
In October 2019, Dr. Woodie Flowers, an innovator in design and
engineering education and an incredible advisor to FIRST and
supporter of our mission (see right), passed away. As thousands of
heartfelt tributes to Woodie have poured in from around the world, it
is clear his legacy will live on indefinitely through the gracious
nature of our community and our ongoing commitment to
empowering educators and building global citizens.

Figure 1-1 Dr. Woodie Flowers, 1943-2019

1.2 FIRST Robotics Competition
FIRST Robotics Competition pairs high school students with adult mentors (primarily engineers and
teachers) to design and build robots that compete against one another in a high-energy environment.

This varsity Sport for the Mind™ combines the excitement of sport with the rigors of science and
technology. Under strict rules, limited resources and time limits, teams of students are challenged to raise
funds, design a team “brand,” hone teamwork skills, and build and program robots to perform prescribed
tasks against a field of competitors. It’s as close to “real-world” engineering as a student can get.

Each January at an event known as “Kickoff,” a new, challenging game is introduced. These exciting
competitions combine the practical application of science and technology with the fun, intense energy and
excitement of a championship-style sporting event. Teams are encouraged to display Gracious
Professionalism®, help other teams, and cooperate while competing. This is known as Coopertition®.

In 2020, FIRST Robotics Competition will reach 100,000 high-school students representing approximately
4,000 teams. Teams come from nearly every state in the United States, as well as many other countries.

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FIRST Robotics Competition teams will participate in 66 Regional Competitions, 105 District
Competitions, and 11 District Championships. In addition, approximately 800 teams will qualify to attend
the FIRST Championship in one of two locations in April and May 2020.

This year’s game, and this manual, were presented at the 2020 FIRST Robotics Competition Kickoff on
Saturday, January 4, 2020.

At the Kickoff, all teams:

• saw the 2020 game, INFINITE RECHARGESM, for the first time
• learned about the 2020 game rules and regulations
• received a Kickoff Kit that provides a starting point for robot build

1.3 Gracious Professionalism ® , a FIRST ® Credo

Gracious Professionalism® is part of the ethos of FIRST. It’s a way of doing things that encourages high
quality work, emphasizes the value of others, and respects individuals and the community.

Gracious Professionalism is not clearly defined for a reason. It can and should mean different things to
everyone.

Some possible meanings of Gracious Professionalism include:

• Gracious attitudes and behaviors are win-win

• Gracious folks respect others and let that respect show in their actions
• Professionals possess special knowledge and are trusted by society to use that knowledge
responsibly
• Gracious Professionals make a valued contribution in a manner pleasing to others and to
themselves

In the context of FIRST, this means that all teams and participants should:

• Learn to be strong competitors, but also treat one another with respect and kindness in the
process
• Avoid leaving anyone feeling as if they are excluded or unappreciated

Knowledge, pride and empathy should be comfortably and genuinely blended.

In the end, Gracious Professionalism is part of pursuing a meaningful life. When professionals use
knowledge in a gracious manner and individuals act with integrity and sensitivity, everyone wins and
society benefits.

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The FIRST spirit encourages doing high-quality, well-informed work in a manner that
leaves everyone feeling valued. Gracious Professionalism seems to be a good descriptor
for part of the ethos of FIRST. It is part of what makes FIRST different and wonderful.

- Dr. Woodie Flowers, (1943 – 2019)

Distinguished Advisor to FIRST

It is a good idea to spend time going over this concept with your team and reinforcing it regularly. We
recommend providing your team with real-life examples of Gracious Professionalism in practice, such as
when a team loans valuable materials or expertise to another team that they will later face as an
opponent in competition. Routinely highlight opportunities to display Gracious Professionalism at events
and encourage team members to suggest ways in which they can demonstrate this quality themselves
and through outreach activities.

1.4 Coopertition ®
At FIRST, Coopertition® is displaying unqualified kindness and respect in the face of fierce competition.
Coopertition is founded on the concept and philosophy that teams can and should help and cooperate
with one another even as they compete. Coopertition involves learning from teammates and mentors.
Coopertition means competing always but assisting and enabling others when you can.

A Message from Woodie Flowers Award Recipients

The Woodie Flowers Award is the most prestigious mentoring award in FIRST. The
award recipients as of the 2015 FIRST Championship created an important message for
all FIRST Robotics Competition teams to consider as we tackle each season.
Performing at your best is important. Winning is important. This is a competition.
However, winning the right way and being proud of what you have accomplished and
how you have accomplished it is more important. FIRST could create rules and penalties
to cover almost any scenario or situation, but we prefer an understandable game with
simpler rules that allow us to think and be creative in our designs.

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We want to know that our partners and opponents are playing at their best in every
match. We want to know they are playing with integrity and not using strategies based on
questionable behaviors.
As you create your robots and award presentations, prepare for competition and match
play, create and implement game strategies, and live your daily lives, remember what
Woodie said time and time again, and let’s ‘Make your Grandmother proud.’

Woodie Flowers Dave Kelso (131) Earl Scime (2614)

Liz Calef (88) Paul Copioli (3310, 217) Fredi Lajvardi (842)

Mike Bastoni (23) Rob Mainieri (812, 64, 498, Lane Matheson (932)
2735, 6833)
Ken Patton (51, 65) Mark Lawrence (1816)
Dan Green (111)
Kyle Hughes (27) Eric Stokely (258, 360, 2557,
Mark Breadner (188) & 5295)
Bill Beatty (71)
John Novak (16, 323) Glenn Lee (359)
Dave Verbrugge (5110, 67)
Chris Fultz (234) Gail Drake (1885)
Andy Baker (3940, 45)
John Larock (365) Allen Gregory (3847)

1.5 Spirit of Volunteering

A Message from the Chief Volunteers to the FIRST Community:

“Giving Back” and “Pay It Forward” - these words are what motivates those who
mentor, coach, and volunteer their time for FIRST.
We know that volunteering - whether at events or with a team - has enormous, lifelong
impacts for everyone involved. Each and every student, teacher, event volunteer,
mentor, coach, and family member learns and grows through each season as they
interact with each other.
As you attend events and interface with the volunteers there, remember that they are
giving up their most precious asset - their time - to ensure that each and every team
has a fulfilling, fun, and memorable competition. Volunteers are the lifeblood of FIRST
and without them, FIRST would not be where it’s at today. We encourage you to
remember that “Gracious Professionalism is part of the ethos of FIRST. It's a way of
doing things that encourages high-quality work, emphasizes the value of others, and
respects individuals and the community.” At your next event, give a volunteer a High
Five or a Fist Bump and say “Thank You”.
Volunteering at events is a rewarding experience, and we encourage everyone to take
a break from the daily grind and join us at one in your community.

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What makes volunteering at events so much fun:

• Seeing capable students learning and growing
• Making new friends with other awesome volunteers
• Being a part of the magic that makes an event happen
• Sharing FIRST with folks who didn’t know about it
• Taking event experiences back to your team
Please join us and walk a few miles in a volunteer’s shoes - YOURS! Come take the
opportunity to Pay It Forward and Give Back; we can’t wait to see you soon. The
FIRST Website is a great resource for finding events that need help and what roles
you can fulfill.

Chief Field Supervisors – Paul George & Scott Goering

Chief Judge Advisors – Allen Bancroft & Cindy Stong

Chief Referees – Aidan Browne & Jon Zawislak

Chief Robot Inspectors - Al Skierkiewicz & Chuck Dickerson

Chief Volunteer Coordinators – Laurie Shimizu & Sarah Plemmons

1.6 This Document & Its Conventions

The 2020 Game and Season Manual is a resource for all FIRST Robotics Competition teams for
information specific to the 2020 season and the INFINITE RECHARGE game. Its audience will find the
following detail:

• a general overview of the INFINITE RECHARGE game

• detail about the INFINITE RECHARGE playing field
• description of how to play the INFINITE RECHARGE game
• all season rules (e.g. safety, conduct, game play, inspection, etc.)
• description of how teams advance at 2020 tournaments and throughout the season

All participants should also study the Event Rules Manual as it details event rules and expectations that
perpetuate from season to season. That content complements, and carries the same weight as, this
document.

The intent of this manual is that the text means exactly, and only, what it says. Please avoid interpreting
the text based on assumptions about intent, implementation of past rules, or how a situation might be in
“real life.” There are no hidden requirements or restrictions. If you’ve read everything, you know
everything.

Specific methods are used throughout this section to highlight warnings, cautions, key words and
phrases. These conventions are used to alert the reader to important information and are intended help
teams in constructing a robot that complies with the rules in a safe manner.

Links to other section headings in this manual and external articles appear in blue underlined text.

Key words that have a particular meaning within the context of the FIRST Robotics Competition and
INFINITE RECHARGE are defined in the Glossary section and indicated in ALL CAPS throughout this
document.

The rule numbering scheme uses an indication of the section in which the rule is stated plus a serial
numbering system (e.g. safety rules begin with “S,” game rules begin with “G,” etc.). References to
specific rules use this scheme (e.g. “S1” is the Safety Rules section).
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Warnings, cautions and notes appear in blue boxes. Pay close attention to their contents
as they’re intended to provide insight into the reasoning behind a rule, helpful information
on understanding or interpreting a rule, and/or possible “best practices” for use when
implementing systems affected by a rule.

While blue boxes are part of the manual, they do not carry the weight of the actual rule (if
there is an inadvertent conflict between a rule and its blue box, the rule supersedes the
language in the blue box).

Imperial dimensions are followed by comparable metric dimensions in parentheses to provide metric
users with the approximate size, weight, etc. Metric conversions for non-rules (e.g. FIELD dimensions)
round to the nearest whole unit, e.g. "17 in. (~43 cm)” and “6 ft. 4 in. (~193 cm).” Metric conversions in
rules round such that the metric dimension is compliant with the rule (i.e. maximums round down,
minimums round up). The metric conversions are offered for convenient reference only and do not
overrule or take the place of the imperial dimensions presented in this manual and the field drawings (i.e.
field dimensions and rules will always defer to measurements using imperial units).

Some sections and rules include colloquial language, also called headlines, in an effort to convey an
abbreviated intent of the rule or rule set. This language is differentiated using bold blue text. Any
disagreement between the specific language used in the rules and the colloquial language is an error,
and the specific rule language is the ultimate authority. If you discover a disparity, please let us know and
we will correct it.

Team resources that aren’t generally season specific (e.g. what to expect at an event, communication
resources, team organization recommendations, robot transportation procedures, and award
descriptions) can be found on the FIRST Robotics Competition website.

1.7 Translations & Other Versions

The INFINITE RECHARGE manual is originally and officially written in English and is occasionally
translated into other languages for the benefit of FIRST Robotics Competition teams whose native
language may not be English.

A text-based English version can be provided only for use with assistive devices for visually and hearing-
impaired persons, and not for redistribution. For more information, please contact
frcteamadvocate@[Link].

In the event that a rule or description is modified in an alternate version of this manual, the English pdf
version as published on the FIRST Game and Season Materials webpage is the commanding version.

1.8 Team Updates

Team updates are used to notify the FIRST Robotics Competition community of revisions to the official
season documentation (e.g. the manual, drawings, etc.) or important season news. Between Kickoff and
February 21, 2020, Team Updates are posted each Tuesday and Friday. Between February 21, 2020 and
April 7, 2020, Team Updates are posted each Tuesday. Team updates are posted on the INFINITE
RECHARGE Game and Season Materials web page and are generally posted before 5 pm, Eastern.

Generally, Team Updates follow the following convention:

• Additions are highlighted in yellow. This is an example.

• Deletions are indicated with a strikethrough. This is an example.
• Notes that are added for clarity or explanation for the change but are not retained as part of
the manual appear in bold. This is an example.

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1.9 Question and Answer System

Questions about any 2020 Game and Season Manual content and FIRST Robotics Competition Event
Experience web page content may be asked to FIRST using the official Question and Answer System
(i.e. “the Q&A”), which opens on January 8, 2020, 12:00 PM Eastern. Details on the Q&A can be found on
the INFINITE RECHARGE Game and Season Materials web page. The Q&A is intended to help clarify
rules, and sometimes the responses result in revisions to the text in the official document (which is
communicated using Team Updates).

The Q&A is not a resource for

• rulings on hypothetical strategies or vague situations,

• challenging decisions made at past events, or
• design reviews of a robot system for legality.

The responses in the Q&A do not supersede the text in the manual, although every effort will be made to
eliminate inconsistencies between the two. While responses provided in the Q&A may be used to aid
discussion at each event, per Inspection & Eligibility Rules and REFEREE Interaction sections,
REFEREES and Inspectors are the ultimate authority on rules. If you have concerns about enforcement
trends by volunteer authorities, please notify FIRST at firstroboticscompetition@[Link].

Weak questions are overly broad, vague, and/or include no rule references. Some examples of questions
that will not be answered in the Q&A are:

• Is this part/design legal?

• How should the REFEREE have ruled when this specific game play happened?
• Duplicate questions
• Nonsense questions

Good questions ask generically about features of parts or designs, gameplay scenarios, or rules, and
often reference one or more relevant rules within the question. Some examples of questions that will likely
be answered in the Q&A are:

• A device we are considering using on the ROBOT comes with purple AWG 40 wire, does this
comply with R?? and R??
• We’re not sure how to interpret how Rule G?? applies if Blue ROBOT A does X and Red
ROBOT B does Y, can you please clarify?

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2 GAME OVERVIEW

In INFINITE RECHARGESM, two alliances work to protect FIRST City from approaching asteroids caused
by a distant space skirmish. Each Alliance, along with their trusty droids, race to collect and score Power
Cells in order to energize their Shield Generator for maximum protection. To activate stages of the Shield
Generator, droids manipulate their Control Panels after scoring a specific number of Power Cells. Near
the end of the match, droids race to their Rendezvous Point to get their Shield Generator operational in
order to protect the city!

During the 15 second Autonomous Period, droids follow pre-programmed instructions. Alliances score
points by:
1. Scoring Power Cells in the Power Port
2. Moving from the Initiation Line
In the final 2 minutes and 15 seconds of the match, drivers take control of the droids. Alliances scores
points by:
1. Continue to score Power Cells in the Power Port
2. Completing Rotation Control
3. Completing Position Control
4. Hanging from the Generator Switch
5. Getting the Generator Switch to the level position
The Alliance with the highest score at the end of the Match wins.

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3 ARENA

The ARENA includes all elements of the game infrastructure that are required to play INFINITE
RECHARGESM: the FIELD, POWER CELLS, and all equipment needed for FIELD control, ROBOT
control, and scorekeeping.

The ARENA is modular and assembled, used, disassembled, and shipped many times during the
competition season. It will undergo wear and tear. The ARENA is designed to withstand rigorous play and
frequent shipping. Every effort is made to ensure that ARENAs are consistent from event to event.
However, ARENAs are assembled in different venues by different event staff and some small variations
occur. For details regarding assembly tolerances, please refer to the 2020 ARENA Layout and Marking
Diagram. Successful teams will design ROBOTS that are insensitive to these variations.

Illustrations included in this section are for a general visual understanding of the INFINITE RECHARGE
ARENA, and dimensions included in the manual are nominal. Please refer to the official drawings for
exact dimensions, tolerances, and construction details. The official drawings, CAD models, and drawings
for low-cost versions of important elements of the INFINITE RECHARGE FIELD are posted on the 2020
INFINITE RECHARGE Game & Season Materials page on the FIRST® website.

3.1 FIELD

Figure 3-1 INFINITE RECHARGE

Each FIELD for INFINITE RECHARGE is 26 ft. 11¼ in. (~821 cm) by 52 ft. 5¼ in. (~1598 cm) carpeted
area bound by and including the inward- and upward-facing surfaces of the guardrails and inward-facing
surfaces of the ALLIANCE WALLS (except Chute surfaces and any surface beyond the face of the
POWER PORT). It is populated with a SHIELD GENERATOR, TRENCHES, LOADING BAYS, and
POWER PORTS.

The SHIELD GENERATOR is located in the center of the FIELD. The SHIELD GENERATOR consists of
the structure, the GENERATOR SWITCHES, the BOUNDARIES, and the floor protection.

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One (1) Red TRENCH and one (1) Blue TRENCH are located along the guardrail, each spanning the gap
between a vertical leg of the SHIELD GENERATOR and the guardrail. Each TRENCH contains a
CONTROL PANEL.

One (1) Red POWER PORT and one (1) Blue POWER PORT are located in the ALLIANCE WALLS. The
Red POWER PORT is part of the Blue ALLIANCE WALL, and the Blue POWER PORT is part of the Red
ALLIANCE WALL.

One (1) Red LOADING BAY and one (1) Blue LOADING BAY are located in their respective ALLIANCE
WALLS.

The surface of the FIELD is low pile carpet, Shaw Floors, Philadelphia Commercial, Neyland II 20, “66561
Medallion” (please note that Neyland II carpet is not available for team purchase and the closest
equivalent is Neyland III). The edge of the carpet is secured to the venue floor using 3M™ Premium
Matte Cloth (Gaffers) Tape (GT2) or comparable gaffers tape.

Guardrails form the long edges of the FIELD and are a 1 ft. 7 in. (~48 cm) tall system of transparent
polycarbonate supported on the top and bottom by aluminum extrusion. Guardrails, along with the
ALLIANCE WALLS, prevent ROBOTS from inadvertently exiting the FIELD during a MATCH. There are
four (4) gates in the guardrail that allow access to the FIELD for placement and removal of ROBOTS. The
gate passthrough, when open, is 3 ft. 2 in. (~97 cm) wide. Gates are closed and shielded during the
MATCH.

Figure 3-2 Gate locations

There are two versions of guardrails and PLAYER STATIONS used for competitions. One design
matches the 2020 Official FIRST FIELD Drawings & Models. The other is designed and sold by
AndyMark. While the designs are slightly different, the critical dimensions, performance, and expected
user experience between the two are the same. Detailed drawings for the AndyMark design are posted
on the AndyMark website. All illustrations in this manual show the traditional FIELD design.

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3.2 Zones and Markings

FIELD Zones and markings of consequence are described below. Unless otherwise specified, the tape
used to mark lines and zones throughout the FIELD is 2-in. (~5cm) 3M™ Premium Matte Cloth (Gaffers)
Tape (GT2).

Figure 3-3 INFINITE RECHARGE FIELD

ALLIANCE STATION: a 30-ft. (~914 cm) wide by 10 ft. 9⅛ in. (~328 cm) to 12 ft. 10⅞ in. (~393 cm) deep
infinitely tall volume formed by, and including the ALLIANCE WALL, the edge of the carpet, and
ALLIANCE colored tape.

INITIATION LINE: a white tape line spanning the width of the FIELD and located 10 ft. (~305 cm) from the
face of PLAYER STATION 2 to the near edge of the tape. An ALLIANCE’S INITIATION LINE is located in
the opponent’s SECTOR.

LOADING ZONE: a 5 ft. (~152 cm) wide, 2 ft. 6 in. (~76 cm) deep infinitely tall volume with a triangular
base bounded by the LOADING BAY and ALLIANCE colored tape. The LOADING ZONE includes the
ALLIANCE colored tape.

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RENDEZVOUS POINT: a 5 ft. 6¾ in. (~170 cm) wide, 12 ft. 6¾ in. (~383 cm) deep, infinitely tall volume
formed by the ALLIANCE colored BOUNDARIES and the black BOUNDARY pair that divides the Red
and the Blue BOUNDARIES. The RENDEZVOUS POINT includes the ALLIANCE colored BOUNDARIES.

Figure 3-4 Red RENDEZVOUS POINT

SECTOR: A 26 ft. 11¼ in. (~821 cm) wide by 10 ft. 2 in. (~310 cm) deep infinitely tall volume formed by
an ALLIANCE’S ALLIANCE WALL, guardrail, and INITIATION LINE. The SECTOR includes the
INITIATION LINE.

STARTING LINE: a white tape line spanning the width of the carpet and located 2 ft. 4 in. (~71 cm) from
the back of the PLAYER STATION 2 diamond plate panel to the near edge of the tape.

TARGET ZONE: a 4 ft. (~122 cm) wide, 2 ft. 6 in. (~76 cm) deep infinitely tall volume with a triangular
base bounded by the POWER PORT and ALLIANCE colored tape. The TARGET ZONE includes the
ALLIANCE colored tape.

TRENCH RUN: a 4 ft. 7 ½ in. (~141 cm) wide, 18 ft. (~549 cm) deep, infinitely tall volume that is bounded
by the guardrail, the edge of the TRENCH vertical support closest to the center of the FIELD, and
ALLIANCE colored tape. The TRENCH RUN includes the ALLIANCE colored tape.

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Figure 3-5 Blue TRENCH RUN

3.3 SHIELD GENERATOR

Figure 3-6 SHIELD GENERATOR

The SHIELD GENERATOR is a 14 ft. 1½ in. (~431 cm) wide, 15 ft. ¾ in. (~459 cm) deep, and 9 ft. 6½ in.
(~291 cm) tall structure located in the center of the field, oriented at a 22.5 degree angle relative to the
guardrails. The SHIELD GENERATOR has one (1) GENERATOR SWITCH per ALLIANCE.
BOUNDARIES divide the floor of the SHIELD GENERATOR into sections. Spaces between

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BOUNDARIES include flooring protection to prevent floor damage. All flooring between BOUNDARIES is
part of the SHIELD GENERATOR.

3.3.1 SHIELD GENERATOR Structure

The SHIELD GENERATOR structure consists of 1 ft. x 1 ft. (~30 cm x ~30 cm) square truss. The truss
structure is 13 ft. 1½ in. (~400 cm) wide, 14 ft. ¾ in. (~429 cm) deep, and 9 ft. 2¼ in. (~280 cm) tall. Each
of the four vertical truss legs sits on a base. The baseplate extends 6 in. (~15 cm) from each square face
and is ⅛ in. (~3 mm) thick.

Figure 3-7 SHIELD GENERATOR structure

3.3.2 GENERATOR SWITCH

Each SHIELD GENERATOR has one (1) GENERATOR SWITCH per ALLIANCE. A GENERATOR
SWITCH is a 7 ft. 6 in. (~229 cm) wide, 10 ft. 1½ in. deep (~309 cm), and 4 ft. 6 in. (~137 cm) tall
assembly that swings from the top of the SHIELD GENERATOR. Each GENERATOR SWITCH has a
HANDLE. The HANDLE is a structure that consists of a RUNG and the supporting structure below the
horizontal beam of the GENERATOR SWITCH. A RUNG is a 1¼ in. schedule 40 aluminum pipe (1.66 in.
(~4 cm) outer diameter) with two (2) exposed 4 ft. 7⅝ in. (~141 cm) long sections. The amount of
clearance above the RUNG varies from a minimum of 3½ in (~9 cm) to a maximum of 12 in (~30 cm). For
safety, foam corner cushions line the lowest edges of the HANDLE. The HANDLE (green and yellow) and
RUNG (yellow) are highlighted in Figure 3-8 for clarity.

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Figure 3-8 GENERATOR SWITCH

At the start of the MATCH, the top of the RUNG is parallel to and 5 ft 3 in. (~160 cm) above the floor
protection carpet. The GENERATOR SWITCH can tilt and rest in different positions depending on the
number and location of ROBOTS pulling on the HANDLE. For the purposes of scoring (see GENERATOR
SWITCH Scoring), LEVEL is evaluated by the magnitude of its tilt as shown in Figure 3-9. The
GENERATOR SWITCH is LEVEL if the RUNG is within 8 degrees of horizontal. Hard stops prevent the
GENERATOR SWITCH from rotating more than 14.5 degrees in either direction. The rotating portion of
the GENERATOR SWITCH has a weight of approximately 93 lbs. (~42 kg) and a center of mass
approximately 2 ft. 2 in. (~66 cm) below the center of the shaft from which it is suspended.

Figure 3-9 GENERATOR SWITCH range of motion.

(note: dimensions are to the top of the flooring protection carpet)

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ALLIANCE colored stack lights on the SHIELD GENERATOR display information about the status of the
ALLIANCE’S GENERATOR SWITCH. See SHIELD GENERATOR Lighting for more information.

3.3.3 BOUNDARIES

BOUNDARIES are 3 in. (~8 cm) wide, 1 in. (~3 cm) tall steel barriers that divide the area inside the
SHIELD GENERATOR into four (4) equal sized rectangles that are 5 ft. 3¾ in. (~162 cm) wide by 5 ft.
10⅞ in. (~180 cm) deep. BOUNDARIES are secured to the carpet using hook fastener which increases
the height to approximately 1¹⁄₁₆ in. (~3 cm). The Red and Blue BOUNDARIES feature 1-in. (~3 cm)
diameter holes spaced every 1 ft 4½ in. (~42 cm) for staging of POWER CELLS. A pair of black
BOUNDARIES divide the Red and Blue RENDEZVOUS POINTS. Each truss base has two shorter steel
barriers, black with ALLIANCE colored tape, mounted to them. These barriers are ALLIANCE colored
BOUNDARIES.

Figure 3-10 BOUNDARY dimensions.

A layer of ⅛ in. (~3 mm) thick hardboard is installed on top of the FIELD carpet and covered with another
layer of carpet to protect venue flooring. This flooring protection adds approximately ⅜ in. (~10 mm) of
height to the this area.

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Figure 3-11 Floor protection cross-section

3.3.4 SHIELD GENERATOR Lighting

The SHIELD GENERATOR has a set of stack lights for each ALLIANCE which are enabled from the start
of the END GAME until five (5) seconds after the MATCH. These lights illuminate when the corresponding
GENERATOR SWITCH is LEVEL.

Each half of the SHIELD GENERATOR features three (3) ALLIANCE colored light bars inside of the truss
structure.

• The first light bar, inside the vertical truss section adjacent to the ALLIANCE’S TRENCH,
turns on once Stage 1 is ACTIVATED.
• The second light bar, inside the vertical truss section closest to the ALLIANCE’S POWER
PORT, turns on once Stage 2 is ACTIVATED.
• The third light bar, inside the horizontal truss connecting the two (2) previous truss sections,
turns on once Stage 3 is ACTIVATED.

3.4 ALLIANCE STATION

3.4.1 ALLIANCE WALL

The ALLIANCE WALL is the structure that separates ROBOTS from DRIVERS, COACHES, and HUMAN
PLAYERS. It consists of three (3) PLAYER STATIONS, the LOADING BAY, and the POWER PORT.
ALLIANCE WALLS define the short edges of the FIELD and, along with the guardrails, prevent ROBOTS
from exiting the FIELD during the MATCH.

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Figure 3-12 ALLIANCE WALL

[Link] PLAYER STATION

A PLAYER STATION is one (1) of three (3) assigned positions in an ALLIANCE WALL from where a
DRIVE TEAM operates their ROBOT. Each PLAYER STATION is made from a 3 ft. (~91 cm) tall diamond
plate base topped with a 3 ft. 6 in. (~107 cm) tall transparent plastic sheet and a top rail. An aluminum
shelf is attached to each PLAYER STATION to support an OPERATOR CONSOLE. The shelf is 5 ft. 9 in.
(~175 cm) wide and 1 ft. ¼ in. (~31 cm) deep. There is a 4 ft. 6 in. (~137 cm) long by 2 in. (nominal) wide
strip of hook-and-loop tape (“loop” side) along the center of the support shelf that may be used to secure
the OPERATOR CONSOLE to the shelf. PLAYER STATION 1 and PLAYER STATION 3 intersect the
guardrail at a 110 degree angle.

Each PLAYER STATION contains the following components for teams:

• one (1) Ethernet cable: attaches to the Ethernet port of the OPERATOR CONSOLE and provides
connectivity to the Field Management System (FMS)
• one (1) 120VAC NEMA 5-15R power outlet: located on each PLAYER STATION shelf and
protected by its own 2-Amp circuit breaker. It can be used to power the OPERATOR CONSOLE.
DRIVE TEAMS are responsible for monitoring their power consumption as a tripped breaker in
the outlet does not constitute an ARENA FAULT. For some events in regions that don’t use
NEMA 5-15 shaped outlets, event organizers may install appropriate plug adapters to be used
throughout the event.
• one (1) Emergency Stop (E-Stop) button: located on the left side of the PLAYER STATION shelf
and is used to deactivate a ROBOT in an emergency.
• one (1) team sign: displays the team number and located at the top of each PLAYER STATION.
• one (1) team LED: indicates ALLIANCE color, ROBOT status, E-Stop status, and is centered at
the top of each PLAYER STATION. Team LED states include:
o Solid: indicates that the ROBOT is connected and enabled. This only happens during a
MATCH.

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o Blinking: indicates that either the Field Management System is preset for the MATCH and
the ROBOT is not connected yet, or it’s during a MATCH and the corresponding ROBOT,
is BYPASSED, has lost connectivity or the E-stop was pressed.
o Off: indicates that the ROBOT is linked and DISABLED prior to the start of the MATCH.
This light is also off, regardless of ROBOT connection status, after the MATCH has
concluded.
o Amber LED Solid: the team or FIELD E-stop button has been pressed.
• one (1) timer (in PLAYER STATION 2): displays the official time remaining in the MATCH and
TIMEOUTS. It is marked with white tape along the bottom edge.
• FMS hardware and wiring: mostly located below the PLAYER STATION 2 shelf.

[Link] LOADING BAY

Figure 3-13 LOADING BAY

The LOADING BAY is a 6 ft. 6 in. (~198 cm) tall by 5 ft. (~152 cm) wide structure located between
PLAYER STATIONS 2 and 3. HUMAN PLAYERS deliver POWER CELLS through one (1) of the five (5)
Chutes in the LOADING BAY.

There are two (2) low Chutes and three (3) high Chutes. Low Chute openings are 3 in. (~8 cm) above the
carpet, and high Chute openings are 2 ft. (~61 cm) above the carpet. The high Chutes are adjacent to
each other and have a combined width of 2 ft. ¼ in. (~62 cm).

The LOADING BAY also includes two (2) racks for POWER CELL storage. Each rack contains openings
for seven (7) POWER CELLS. The racks are 4 ft. 11⅞ in. (~152 cm) and 5 ft. 9⅞ in. (~177 cm) above the
carpet.

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[Link] POWER PORT

Figure 3-14 POWER PORT

There are two (2) POWER PORTS on the FIELD. The Red POWER PORT is part of the Blue ALLIANCE
WALL and the Blue POWER PORT is part of the Red ALLIANCE WALL. Each POWER PORT is a 10 ft.
2¼ in. (~310 cm) tall by 4 ft. (~122 cm) wide (excluding backboards) structure and is located between
PLAYER STATIONS 1 and 2. POWER PORTS process POWER CELLS scored in its BOTTOM PORT,
OUTER PORT, and INNER PORT.

The BOTTOM PORT is a 10 in. (~25 cm) tall, 2 ft. 10 in. (~86 cm) wide rectangle. The bottom edge is 1 ft.
6 in. (~46 cm) above the carpet.

The OUTER PORT is a regular hexagon that measures 2 ft. 6 in. (~76 cm) in height. The center of the
OUTER PORT is 8 ft. 2¼ in. (~249 cm) above the carpet.

The INNER PORT is a 1 ft. 1 in. (~33 cm) diameter circle concentric with and 2 ft. 5¼ in. (~74 cm) behind
(i.e. on the ALLIANCE STATION side of) the OUTER PORT. The center is 8 ft. 2¼ in. (~249 cm) above
the carpet.

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Figure 3-15 POWER PORT dimensions

Each POWER PORT releases scored POWER CELLS into its CORRAL, and POWER CELLS are
recycled back to the FIELD by HUMAN PLAYERS.
The POWER PORT features two (2) polycarbonate backboards, attached on either side of the OUTER
PORT, to help prevent POWER CELLS from leaving the FIELD. Backboards are 6 ft. (~183 cm) wide and
extend 3 ft. 8 in. (~112 cm) above the PLAYER STATIONS.

Figure 3-16 Backboard dimensions

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Around the OUTER PORT a Phillips Color Kinetics LED Light String is used to indicate the progress
towards CAPACITY. The string fills symmetrically starting from the top center and proceeding out, then
down. The initial nodes for each Stage (staring from the center) light up in sections that differ depending
on the CAPACITY of the current Stage. The bottom four nodes on either side of the OUTER PORT
always fill at a rate of one (1) node per POWER CELL scored. Examples are shown in Figure 3-17.

Figure 3-17 POWER PORT CAPACITY progress

A Phillips Color Kinetics LED light string around the OUTER PORT indicates CAPACITY progress. The
string fills from the top center toward the side bottom nodes and is mirrored on the left and right. Nodes 1-
4 and 27-30 fill per POWER CELL scored. Nodes above them light up in sections that differ depending on
the CAPACITY of the current stage, as defined in Table 3-1. A node map is shown in Figure 3-18.

Table 3-1 Node pattern per CAPACITY

Stage 1 Stage 2 and 3

CAPACITY nodes ON nodes ON
1 14-17 15 and 16
2 11-13 and 18-20
3 9-10 and 21-22 14 and 17
4 7-8 and 23-24
5 5-6 and 25-26 13 and 18
6 4 and 27
7 3 and 28 12 and 19
8 2 and 29
9 1 and 30 11 and 20
10 N/A
11 N/A 10 and 21
12 N/A 9 and 22
13 N/A 8 and 23
14 N/A 7 and 24
15 N/A 6 and 25
16 N/A 5 and 26
17 N/A 4 and 27
18 N/A 3 and 28
19 N/A 2 and 29
Figure 3-18 Light string node map
20 N/A 1 and 30

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Light strings also indicate other FIELD states as shown in Table 3-2 and Figure 3-19.
Table 3-2 additional POWER PORT Light States

Criteria
Light State
Off Outside of a MATCH: FIELD is MATCH ready
In MATCH: current stage not ACTIVATED
Green Head REFEREE has determined FIELD safe
for humans
ALLIANCE color with Stage has reached CAPACITY, but not
yellow chase pattern ACTIVATED
Entire light string is All stages ACTIVATED
ALLIANCE color

Figure 3-19: Additional POWER PORT state examples

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3.5 TRENCH
Each ALLIANCE has a TRENCH in their TRENCH RUN that spans the gap between the guardrail and
SHIELD GENERATOR. On the top of each TRENCH is an ALLIANCE specific CONTROL PANEL and a
yellow stack light.

Figure 3-20 TRENCH

Each TRENCH is a 3 ft. ½ in. (~93 cm) tall, 4 ft. 8 in. (~142 cm) wide, and 3 ft. 5½ in. (~105 cm) deep
structure that forms a 4 ft. 4 in. (~132 cm) wide, 2 ft. 4 in. (~71 cm) tall, and 2 ft. 6 in. (~76 cm) deep
tunnel. Each TRENCH has two (2) ⅛ in. (~3 mm) thick baseplates. Each baseplate has two (2) 1-in.
(~3cm) diameter holes used to stage POWER CELLS. Holes are 1 ft. 6½ in. (~47 cm) apart.

Figure 3-21 TRENCH dimensions

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3.5.1 CONTROL PANEL

A CONTROL PANEL is centered on the top of each TRENCH. The CONTROL PANEL is a 2 in. (~5 cm)
tall, 2 ft. 8 in. (~81 cm) diameter disk constructed of two pieces of ¼ in. (~6 mm) thick polycarbonate,
spaced apart by ten ½ in. (~13 mm) diameter metal spacers at regular intervals. The centers of the
spacers are located 1 in. (~3 cm) in from the outer perimeter of the CONTROL PANEL. The bottom edge
of the CONTROL PANEL is located 2 ft. 6¼ in. (~77 cm) above the carpet.

Figure 3-22 TRENCH and CONTROL PANEL dimensions

The CONTROL PANEL is divided into 8 equal size wedges. Wedges are red, green, blue, and yellow
(see Table 3-3 for CMYK values) and visible from above and below the CONTROL PANEL. Colors are
arranged as shown in Figure 3-23 and line up top and bottom. The arc length of each wedge is 1 ft. ½ in.
(~32 cm). Fasteners in the CONTROL PANEL create holes in the colored wedges.
Table 3-3: CONTROL PANEL color chart

CONTROL
PANEL color Cyan Magenta Yellow Black
Blue 100 0 0 0
Green 100 0 100 0
Red 0 100 100 0
Yellow 0 0 100 0

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Figure 3-23 TRENCH bottom view

A swatch of identical material and colors to those on the CONTROL PANEL is in each Black Tote of the
2020 Kickoff Kit. The CONTROL PANEL is attached to the TRENCH via a 12 in. (~30 cm) Lazy Susan
Bearing (Triangle Manufacturing PN: 12D10346). An identical Lazy Susan Bearing is in each Black Tote
of the 2020 Kickoff Kit.

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Each CONTROL PANEL has two (2) requirements in order to ENERGIZE the SHIELD GENERATOR,
see CONTROL PANEL Scoring for complete details on game play.

• ROTATION CONTROL: Rotate CONTROL PANEL at least three (3) (but no more than five (5))
complete revolutions in the same direction. If the CONTROL PANEL is rotated more than five (5)
complete revolutions, the count resets to zero (0). The TRENCH light turns on once Stage 2
CAPACITY is reached (i.e. the CONTROL PANEL is ready for ROTATION CONTROL).

A CONTROL PANEL spun faster than 60 revolutions per minute may cause FIELD
damage. For more details see MATCH Replays.

Figure 3-24 CONTROL PANEL ROTATION CONTROL example

• POSITION CONTROL: Rotate CONTROL PANEL so a specified color aligns with the sensor for
at least five (5) seconds. Once either ALLIANCE reaches Stage 3 CAPACITY, FMS relays a
specified color (randomly selected by FMS and one (1) of the three (3) colors not currently read
by the ALLIANCE’S TRENCH color sensor) to all OPERATOR CONSOLES simultaneously. The
specified color may not be the same for both ALLIANCES. See Table 3-4 for details on how the
TRENCH light is used during POSTION CONTROL.

Specific details on the format of the data can be found on the 2020 FRC Control System
website.

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Each TRENCH has a yellow stack light to indicate CONTROL PANEL status.
Table 3-4 TRENCH light status

Light State SHIELD GENERATOR Stage Criteria

Off 1, 2, or 3 Stage not at CAPACITY or Stage 3 ACTIVATED
The POWER PORT is at CAPACITY, the CONTROL
Solid 2 or 3
PANEL is ready for use
The CONTROL PANEL has rotated the required
2 number for ROTATION CONTROL, but has not yet
continuously read a single color for two (2) seconds
Flashing
The CONTROL PANEL has read the required color
3 for POSITION CONTROL for at least three (3)
seconds and less than five (5) seconds1
1 If a color change is detected during the two (2) second period when the stack light is flashing, the light returns to solid and the
color detection timer resets to zero (0).

3.6 POWER CELL

Figure 3-25 POWER CELL

INFINITE RECHARGE is played with POWER CELLS. A POWER CELL is a yellow 7 in. (~18 cm)
diameter Medium Bounce Dino-Skin foam ball. The FIRST logo is printed on each ball in black ink. The
ball is made by Flaghouse (PN 1892 YEL) and sold by AndyMark (PN AM-4200). A POWER CELL is in
each Black Tote of the 2020 Kickoff Kit.

3.7 Vision Targets

Vision targets made from 2 in. (~5 cm) wide strips of 3M 8830 ScotchliteTM Reflective Material are located
on the POWER PORTS and LOADING BAYS. On the POWER PORT, they target the location of the
INNER and OUTER PORTS and trace the bottom perimeter of the OUTER PORT. The target has an
overall height of 1 ft. 5 in. (~43 cm), and a width of 3 ft. 3¼ in. (~100 cm). The bottom of the target is 6 ft.
9¼ in. (~206 cm) above the carpet. A strip of 3M 8830 ScotchliteTM Reflective Material is in FIRST
Choice.

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Figure 3-26 POWER PORT Vision Target

The LOADING BAY target is a 7 in. (~18 cm) wide by 11 in. (~28 cm) tall rectangle. The target is centered
on the width of the LOADING BAY and located 11 in. (~28 cm) above the carpet.

Figure 3-27 LOADING BAY Vision Target

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3.8 The FIELD Management System

The Field Management System (FMS) is the electronics core responsible for sensing and controlling the
FIRST Robotics Competition FIELD. The FMS encompasses all FIELD electronics, including computers,
REFEREE touchscreens, wireless access point, sensors, stack lights, E-Stops, etc.

When a DRIVE TEAM connects the Ethernet cable from their assigned PLAYER STATION to their
OPERATOR CONSOLE, the Driver Station software on the OPERATOR CONSOLE computer will
communicate with FMS. Once connected, the open ports available are described in Table 3-5.
Table 3-5 Open FMS Ports
Designation Bi-directional?
Port
UDP/TCP 1180-1190 Camera data from the roboRIO to the Driver Yes
Station when the camera is connected the
roboRIO via USB
TCP 1735 SmartDashboard Yes
UDP 1130 Dashboard-to-ROBOT control data Yes
UDP 1140 ROBOT-to-Dashboard status data Yes
HTTP 80 Camera connected via switch on the ROBOT Yes
HTTP 443 Camera connected via switch on the ROBOT Yes
UDP/TCP 554 Real-Time Streaming Protocol for h.264 Yes
camera streaming
UDP/TCP 1250 CTRE Diagnostics Server Yes
UDP/TCP 5800-5810 Team use Yes

Teams may use these ports as they wish if they do not employ them as outlined above (e.g. TCP 1180
can be used to pass data back and forth between the ROBOT and the Driver Station software if the team
chooses not to use the camera on USB). Note that ROBOT code cannot be deployed while connected to
the FMS. Additional information about the FMS may be found in the FMS Whitepaper.

The FMS provides the specified color for POSITION CONTROL to the Driver Station software, see
CONTROL PANEL for additional details.

While FMS provides the specified color for POSITION CONTROL to each team’s Driver
Station, teams must write the necessary ROBOT code to make use of the information
during a MATCH.

FMS alerts participants to milestones in the MATCH using audio cues detailed in Table 3-6. Please note
that audio cues are intended as a courtesy to participants and not intended as official MATCH markers. If
there is a discrepancy between an audio cue and the FIELD timers, the FIELD timers are the authority.
Table 3-6 Audio cues
Event Timer Value Audio Cue
MATCH Start 0:15 (for AUTO) “Cavalry Charge”
AUTO Ends 0:00 (for AUTO) “Buzzer”
TELEOP Begins 2:15 “Three Bells”
ENDGAME warning 0.30 “Imperial Alarm”
MATCH End 0:00 “Buzzer”
MATCH Stopped n/a “Foghorn”
ROTATION CONTROL complete n/a “Whirring”
POSITION CONTROL complete n/a “Charging Up”

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4 MATCH PLAY

During INFINITE RECHARGESM, two (2) ALLIANCES (an ALLIANCE is a cooperative of up to four (4)
FIRST Robotics Competition teams) play MATCHES, set up and executed per the details described
below.

4.1 Setup

4.1.1 POWER CELLS

Forty-eight (48) POWER CELLS are staged as follows:

A. five (5) POWER CELLS in each of the two (2) TRENCH RUNS
i. two (2) POWER CELLS are placed on each of the TRENCH baseplates further away
from the center of the FIELD.
ii. three (3) POWER CELLS are placed centered in the width of each TRENCH RUN,
spaced at 3-ft. (~91 cm) intervals. Small rings are used to keep them in place prior to the
start of a match. Rings are ⅛ in. (~3 mm) thick, 1¾ in. (~4 cm) diameter O-rings
(McMaster Item#: 9452K63). Rings are secured to the carpet by tape.
B. five (5) POWER CELLS placed on the BOUNDARIES inside each ALLIANCE’S RENDEZVOUS
POINT as shown in Figure 4-2.
C. five (5) POWER CELLS on the racks in each ALLIANCE STATION’S LOADING BAY,
D. each of the three (3) teams may preload up to three (3) POWER CELLS in their ROBOT, such
that they are fully and solely supported by that ROBOT, and
E. remaining POWER CELLS (zero (0) to nine (9) per ALLIANCE, depending on decisions
made in D) in the holes on the BOUNDARIES in the corresponding ALLIANCE’S RENDEZVOUS
POINT as shown in Figure 4-2.

Figure 4-1: POWER CELL Setup

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Figure 4-2: POWER CELL setup on BOUNDARIES

4.1.2 ROBOTS

Each TEAM stages their ROBOT such that at least part of its BUMPERS are intersecting the infinite
vertical volume created by the corresponding ALLIANCE’S INITIATION LINE.

If order placement matters to either or both ALLIANCES, the ALLIANCE must notify the Head REFEREE
during setup for that MATCH. Upon notification, the Head REFEREE will require ALLIANCES to alternate
placement of all ROBOTS. In a Qualification MATCH, ROBOTS are placed in the following order: Red
Station 1 ROBOT, Blue Station 1 ROBOT, Red Station 2 ROBOT, Blue Station 2 ROBOT, Red Station 3
ROBOT, Blue Station 3 ROBOT. In a PLAYOFF MATCH, the same pattern is applied, but instead of Blue
ALLIANCE placing last, the higher seeded ALLIANCE (regardless of color) places last.

4.1.3 Humans

DRIVERS, COACHES, and HUMAN PLAYERS stage behind the STARTING LINE inside their ALLIANCE
STATION. TECHNICIANS stage in the event-designated area near the FIELD.

4.2 Autonomous Period

The first phase of each MATCH is called Autonomous (AUTO) and consists of the first fifteen (0:15)
seconds. During AUTO, ROBOTS operate without any DRIVE TEAM control or input. ROBOTS attempt
to score POWER CELLS in POWER PORTS, retrieve additional POWER CELLS from around the FIELD,

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and exit the infinite vertical volume created by the corresponding ALLIANCE’S INITIATION LINE any time
before the end of the phase.

4.3 Teleoperated Period

The second phase of each MATCH is called the Teleoperated Period (TELEOP) and consists of the
remaining two minutes and fifteen seconds (2:15). During this phase, DRIVERS remotely operate
ROBOTS to retrieve and score POWER CELLS in goals and manipulate CONTROL PANELS to
ACTIVATE different stages of the SHIELD GENERATOR.

The final thirty (0:30) seconds of TELEOP is the ENDGAME, during which ROBOTS attempt to
ENERGIZE the SHIELD GENERATOR.

4.4 Scoring
ALLIANCES are rewarded for accomplishing various actions through the course of a MATCH, including
ROBOT movement during AUTO, scoring POWER CELLS in POWER PORTS, manipulating CONTROL
PANELS, ACTIVATING stages of the SHIELD GENERATOR, ENERGIZING the SHIELD GENERATOR,
and winning or tying MATCHES.

Rewards are granted via either MATCH points (which contribute to the ALLIANCE’S MATCH score) or
Ranking Points (which increase the measure used to rank teams in the Qualification Tournament). Such
actions, their criteria for completion, and their point values are listed in Table 4-2.

All scores, except ENDGAME bonuses, are assessed and updated throughout the MATCH.

4.4.1 POWER PORT Scoring

ALLIANCES generate energy by scoring POWER CELLS into one of three (3) openings of their POWER
PORT. To be considered scored, the POWER CELL must pass through the BOTTOM, OUTER, or INNER
PORTS and exit through the respective scoring sensors.

If a POWER CELL becomes jammed in the BOTTOM, INNER, or OUTER PORT, credit for the jammed
POWER CELL is granted in the period during which the POWER CELL became stuck.

Lights on the POWER PORT indicate progress towards the CAPACITY of the current Stage of the
SHIELD GENERATOR. See POWER PORT for more details.

The final assessment of POWER CELLS scored in POWER PORTS is made five (5) seconds after the
ARENA timer displays zero (0) following AUTO and TELEOP, respectively.

4.4.2 SHIELD GENERATOR Scoring

The SHIELD GENERATOR stores energy generated by scored POWER CELLS. ALLIANCES work to
make the SHIELD GENERATOR OPERATIONAL and ENERGIZED in order to protect FIRST City.

The SHIELD GENERATOR has three (3) stages that need to be charged to CAPACITY and ACTIVATED
consecutively. CAPACITY is the number of POWER CELLS, defined in Table 4-1, that must be scored to
charge each stage. Each POWER CELL, regardless of the POWER PORT opening in which it scores,
counts equally toward CAPACITY.

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Table 4-1: SHIELD GENERATOR ACTIVATION requirements

CAPACITY ACTIVATED when…

Stage
1 9 nine (9) POWER CELLS are
scored & TELEOP has begun
2 20 twenty (20) POWER CELLS
are scored in Stage 2 &
ROTATION CONTROL is
complete
3 20 twenty (20) POWER CELLS
are scored in Stage 3 &
POSITION CONTROL is
complete

As the season progresses, the CAPACITY required for each Stage of the SHIELD
GENERATOR may increase. While Stage CAPACITY will not change between weeks of
Regional or District Competition play, the Stage CAPACITY may be changed for District
Championship and/or FIRST Championship play. Teams will be notified of changes in
Stage CAPACITY no later than the scheduled Team Update prior to the date of the
event.

POWER CELLS scored after a stage is at CAPACITY generate MATCH points but do not contribute to
the next stage’s CAPACITY. POWER CELLS scored after Stage 3 is ACTIVATED continue to generate
MATCH points.

SHIELD GENERATOR lights indicate ACTIVATED Stages. See SHIELD GENERATOR Lighting for more
details.

4.4.3 CONTROL PANEL Scoring

CONTROL PANELS ACTIVATE SHIELD GENERATOR stages two (2) and three (3) as described in
CONTROL PANEL. CONTROL PANEL requirements (i.e. ROTATION CONTROL AND POSITION
CONTROL) are not evaluated until the respective stage is at CAPACITY. A stage may be ACTIVATED
once it reaches CAPACITY, and a stage must be ACTIVATED before the next stage can begin charging.

Once all three (3) stages are ACTIVATED, the SHIELD GENERATOR is ENERGIZED (the SHIELD
GENERATOR does not need to be OPERATIONAL to be ENERGIZED and vice versa.)

4.4.4 GENERATOR SWITCH Scoring

ALLIANCES use their GENERATOR SWITCH to earn MATCH Points and make the SHIELD
GENERATOR OPERATIONAL.

A ROBOT is considered PARKED if, at the conclusion of the MATCH, it is fully supported (either directly
or transitively) by the SHIELD GENERATOR and not in contact with any carpet outside its ALLIANCE’S
RENDEZVOUS POINT, but without having met the criteria for HANGING.

A ROBOT is considered HANGING if, five (5) seconds after the ARENA timer displays zero (0) following
TELEOP, it is fully supported (either directly or transitively) by its GENERATOR SWITCH.

A GENERATOR SWITCH is considered LEVEL if, five (5) seconds after the ARENA timer displays zero
(0) following TELEOP, both following criteria are met:

A. it is in the LEVEL range, and

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B. all ALLIANCE ROBOTS contacting the GENERATOR SWITCH are HANGING.

The final assessment of a LEVEL GENERATOR SWITCH and HANGING or PARKED ROBOTS is made
five (5) seconds after the ARENA timer displays zero (0) following TELEOP, at which point the Audience
Display stops updating and the lights on the SHIELD GENERATOR flash three (3) times.

The SHIELD GENERATOR is considered to be OPERATIONAL when the ALLIANCE’S ENDGAME

SCORE is ≥ 65 points.

4.4.5 Point Values

Point values for tasks in INFINITE RECHARGE are detailed in Table 4-2.
Table 4-2: Point Values

Award Awarded for… AUTO TELEOP Qual.

INITIATION LINE exit the infinite vertical volume 5 - -

created by the corresponding
ALLIANCE’S INITIATION LINE any
time before the end AUTO (per
ROBOT)
POWER CELLS scored in BOTTOM PORT 2 1 -
scored in OUTER PORT 4 2 -
scored in INNER PORT 6 3 -
CONTROL PANEL ROTATION CONTROL - 10 -
POSITION CONTROL 20
ENDGAME Points HANG (per ROBOT) - 25 -
PARK (per ROBOT) - 5 -
LEVEL with 1-3 ROBOTS HANGING 15
(per ALLIANCE)
SHIELD earning at least sixty-five (65) 1 Ranking
GENERATOR ENDGAME points Point
OPERATIONAL
SHIELD Stage 3 ACTIVATED - - 1 Ranking
GENERATOR Point
ENERGIZED
Tie Completing a MATCH with the same - - 1 Ranking
number of points as your opponent Point
Win Completing a MATCH with more - - 2 Ranking
points than your opponent Point
An ALLIANCE can earn up to four (4) Ranking Points (RP) per Qualification MATCH, as described in
Table 4-2. There are no RP, or comparable point bonuses, in Playoff MATCHES.

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4.5 Rule Violations

Upon a rule violation, one or more of the penalties listed in Table 4-3 will be assessed.
Table 4-3 Rule violations

Penalty Description
FOUL a credit of three (3) points towards the opponent’s MATCH score
TECH FOUL a credit of fifteen (15) points toward the opponent’s MATCH score
YELLOW CARD a warning issued by the Head REFEREE for egregious ROBOT or
team member behavior or rule violations. A subsequent YELLOW
CARD within the same tournament phase results in a RED CARD.
RED CARD a penalty assessed for egregious ROBOT or team member behavior or
rule violations which results in a team being DISQUALIFIED for the
MATCH.
DISABLED ROBOT is commanded to deactivate all outputs, rendering the ROBOT
inoperable for the remainder of the MATCH.
DISQUALIFIED the state of a team in which they receive zero (0) MATCH points and
zero (0) Ranking Points in a Qualification MATCH or causes their
ALLIANCE to receive zero (0) MATCH points in a Playoff MATCH
Some rule violations escalate if the REFEREE determines an action was “repeated.” While there’s no
official FIRST Robotics Competition definition of repeated, it’s meant to apply to rule violations that occur
more than once within a MATCH.

The official FIRST Robotics Competition definition of momentary is fewer than three (3) seconds. The
intent of using this word is to provide a reference for our community. It is not the intent for REFEREES to
provide a count for these time periods.

See YELLOW and RED CARDS for additional details.

4.5.1 Violation Details

There are several styles of violation wording used in this manual. Below are some example violations and
a clarification of the way the violation would be assessed. The examples shown do not represent all
possible violations, but rather a representative set of combinations.
Table 4-4: Violation Examples

Example Expanded Interpretation

Violation
FOUL Upon violation, a FOUL is assessed against the violating ALLIANCE
TECH FOUL and Upon violation, a TECH FOUL is assessed against the violating ALLIANCE. After the
YELLOW CARD MATCH, the Head REFEREE presents the violating team with a YELLOW CARD.
FOUL, if contact Upon violation, a FOUL is assessed against the violating ALLIANCE. If the secondary
with an opponent condition is additionally met at any point while still in violation of the rule, in this case
TECH FOUL contact is made with an opponent ROBOT, a TECH FOUL is additionally assessed
against the violating ALLIANCE.
FOUL per Upon violation, a number of FOULS are assessed against the violating ALLIANCE
additional equal to the number of additional POWER CELLS beyond the permitted quantity.
POWER CELL. If Additionally, if the REFEREES determine that the action was egregious, the Head
egregious, REFEREE presents the violating team with a YELLOW CARD after the MATCH.
YELLOW CARD

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TECH FOUL, plus Upon violation, a TECH FOUL is assessed against the violating ALLIANCE and the
an additional REFEREE begins to count. Their count continues until the criteria to discontinue the
TECH FOUL for count are met, and for each five (5) seconds within that time, an additional TECH
every five (5) FOUL is assessed against the violating ALLIANCE. A ROBOT in violation of this type
seconds in which of rule for fifteen (15) seconds would receive a total of four (4) TECH FOULS
the situation is (assuming no other rules were simultaneously being violated).
not corrected
RED CARD for After the MATCH, the Head REFEREE presents the violating ALLIANCE with a RED
the ALLIANCE CARD in the following fashion:
a) In a PLAYOFF MATCH, a single RED CARD is assessed to the ALLIANCE.
b) In all other scenarios, each team on the ALLIANCE is issued a RED CARD.

4.6 DRIVE TEAM

A DRIVE TEAM is a set of up to five (5) people from the same FIRST Robotics Competition team
responsible for team performance for a specific MATCH. There are four (4) specific roles on a DRIVE
TEAM which ALLIANCES can use to assist ROBOTS with INFINITE RECHARGE.

The intent of the definition of DRIVE TEAM and DRIVE TEAM related rules is that,
barring extenuating circumstances, the DRIVE TEAM consists of people who arrived at
the event affiliated with that team and are responsible for their team’s and ROBOT’S
performance at the event (this means a person may be affiliated with more than one (1)
team). The intent is not to allow teams to “adopt” members of other teams for strategic
advantage for the loaning team, borrowing team, and/or their ALLIANCE (e.g. an
ALLIANCE CAPTAIN believes one of their DRIVERS has more experience than a
DRIVER on their 1st pick, and the teams agree the 1st pick team will “adopt” that
DRIVER and make them a member of their DRIVE TEAM for Playoffs).

The definition isn’t stricter for two (2) main reasons. First, to avoid additional bureaucratic
burden on teams and event volunteers (e.g. requiring that teams submit official rosters
that Queuing must check before allowing a DRIVE TEAM into the ARENA). Second, to
provide space for exceptional circumstances that give teams the opportunity to display
Gracious Professionalism (e.g. a bus is delayed, a COACH has no DRIVERS, and their
pit neighbors agree to help by loaning student DRIVERS as temporary members of the
team until their bus arrives).

Table 4-5 DRIVE TEAM roles

Max./
Role Description DRIVE TEAM Criteria
COACH a guide or advisor 1 Pre-college student or adult mentor
Must wear “COACH” button
DRIVER an operator and controller of 3 Pre-college student
the ROBOT Must wear one (1) of the three (3)
HUMAN a POWER CELL manager “DRIVE TEAM” buttons
PLAYER
TECHNICIAN a resource for ROBOT 1 Pre-college student
troubleshooting, setup, and Must wear “TECHNICIAN” button
removal from the FIELD

The TECHNICIAN provides teams with a technical resource for pre-MATCH setup,
ROBOT connectivity, OPERATOR CONSOLE troubleshooting, and post-MATCH
removal of the ROBOT. Some pre-MATCH responsibilities for the TECHNICIAN may
include, but are not limited to:

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• location of the ROBOT radio, its power connection, and understanding of its indicator
lights
• location of the roboRIO and understanding of its indicator lights
• username and password for the OPERATOR CONSOLE
• restarting the Driver Station and Dashboard software on the OPERATOR CONSOLE
• changing the bandwidth utilization (e.g. camera resolution, frame rate, etc.)
• changing a battery
• charging pneumatics
While the TECHNICIAN may be the primary technical member of the DRIVE TEAM, all
members of the DRIVE TEAM are encouraged to have knowledge of the basic
functionality of the ROBOT, such as the location and operation of the main circuit
breaker, connecting and resetting joysticks or gamepads from the OPERATOR
CONSOLE, and removing the ROBOT from the FIELD.

4.7 Other Logistics

POWER CELLS that leave the FIELD are placed back into the FIELD approximately at the point of exit by
FIELD STAFF (REFEREES, FTAS, or other staff working around the FIELD) at the earliest safe
opportunity.

Note that ROBOTS may not deliberately cause POWER CELLS to leave the FIELD (see
G6).

An ARENA FAULT is not called for MATCHES that accidentally begin with an incorrect number of,
incorrectly positioned, or damaged POWER CELLS. Damaged POWER CELLS are not replaced until the
next ARENA reset period. DRIVE TEAMS should alert the FIELD STAFF to any missing or damaged
POWER CELLS prior to the start of the MATCH.

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

In addition to the two minutes and thirty seconds (2:30) of game play, each MATCH also has pre- and
post-MATCH time for setup and reset of the ARENA. During ARENA reset, the ARENA is cleared of
ROBOTS and OPERATOR CONSOLES from the MATCH that just ended. The ROBOTS and
OPERATOR CONSOLES for the subsequent MATCH are loaded into the ARENA by DRIVE TEAMS at
this time. FIELD STAFF also use this time to reset ARENA elements and POWER CELLS.

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5 SAFETY RULES

Safety is always paramount, and each rule below is intended to establish norms at each event that will
mitigate injury risk to all participants.

Event staff have the final decision authority for all safety-related issues within a venue.

Please refer to FIRST® Robotics Competition Event Experience web page for safety,
conduct, etc. rules not specific to this game or limited to MATCH play. As with all
violations in this document, any Event Experience rules also carry the potential
consequence of a YELLOW or RED CARD.

S1. Dangerous ROBOTS: not allowed. ROBOTS whose operation or design is dangerous or unsafe are
not permitted.

Violation: If before the MATCH, the offending ROBOT will not be allowed to participate in the
MATCH. If during the MATCH, the offending ROBOT will be DISABLED.

Examples include, but are not limited to:

• Uncontrolled motion that cannot be stopped by the DRIVE TEAM

• ROBOT parts “flailing” outside of the FIELD
• ROBOTS dragging their battery
• ROBOTS that consistently extend beyond the FIELD

S2. Wait for the green lights. Team members may only enter the FIELD if the POWER PORT LEDs are
green, unless explicitly instructed by a REFEREE or an FTA.

Violation: Verbal warning. If repeated at any point during the event, YELLOW CARD. If egregious,
RED CARD.

Egregious violations of S2 include, but are not limited to:

a. pushing passed the FIELD RESET person blocking an open gate to get on the FIELD
b. ignoring a warning to not go on the FIELD
S3. Never step/jump over the guardrail. Team members may only enter or exit the FIELD through
open gates.

Violation: Verbal warning. If repeated at any point during the event, YELLOW CARD.

Teams are encouraged to ensure that all members of their DRIVE TEAM are aware of
this rule. It’s easy to violate, particularly when teams are doing their best to move on and
off the FIELD quickly. The violations of S3 are intended to avoid nuisance penalties, but
still enforce safety requirements around the FIELD. There is the potential for injury when
stepping over the guardrail.

Violations of S3 apply to the entire team, not specifically to any one individual. For
example, a member of team 9999 steps over the guardrail prior to MATCH 3, and a
different member steps over the guardrail prior to MATCH 25. The team receives a verbal
warning for the first violation and a YELLOW CARD for the second.

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S4. ROBOTS, stay on the FIELD during the MATCH. ROBOTS and anything they control, e.g. a
POWER CELL, may not contact anything outside the FIELD with the exception of momentary
incursions into the BOTTOM PORT or LOADING BAY Chutes.

Violation: Offending ROBOT will be DISABLED.

Please be conscious of REFEREES and FIELD STAFF working around the ARENA who
may be in close proximity to your ROBOT.

S5. Humans, stay off the FIELD during the MATCH. DRIVE TEAMS may not extend any body part into
the FIELD during the MATCH.

Violation: YELLOW CARD

Examples of egregious violations that are likely to escalate the violation to a RED CARD
include, but are not limited to, walking onto the FIELD during a MATCH or reaching into
the FIELD and grabbing a ROBOT during a MATCH.

S6. Stay out of the Chutes. DRIVE TEAMS may not extend any body part into the LOADING BAY
Chute. Momentary encroachment into the Chute is an exception to this rule.

Violation: FOUL

S7. Stay off the SHIELD GENERATOR and CONTROL PANELS. Team members may not sit, climb, or
hang on the CONTROL PANELS, SHIELD GENERATOR, or GENERATOR SWITCH.

Violation: Verbal warning. If repeated at any point during the event, YELLOW CARD.

Teams are encouraged to ensure that all members of their DRIVE TEAM are aware of
this rule. There is the potential for injury if horseplay ensues around the SHIELD
GENERATOR.

Violations of this rule apply to the entire team, not specifically to any one individual. See
example in the S3 blue box.

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6 CONDUCT RULES

C1. Egregious or exceptional violations. Egregious behavior beyond what is listed in the rules or
repeated violations of any rule or procedure during the event is prohibited.
In addition to rule violations explicitly listed in this manual and witnessed by a REFEREE, the Head
REFEREE may assign a YELLOW or RED CARD for egregious ROBOT actions or team member
behavior at any time during the event. This includes violations of the event rules found on the FIRST®
Robotics Competition Event Experience web page

Please see YELLOW and RED CARDS for additional detail.

Violation: The Head REFEREE may assign a YELLOW or a RED CARD.

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

Inappropriate behavior as outlined in the blue box of C2.

Jumping over the FIELD border,
Sitting on the SHIELD GENERATOR,
PINNING in excess of fifteen (15) seconds
The Head REFEREE may assign a YELLOW or RED CARD for a single instance of a
rule violation such as the examples given in items a-d above, or for multiple instances of
any single rule violation.
Teams should be aware that any rule in this manual could escalate to a YELLOW or RED
CARD. The HEAD REFEREE has final authority on all rules and violations at an event

C2. Be a good person. All teams must be civil toward their team members, other team members,
competition personnel, FIELD STAFF, and event attendees while at a FIRST Robotics Competition
event.

Violation: Behavior will be discussed with team or individual. Violations of this rule are likely to
escalate to YELLOW or RED CARDS rapidly (i.e. the threshold for egregious violations is relatively
low.)

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

Examples of particularly contemptible behavior that is likely to result in ARENA ejection

include, but are not limited to, the following:

Assault, e.g. throwing something that hits another person (even if unintended)
Threat, e.g. saying something like “if you don’t reverse that call, I’ll make you regret
it”
Harassment, e.g. badgering someone with no new information after a decision’s been
made or a question’s been answered
Bullying, e.g. using body or verbal language to cause another person to feel
inadequate
Insulting, e.g. telling someone they don’t deserve to be on a drive team

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Swearing at another person (versus swearing under one’s breath or at one’s self)
Yelling at another person(s) in anger or frustration
C3. Asking other teams to throw a MATCH – not cool. A team may not encourage an ALLIANCE, of
which it is not a member, to play beneath its ability.

NOTE: This rule is not intended to prevent an ALLIANCE from planning and/or executing its own
strategy in a specific MATCH in which all the teams are members of the ALLIANCE.

Violation: Behavior will be discussed with team or individual. Violations of this rule are likely to
escalate rapidly to YELLOW or RED CARDS and may lead to dismissal from the event (i.e. the
threshold for egregious violations is relatively low.)

Example 1: A MATCH is being played by Teams A, B, and C, in which Team C is

encouraged by Team D to not hang on a GENERATOR SWITCH at the end of the
MATCH, resulting in Teams A, B, and C not earning a Ranking Point. Team D’s
motivation for this behavior is to prevent Team A from rising in the Tournament rankings
and negatively affecting Team D’s ranking. Team D has violated C3.

Example 2: A MATCH is being played by Teams A, B, and C, in which Team A is

assigned to participate as a SURROGATE. Team D encourages Team A to not
participate in the MATCH so that Team D gains ranking position over Teams B and C.
Team D has violated C3.

FIRST® considers the action of a team influencing another team to throw a MATCH, to
deliberately miss Ranking Points, etc. incompatible with FIRST values and not a strategy
any team should employ.

C4. Letting someone coerce you in to throwing a MATCH – also not cool. A team, as the result of
encouragement by a team not on their ALLIANCE, may not play beneath its ability.

NOTE: This rule is not intended to prevent an ALLIANCE from planning and/or executing its own
strategy in a specific MATCH in which all the ALLIANCE members are participants.

Violation: Behavior will be discussed with team or individual. Violations of this rule are likely to
escalate rapidly to YELLOW or RED CARDS and may lead to dismissal from the event (i.e. the
threshold for egregious violations is relatively low.)

Example 1: A MATCH is being played by Teams A, B, and C. Team D requests Team C

to intentionally position its CONTROL PANEL such that the color isn’t correct, resulting in
Teams A, B, and C not earning a Ranking Point. Team C accepts this request from Team
D. Team D’s motivation for this behavior is to prevent Team A from rising in the
Tournament rankings negatively affecting Team D’s ranking. Team C has violated C4.

Example 2: A MATCH is being played by Teams A, B, and C, in which Team A is

assigned to participate as a SURROGATE. Team A accepts Team D’s request to not
participate in the MATCH so that Team D gains ranking position over Teams B and C.
Team A has violated C4.

FIRST considers the action of a team influencing another team to throw a MATCH, to
deliberately miss Ranking Points, etc. incompatible with FIRST values and not a strategy
any team should employ.

C5. Enter only one (1) ROBOT. Each registered FIRST Robotics Competition team may enter only one
(1) ROBOT (or ‘Robot’, a ROBOT-like assembly equipped with most of its drive base, i.e. its MAJOR

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MECHANISM that enables it to move around a FIELD) into a 2020 FIRST Robotics Competition
Event.

“Entering” a ROBOT (or Robot) into a FIRST Robotics Competition means bringing it to
or using it at the event such that it’s an aid to your team (e.g. for spare parts, judging
material, or for practice).

While “most of its drive base” is a subjective assessment, for the purposes of C5, an
assembly whose drive base is missing all wheels/treads, gearboxes, and belts/chains is
not considered a “Robot.” If any of those components are incorporated, the assembly is
now considered a “Robot.”

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

Violation: Verbal warning. Egregious or repeated violations at any point during the event will be
addressed by the Head REFEREE, the Lead ROBOT Inspector and/or Event Management.

C6. Show up to your MATCHES. Upon each team’s ROBOT passing initial, complete Inspection, the
team must send at least one (1) member of its DRIVE TEAM to the ARENA and participate in each of
the team’s assigned Qualification and Playoff MATCHES.

Violation: If ROBOT has passed an initial, complete Inspection, RED CARD.

Figure 6-1 MATCH participation flowchart

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

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C7. Be prompt/safe when coming to and going from the FIELD. DRIVE TEAMS may not cause
significant or repeated delays during the event to the start of a MATCH, the FIELD reset after a
MATCH, or continuation of MATCHES after a TIMEOUT.

Violation: If prior to the MATCH, the offending DRIVE TEAM’S ROBOT will be DISABLED. If after
the MATCH, YELLOW CARD.

DRIVE TEAMS are expected to stage their ROBOTS for a MATCH, and remove it from
the FIELD afterwards, safely and swiftly. Examples of violations include, but are not
limited to:

late arrival to the FIELD (including across different MATCHES and after a FIELD or
ALLIANCE TIMEOUT)
failing to exit the FIELD once a MATCH is ready to begin (indicated by the green
LEDs have turned off)
installing BUMPERS, charging pneumatic systems, or any other ROBOT
maintenance once on the FIELD
use of alignment devices that are external to the ROBOT (e.g. a DRIVE TEAM could
bring and use a measuring tape, as long as there is no delay to the MATCH by doing
so)
failing to remove OPERATING CONSOLES from the PLAYER STATIONS in a timely
manner
At the conclusion of a TIMEOUT, ROBOTS are expected to be staged on the FIELD prior
to the timer displaying zero (0) and ready for the MATCH to start.

C8. Don’t expect to gain by doing others harm. Strategies clearly aimed at forcing the opponent
ALLIANCE to violate a rule are not in the spirit of FIRST Robotics Competition and not allowed. Rule
violations forced in this manner will not result in an assignment of a penalty to the targeted
ALLIANCE.

Violation: FOUL. If repeated during the MATCH, TECH FOUL.

C8 does not apply for strategies consistent with standard gameplay, for example, a Blue
ALLIANCE ROBOT contacts a Red ALLIANCE ROBOT in the Blue ALLIANCE’S
LOADING ZONE.

C8 requires an intentional act with limited or no opportunity for the TEAM being acted on
to avoid the penalty, such as:

a Blue ALLIANCE ROBOT forcing a Red ALLIANCE ROBOT to have greater than
momentary CONTROL of five (5) POWER CELLS.
a Blue ALLIANCE ROBOT pushing a Red ALLIANCE ROBOT from fully outside the
Blue ALLIANCE TRENCH RUN into the Blue ALLIANCE CONTROL PANEL.

C9. One student, one Head REFEREE. A team may only send one (1) pre-college student from its
DRIVE TEAM to address the Head REFEREE.

Violation: The Head REFEREE will not address additional, non-compliant team members or
peripheral conversations.

Please see REFEREE Interaction for more information about process and expectations.

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C10. Plug in to/be in your PLAYER STATION. The OPERATOR CONSOLE must be used in the
PLAYER STATION to which the team is assigned, as indicated on the team sign.
Violation: The MATCH will not start until the situation is corrected. If during a MATCH, DISABLED.

One intent of C10 is to prevent unsafe situations where long tethers to OPERATOR
CONSOLE devices increase tripping hazards as the operator moves about the
ALLIANCE STATION. In the interest of avoiding nuisance penalties associated with an
operator stepping outside of a prescribed area, we prefer to offer a general guideline as
to what it means to use the OPERATOR CONSOLE in the ALLIANCE STATION.
Provided the operator is within close proximity of their PLAYER STATION, there will be
no repercussions. However, an operator located more than approximately ½ PLAYER
STATION width away from their own PLAYER STATION, is likely violating C10.

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7 GAME RULES: ROBOTS

7.1 Before/After the MATCH

G1. Know your ROBOT setup. When placed on the FIELD for a MATCH, each ROBOT must be:
A. in compliance with all ROBOT rules, i.e. has passed Inspection (for exceptions regarding
Practice MATCHES, see Inspection & Eligibility Rules),
B. the only team-provided item left on the FIELD by the DRIVE TEAM,
C. confined to its STARTING CONFIGURATION,
D. positioned such that its BUMPERS are intersecting the infinite vertical volume created by
the corresponding ALLIANCE’S INITIATION LINE, and
E. fully and solely supporting not more than three (3) POWER CELLS (as described in Setup.)
Violation: If fix is a quick remedy, the MATCH won’t start until all requirements are met. If it is not a
quick remedy the offending ROBOT will be DISABLED and, at the discretion of the Head
REFEREE, must be re-inspected.

Teams are encouraged to position ROBOTS such that it is clear to REFEREES that G1-
D is not violated.

If a ROBOT is BYPASSED prior to the start of the MATCH, the DRIVE TEAM may not
remove the ROBOT from the FIELD without permission from the Head REFEREE or the
FIRST Technical Advisor (FTA).

G2. ROBOTS must be removed from the FIELD by hand (i.e. no enabling, power, etc.). ROBOTS will
not be re-enabled after the conclusion of the MATCH, nor will teams be permitted to tether to the
ROBOT except in special circumstances (e.g. during TIMEOUTS, after Opening Ceremonies, before
an immediate MATCH replay, etc.) and with the express permission from the FTA or a REFEREE.
Violation: YELLOW CARD.

Tethering includes any wired or wireless connection used to electrically energize and/or
control elements on the ROBOT. The safety of teams and volunteers in close proximity to
ROBOTS and ARENA elements on the FIELD is of the utmost importance, therefore
ROBOTS or ROBOT COMPONENTS may not be enabled in any way on the FIELD once
the MATCH has concluded.

ROBOTS need to be safely transported off the FIELD and back to the pits after the
MATCH, and there may be bystanders, doorways or height restrictions along the route.

7.2 During the MATCH

7.2.1 During AUTO Only

G3. During AUTO, no defense. During AUTO, a ROBOT’s BUMPERS may not break the plane of their
ALLIANCE’s SECTOR (see Figure 3-3.)

Violation: FOUL. If contact with an opponent ROBOT, either directly or transitively through another
ROBOT or POWER CELL, TECH FOUL per instance.

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G4. During AUTO, behind the lines. During AUTO, DRIVE TEAM members in ALLIANCE STATIONS
may not contact anything in front of the STARTING LINES, unless for personal or equipment safety.

Violation: FOUL per item contacted.

Pointing, gesturing, or otherwise extending across the STARTING LINE such that contact
is not made with carpet or other ARENA elements is not a violation of this rule.

One example of an exception for equipment safety is if an OPERATOR CONSOLE starts

to slide from, or has already fallen off of, the PLAYER STATION shelf. In that
circumstance, DRIVE TEAM members may step forward to catch or pick it up off the
ground and return it to the shelf.

G5. During AUTO, let the ROBOT do its thing. During AUTO, DRIVE TEAMS may not directly or
indirectly interact with ROBOTS or OPERATOR CONSOLES unless for personal safety, OPERATOR
CONSOLE safety, or pressing an E-Stop.

Violation: FOUL and YELLOW CARD

7.2.2 POWER CELL Interaction

G6. No more than five (5) POWER CELLS at a time. ROBOTS may not have greater-than-momentary
CONTROL of more than five (5) POWER CELLS at a time, either directly or transitively through other
objects.
A ROBOT is in CONTROL of a POWER CELL if:
A. the POWER CELL is full supported by the ROBOT,
B. the POWER CELL travels across the FIELD such that when the ROBOT changes direction,
the POWER CELL travels with the ROBOT, or
C. the ROBOT is holding a POWER CELL against a FIELD element in attempt to guard or
shield it.

Violation: FOUL per additional POWER CELL. If egregious, YELLOW CARD.

Egregious examples include, but are not limited to:

CONTROLLING ten (10) POWER CELLS

Repeatedly moving more than five (5) POWER CELLS across one half of the FIELD
to the other.

G7. Keep POWER CELLS in bounds. ROBOTS may not intentionally eject POWER CELLS from the
FIELD other than through the POWER PORT.
Violation: FOUL per POWER CELL.

G8. POWER CELLS: use as directed. ROBOTS may not deliberately use POWER CELLS in an attempt
to ease or amplify the challenge associated with FIELD elements.
Violation: TECH FOUL per POWER CELL.

Examples include, but are not limited to:

shooting POWER CELLS at HANGING ROBOTS

pushing/placing POWER CELLS into the opponent’s TRENCH to make it harder to
pass through it
placing/shooting POWER CELLS onto the opponent’s CONTROL PANEL

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7.2.3 Zone Specific Restrictions

G9. No full court shots. A ROBOT whose BUMPERS are fully contained by their SECTOR may not
cause POWER CELLS to travel into or through their opponent’s SECTOR.
Violation: TECH FOUL per POWER CELL.

Figure 7-1 POWER CELL movement limitations

REFEREES are not expected to track the movement of POWER CELLS throughout the
MATCH. Teams are encouraged to launch POWER CELLS such that it is clear to
REFEREES that G9 is not violated.

For the purposes of G9, “travel” means “to cause movement through the air, bounce
across the floor, or roll without contacting an opponent ROBOT.” A POWER CELL is no
longer “travelling” once it stops or contacts an opponent ROBOT.

G10. Right of Way. A ROBOT whose BUMPERS are intersecting the opponent’s TARGET ZONE,
TRENCH RUN, or LOADING ZONE may not contact opponent ROBOTS, regardless of who initiates
contact.
Violation: TECH FOUL per instance.

The initiator of the contact is not a factor when determining violations of this rule.

Teams should take note that they are putting themselves at great risk for TECH FOULS if
they choose to enter their opponent’s TARGET ZONE, TRENCH RUN or LOADING
ZONE.

G11. Give Opponents some space. An opponent ROBOT may not contact a ROBOT whose
BUMPERS are intersecting its TARGET ZONE or LOADING ZONE, regardless of who initiates
contact. ROBOTS in violation of G10 are exempt from this rule.
Violation: TECH FOUL per instance.

The initiator of the contact is not a factor when determining violations of this rule.

Teams should take note that they are putting themselves at great risk for TECH FOULS if
they choose to approach an opponent ROBOT intersecting its TARGET ZONE or
LOADING ZONE.

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Figure 7-2 G10 and G11 examples

G12. Leave the opponent’s CONTROL PANEL alone. A ROBOT may not contact the opponent’s
CONTROL PANEL, either directly, or transitively through a POWER CELL, if
A. the opponent ROBOT is contacting that CONTROL PANEL, and
B. the opponent’s POWER PORT has reached CAPACITY
Violation: Opponents are awarded one (1) SHIELD GENERATOR ENERGIZED Ranking Point if
not completed at the conclusion of the MATCH.

G13. Don’t climb on each other unless at the RENDEZVOUS POINT. A ROBOT may not be fully
supported by a partner ROBOT unless the partner ROBOT’S BUMPERS are intersecting its
RENDEZVOUS POINT.
Violation: TECH FOUL per instance.

G14. During the ENDGAME, don’t touch ROBOTS in their RENDEZVOUS POINT. During the
ENDGAME, a ROBOT may not contact, either directly or transitively through a POWER CELL, an
opponent ROBOT whose BUMPERS are completely contained in its RENDEZVOUS POINT and not
in contact with its GENERATOR SWITCH.
Violation: TECH FOUL

The initiator of the contact is not a factor when determining violations of this rule.

Teams are encouraged to consider rule C8 when developing their strategies, such as
attempting to draw violations of this rule.

G15. During the ENDGAME, don’t mess with HANGING opponents. During the ENDGAME, a
ROBOT may not contact, either directly or transitively through a POWER CELL, an opponent’s
ROBOT that is contacting its GENERATOR SWITCH and not in their opponent’s RENDEZVOUS
POINT.
Violation: The contacted opponent ROBOT, and any partners its supporting, will be considered
HANGING.

The initiator of the contact is not a factor when determining violations of this rule.

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Teams are encouraged to consider rule C8 when developing their strategies, such as
attempting to draw violations of this rule.

For example, during the ENDGAME, a Blue ALLIANCE ROBOT is in violation of G15 if it
is contacting a Red ALLIANCE ROBOT that is both fully contained within the Red
ALLIANCE’S RENDEZVOUS POINT and HANGING from the Red ALLIANCE
GENERATOR SWITCH.

7.2.4 ROBOT Restrictions

G16. Keep your BUMPERS low. BUMPERS must be in the BUMPER ZONE (see R18) during the
MATCH, unless during the ENDGAME and

A. a ROBOT’s BUMPERS are intersecting its RENDEZVOUS POINT or

B. a ROBOT is supported by a partner ROBOT whose BUMPERS are intersecting its
RENDEZVOUS POINT.

Violation: FOUL. If strategic, RED CARD.

An example of a strategic violation of G16 includes, but is not limited to, hitting other
ROBOTS with the ROBOT frame.

G17. Tall ROBOTS not allowed. ROBOT height, as measured when it’s resting normally on a flat
floor, may not exceed 45 in. (~114 cm) above the carpet during the MATCH, with the exception of
ROBOTS intersecting their ALLIANCE’S RENDEZVOUS POINT during the ENDGAME.

Violation: TECH FOUL. If the extension blocks a goal, blocks an opponent’s shot, or scores a goal,
additional TECH FOUL per instance.

This measurement is intended to be made as if the ROBOT is resting on a flat floor, not
relative to the height of the ROBOT from the FIELD carpet.

For example, a ROBOT that is at an angle while traversing a BOUNDARY may actually
exceed the height limit when compared to the carpet of the FIELD.

Figure 7-3 G17 Example

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G18. Don’t overextend yourself. ROBOTS may not extend more than 12 inches (~30 cm) beyond
their FRAME PERIMETER.
Violation: FOUL. If egregious, RED CARD.

Examples of compliance and non-compliance of G18 are shown in Figure 7-3.

Yellow bars represent the limits of the FRAME PERIMETER and are drawn in the same
orientation of the ROBOT’S FRAME PERIMETER. Green bars represent a measured
extension from the FRAME PERIMETER that does not violate G18. Red bars represent a
measured extension from the FRAME PERIMETER that exceeds the limit in G18).
ROBOTS A and C violate G18, whereas ROBOT B does not.

Figure 7-4 Examples of G18 compliance and non-compliance

Egregious examples of G18 violations include:

extending beyond the FRAME PERIMETER to score a POWER CELL

extending beyond the FRAME PERIMETER to score a HANG
expanding to block opponent access to a FIELD element, e.g. GENERATOR
SWITCH or POWER PORT.
expanding into the BOTTOM PORT to disrupt the scoring mechanism
G19. Keep it together. ROBOTS may not intentionally detach or leave parts on the FIELD.
Violation: RED CARD.

G20. Keep your BUMPERS together. BUMPERS may not fail such that a segment completely
detaches, any side of a ROBOT’s FRAME PERIMETER is exposed, or the team number or
ALLIANCE color are indeterminate.
Violation: DISABLED.

7.2.5 ROBOT to ROBOT Interaction

G21. There’s a 5-count on pins. ROBOTS may not PIN an opponent’s ROBOT for more than five (5)
seconds. A ROBOT is PINNING if it is preventing the movement of an opponent ROBOT by contact,
either direct or transitive (such as against a FIELD element). A ROBOT is considered PINNED until
the ROBOTS have separated by at least six feet from each other or from where the PIN initiated,
whichever comes first. The PINNING ROBOT(S) must then wait for at least three (3) seconds before
attempting to PIN the same ROBOT again.

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Violation: FOUL, plus an additional TECH FOUL for every five (5) seconds in which the situation is
not corrected.

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

is PINNED.

G22. Don’t collude with your partners to shut down major parts of game play. Two or more
ROBOTS that appear to a REFEREE to be working together may not isolate or close off any major
component of MATCH play.
Violation: TECH FOUL, plus an additional TECH FOUL for every five (5) seconds in which the
situation is not corrected.

Examples of violations of this rule include but are not limited to:
blocking an opponent’s TRENCH
blocking all the opponent LOADING BAY Chutes
blocking the opponent BOTTOM PORT
shutting down access to all POWER CELLS on the FIELD
quarantining all opponents to a small area of the FIELD
A single ROBOT blocking access to a particular area of the FIELD is not a violation of
this rule.

Two ROBOTS independently playing defense on two opponent ROBOTS is not a

violation of this rule.

G23. Don’t tear others down to lift yourself up. ROBOT actions that appear to be deliberate to a
REFEREE and that cause damage or inhibition via attaching, tipping, or entangling to an opponent
ROBOT are not allowed.

Violation: TECH FOUL and YELLOW CARD. If harm or incapacitation occurs as a result of the
strategy, RED CARD.

MECHANISMS outside the FRAME PERIMETER are particularly susceptible to causing

damage, drawing this penalty and/or drawing penalties associated with violations of G24
and G25. Teams are encouraged to be cautious of their use of such MECHANISMS
when engaging in ROBOT to ROBOT MATCH play.

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

using a wedge-like mechanism to tip opponent ROBOTS

making BUMPER-to-BUMPER contact with an opponent ROBOT that is attempting to
right itself after previously falling over and causing them to fall over again

G24. Stay out of other ROBOTS. A ROBOT with a COMPONENT(S) outside its FRAME
PERIMETER may not initiate direct contact with an opponent ROBOT inside the vertical projection of
its FRAME PERIMETER using that COMPONENT.
Violation: FOUL per contact.

For the purposes of G24 “initiate direct contact” requires movement towards an opponent
ROBOT.

In a collision, it’s possible for both ROBOTS to initiate direct contact.

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G25. Damaging other ROBOTS, not allowed. Regardless of intent, a ROBOT may not initiate direct
contact inside the vertical projection of an opponent ROBOT’S FRAME PERIMETER that damages or
functionally impairs the opponent ROBOT.
ROBOTS with BUMPER gaps are at their own risk regarding damaging contact in these areas by
ROBOTS that remain completely inside their own FRAME PERIMETER, as they are not in violation of
this rule.

Violation: TECH FOUL and YELLOW CARD

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

an extension damages a COMPONENT inside an opponent ROBOT’s FRAME

PERIMETER
an extension powers off an opponent’s ROBOT
an extension relieves an opponent’s ROBOT’s air pressure.
a ROBOT that unintentionally extends outside its FRAME PERIMETER while tipping
and damages a COMPONENT inside an opponent ROBOT’s FRAME PERIMETER
At the conclusion of the MATCH, the HEAD REFEREE may elect to visually inspect a
ROBOT to confirm violations of G25 made during a MATCH and remove the violation if
the damage cannot be verified.

For the purposes of G25, “initiate direct contact” requires movement towards an
opponent ROBOT.

In a collision, it’s possible for both ROBOTS to initiate direct contact.

7.2.6 FIELD Interaction

G26. Be careful what you interact with. ROBOTS and OPERATOR CONSOLES are prohibited from
the following actions with regards to interaction with ARENA elements. Items A – C exclude POWER
CELLS, HANDLE, and the ALLIANCE’S CONTROL PANEL. Item G excludes the HANDLE.
A. Grabbing
B. Grasping
C. Attaching (including the use of hook tape to anchor to the FIELD carpet and excluding use
of the PLAYER STATION hook-and-loop tape, plugging in to the provided power outlet, and
plugging the provided Ethernet cable into the OPERATOR CONSOLE)
D. Deforming
E. Becoming Entangled
F. Damaging
G. Suspending from

Violation: MATCH will not start until the situation is corrected. If during a MATCH, TECH FOUL. If
during a MATCH and longer than momentary or repeated, YELLOW CARD. If offense is via a
ROBOT and the Head REFEREE determines that further damage is likely to occur, offending
ROBOT will be DISABLED. Corrective action (such as eliminating sharp edges, removing the
damaging MECHANISM, and/or re-Inspection) may be required before the ROBOT will be allowed
to compete in subsequent MATCHES.

POWER CELLS are expected to undergo a reasonable amount of wear and tear as they
are handled by ROBOTS, such as scratching or marking. Gouging, tearing off pieces, or
routinely marking POWER CELLS are violations of this rule.

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8 GAME RULES: HUMANS

8.1 Before the MATCH

H1. You can’t bring/use anything you want. The only equipment that may be brought to the ARENA
and used by DRIVE TEAMS during a MATCH is listed below. Regardless if equipment fits criteria
below, it may not be employed in a way that breaks any other rules, introduces a safety hazard,
blocks visibility for FIELD STAFF or audience members, or jams or interferes with the remote sensing
capabilities of another team or the FIELD.

A. the OPERATOR CONSOLE,

B. non-powered signaling devices,
C. reasonable decorative items,
D. special clothing and/or equipment required due to a disability,
E. devices used solely for planning or tracking strategy,
F. devices used solely to record gameplay,
G. non-powered Personal Protective Equipment (examples include, but aren’t limited to,
gloves, eye protection, and hearing protection)

Items brought to the ARENA under allowances B-G must meet all of the following conditions:

i. do not connect or attach to the OPERATOR CONSOLE, FIELD, or ARENA

ii. do not connect or attach to another ALLIANCE member (other than items in category G)
iii. do not communicate with anything or anyone outside of the ARENA
iv. do not communicate with the TECHNICIAN
v. do not include any form of enabled wireless electronic communication
vi. do not in any way affect the outcome of a MATCH, other than by allowing the DRIVE TEAM to
a. plan or track strategy for the purposes of communication of that strategy to other
ALLIANCE members or
b. use items allowed per part B to communicate with the ROBOT.

Violation: MATCH will not start until situation remedied. If discovered or used inappropriately during
a MATCH, YELLOW CARD.

Examples of equipment that may be considered a safety hazard in the confined space of
the ALLIANCE STATION include, but are not limited to, a step stool or a large signaling
device.

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

Use of imagery that, to a reasonably astute observer, mimics the Vision Targets
employed on the FIELD is a violation of H1.

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

H2. Know your DRIVE TEAM positions. Prior to the start of the MATCH, DRIVE TEAMS and any
control devices worn or held by HUMAN PLAYERS and/or DRIVERS must be positioned as follows:

A. HUMAN PLAYERS, DRIVERS, and COACHES in their ALLIANCE STATION,

B. TECHNICIANS in the designated area outside the ALLIANCE STATION

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C. not in contact with the OPERATOR CONSOLE

Violation: MATCH won’t start until situation is corrected.

For the purposes of FIRST Robotics Competition, any device connected to the
OPERATOR CONSOLE is considered a control device because REFEREES are not
expected to differentiate between devices that can or cannot control the ROBOT.

H3. Leave the POWER CELLS alone. Prior to the start of the MATCH, DRIVE TEAMS may not
rearrange the POWER CELLS within the ALLIANCE STATION or staged on the FIELD (that are not
staged inside a ROBOT).

Violation: MATCH will not start until the situation is corrected.

8.1.1 During the MATCH

H4. COACHES and other teams: hands off the controls. A ROBOT shall be operated only by the
DRIVERS and/or HUMAN PLAYERS of that team.

Violation: DISABLED.

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

H5. No wandering. During the MATCH, DRIVERS, COACHES, and HUMAN PLAYERS may not contact
anything outside the ALLIANCE STATION and TECHNICIANS may not contact anything outside their
designated area. Exceptions are granted in cases concerning safety and for actions that are
inadvertent, momentary, and inconsequential.

Violation: FOUL per instance.

H6. POWER CELLS through LOADING BAYS only. POWER CELLS may only be introduced to the
FIELD

A. during TELEOP,
B. by a DRIVER or HUMAN PLAYER, and
C. through the LOADING BAY.

Violation: FOUL per POWER CELL.

H7. COACHES, no POWER CELLS. During a MATCH, COACHES may not touch POWER CELLS,
unless for safety purposes.

Violation: FOUL per POWER CELL.

H8. Don’t trick the sensors. Teams may not interfere with any automated scoring hardware.

Violation: RED CARD for the ALLIANCE.

H9. POWER CELLS, recycle. During TELEOP, an ALLIANCE may not have more than fifteen (15)
POWER CELLS in their ALLIANCE STATION.

Violation: FOUL per POWER CELL

If the POWER CELL count exceeds fifteen (15), excess POWER CELLS must be
introduced into the FIELD immediately.

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As soon as a sixteenth POWER CELL arrives in the ALLIANCE STATION, the

ALLIANCE should be making a concerted good will effort to enter any extra POWER
CELLS back on to the FIELD as quickly and as safely as possible.

There is no intent to issue penalties for delays due to DRIVERS or HUMAN PLAYERS
having to move around their ALLIANCE partners while attempting to clear surplus
POWER CELLS or because TELEOP began with more than fifteen (15) POWER CELLS
in the ALLIANCE STATION due to scoring by opponents during AUTO. However, if a
team is perceived as lagging in the judgement of a REFEREE, they will be issued a
penalty.

It is the HUMAN PLAYERS’ responsibility to be aware of their surroundings.

H10. POWER CELLS go on the rack. POWER CELLS must be stored on the LOADING BAY racks.
An ALLIANCE making a concerted, good-will effort to transport POWER CELLS from the CORRAL to
a rack or Chute is not in violation of this rule.
VIOLATION: FOUL.

The LOADING BAY rack holds fourteen (14) POWER CELLS and enables teams and
REFEREES to count POWER CELLS in an ALLIANCE STATION. An ALLIANCE holding
the fifteenth POWER CELL is not in violation of H10.

H10 means that POWER CELLS may neither be stored in the CORRAL during the
MATCH nor required to contact the LOADING BAY rack before entering the FIELD.

Teams are encouraged to make it clear to REFEREES that H10 is not violated.

8.2 In the ARENA

H11. By invitation only. Only DRIVE TEAMS for the current MATCH are allowed in their respective
ALLIANCE STATIONS.

Violation: MATCH will not start until the situation is corrected.

H12. Identify yourself. DRIVE TEAMS must wear proper identification while in the ARENA. Proper
identification consists of:

A. All DRIVE TEAM members wearing their designated buttons above the waist in a clear
visible location at all times while in the ARENA.
B. The COACH wearing the “COACH” button
C. The DRIVERS and HUMAN PLAYERS each wearing a “DRIVE TEAM” button
D. The TECHNICIAN wearing the “TECHNICIAN” button
E. During a Playoff MATCH, the ALLIANCE CAPTAIN clearly displaying the designated
ALLIANCE CAPTAIN identifier (e.g. hat or armband).

Violation: MATCH will not start until the situation is corrected. Those not displaying identification
must leave the ARENA.

H13. Don’t abuse ARENA access. Team members (except DRIVERS, HUMAN PLAYERS, and
COACHES) who are granted access to restricted areas in and around the ARENA (e.g. via
TECHNICIAN button, event issued Media badges, etc.) may not coach or use signaling devices

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

Violation: YELLOW CARD.

The TECHNICIAN’S role is to help the team prepare the ROBOT so it can perform at its
full potential during a MATCH. The TECHNICIAN is not an additional COACH, DRIVER,
or HUMAN PLAYER.

Team members in open-access spectator seating areas are not considered to be in a

restricted area and are not prevented from coaching or using signaling devices. See E2
for related details.

H14. Don’t mess with POWER CELLS. Teams may not modify POWER CELLS in any way.

Violation: RED CARD.

Marking, cutting or standing on POWER CELLS are examples of violations.

H15. Don’t bang on the glass. Team members may never strike or hit the PLAYER STATION plastic
windows.

Violation: Verbal warning. If subsequent violations in more than one MATCH, YELLOW CARD.

H16. Be careful what you interact with. DRIVE TEAMS are prohibited from the following actions with
regards to interaction with ARENA elements.

A. Climbing
B. Hanging
C. Deforming
D. Damaging

Violation: MATCH will not start until situation is corrected. If during a MATCH, TECH FOUL.

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9 ROBOT CONSTRUCTION RULES

This section of the 2020 FIRST® Robotics Competition Game Manual presents rules relevant to the
construction of a 2020 FIRST Robotics Competition ROBOT. ROBOTS must pass Inspection at each
FIRST Robotics Competition event to confirm compliance before being allowed to compete in a
Qualification or Playoff MATCH, per Inspection & Eligibility Rules.

9.1 Overview
The rules listed below explicitly address legal parts and materials and how those parts and materials may
be used on a 2020 ROBOT. A ROBOT is an electromechanical assembly built by the FIRST Robotics
Competition team to play the current season’s game and includes all the basic systems required to be an
active participant in the game –power, communications, control, BUMPERS, and movement about the
field.

There are many reasons for the structure of the rules, including safety, reliability, parity, creation of a
reasonable design challenge, adherence to professional standards, impact on the competition, and
compatibility with the Kit of Parts (KOP). The KOP is the collection of items listed on the current season’s
Kickoff Kit Checklists, distributed to the team via FIRST Choice in the current season, or paid for
completely (except shipping) with a Product Donation Voucher (PDV) from the current season.

Another intent of these rules is to have all energy sources and active actuation systems on the ROBOT
(e.g. batteries, compressors, motors, servos, cylinders, and their controllers) drawn from a well-defined
set of options. This is to ensure that all teams have access to the same actuation resources and that the
Inspectors are able to accurately and efficiently assess the legality of a given part.

ROBOTS are made up of COMPONENTS and MECHANISMS. A COMPONENT is any part in its most
basic configuration, which cannot be disassembled without damaging or destroying the part or altering its
fundamental function. A MECHANISM is a COTS or custom assembly of COMPONENTS that provide
specific functionality on the ROBOT. A MECHANISM can be disassembled (and then reassembled) into
individual COMPONENTS without damage to the parts.

Many rules in this section reference Commercial-Off-The-Shelf (COTS) items. A COTS item must be a
standard (i.e. not custom order) part commonly available from a VENDOR for all teams for purchase. To
be a COTS item, the COMPONENT or MECHANISM must be in an unaltered, unmodified state (with the
exception of installation or modification of any software). Items that are no longer commercially available
but are functionally equivalent to the original condition as delivered from the VENDOR are considered
COTS and may be used.

Example 1: A team orders two (2) ROBOT grippers from RoboHands Corp. and receives
both items. They put one in their storeroom and plan to use it later. Into the other, they
drill “lightening holes” to reduce weight. The first gripper is still classified as a COTS item,
but the second gripper is now a FABRICATED ITEM, as it has been modified.

Example 2: A team obtains openly available blueprints of a drive module commonly

available from Wheels-R-Us Inc. and has local machine shop “We-Make-It, Inc.”
manufacture a copy of the part for them. The produced part is NOT a COTS item,
because it is not commonly carried as part of the standard stock of We-Make-It, Inc.

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Example 3: A team obtains openly available design drawings from a professional

publication during the pre-season, and uses them to fabricate a gearbox for their ROBOT
during the build period following Kickoff. The design drawings are considered a COTS
item, and may be used as “raw material” to fabricate the gearbox. The finished gearbox
itself would be a FABRICATED ITEM, and not a COTS item.

Example 4: A COTS part that has non-functional label markings added would still be
considered a COTS part, but a COTS part that has device-specific mounting holes added
is a FABRICATED ITEM.

Example 5: A team has a COTS single-board processor version 1.0, which can no longer
be purchased. Only the COTS single-board processor version 2.0 may be purchased. If
the COTS single-board processor version 1.0 is functionally equivalent to its original
condition, it may be used.

Example 6: A team has a COTS gearbox which has been discontinued. If the COTS
gearbox is functionally equivalent to its original condition, it may be used.

A VENDOR is a legitimate business source for COTS items that satisfies all the following criteria:

A. has a Federal Tax Identification number. In cases where the VENDOR is outside of the
United States, they must possess an equivalent form of registration or license with the
government of their home nation that establishes and validates their status as a legitimate
business licensed to operate within that country.
B. is not a “wholly owned subsidiary” of a FIRST Robotics Competition team or collection of
teams. While there may be some individuals affiliated with both a team and the VENDOR,
the business and activities of the team and VENDOR must be completely separable.
C. must be able to ship any general (i.e., non-FIRST unique) product within five business days
of receiving a valid purchase request. It is recognized that certain unusual circumstances
(such as 1,000 FIRST teams all ordering the same part at once from the same VENDOR)
may cause atypical delays in shipping due to backorders for even the largest VENDORS.
Such delays due to higher-than-normal order rates are excused.
D. should maintain sufficient stock or production capability to fill teams’ orders within a
reasonable period during the season (less than 1 week). (Note that this criterion may not
apply to custom-built items from a source that is both a VENDOR and a fabricator. For
example, a VENDOR may sell flexible belting that the team wishes to procure to use as
treads on their drive system. The VENDOR cuts the belting to a custom length from
standard shelf stock that is typically available, welds it into a loop to make a tread, and
ships it to a team. The fabrication of the tread takes the VENDOR two weeks. This would
be considered a FABRICATED ITEM, and the two-week ship time is acceptable.)
Alternately, the team may decide to fabricate the treads themselves. To satisfy this
criterion, the VENDOR would just have to ship a length of belting from shelf stock (i.e. a
COTS item) to the team within five business days and leave the welding of the cuts to the
team.
E. makes their products available to all FIRST Robotics Competition teams. A VENDOR must
not limit supply or make a product available to just a limited number of FIRST Robotics
Competition teams.

The intent of this definition it to be as inclusive as possible to permit access to all

legitimate sources, while preventing ad hoc organizations from providing special-purpose
products to a limited subset of teams in an attempt to circumvent the cost accounting
rules.

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FIRST desires to permit teams to have the broadest choice of legitimate sources
possible, and to obtain COTS items from the sources that provide them with the best
prices and level of service available. Teams also need to protect against long delays in
availability of parts that will impact their ability to complete their ROBOT. The build
season is brief, so the VENDOR must be able to get their product, particularly FIRST
unique items, to a team in a timely manner.

Ideally, chosen VENDORS should have national distributors (e.g. Home Depot, Lowes,
MSC, McMaster-Carr, etc.). Remember, FIRST Robotics Competition events are not
always near home – when parts fail, local access to replacement materials is often
critical.

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

Note that it is possible for an item (typically raw materials) to be neither COTS nor a
FABRICATED ITEM. For example, a 20 ft. (~610 cm) length of aluminum which has been
cut into 5 ft. (~152 cm) pieces by the team for storage or transport is neither COTS (it’s
not in the state received from the VENDOR), nor a FABRICATED ITEM (the cuts were
not made to advance the part towards its final form on the ROBOT).

Teams may be asked to provide documentation proving legality of non-2020 KOP items during Inspection
where a Rule specifies limits for a legal part (e.g. pneumatic items, current limits, COTS electronics, etc.).

Some of these rules make use of English unit requirements for parts. If your team has a question about a
metric-equivalent part’s legality, please e-mail your question to frcparts@[Link] for an official
ruling. To seek approval for alternate devices for inclusion in future FIRST Robotic Competition seasons,
please contact frcparts@[Link] with item specifications.

Teams should acknowledge the support provided by the corporate Sponsors and Mentors with an
appropriate display of their school and Sponsors names and/or logos (or the name of the supporting
youth organization, if appropriate).

FIRST Robotics Competition can be a full-contact competition and may include rigorous game play. While
the rules aim to limit severe damage to ROBOTS, teams should design their ROBOTS to be robust.

9.2 General ROBOT Design

R1. The ROBOT (excluding BUMPERS) must have a FRAME PERIMETER, contained within the
BUMPER ZONE and established while in the ROBOT’S STARTING CONFIGURATION, that is
comprised of fixed, non-articulated structural elements of the ROBOT. Minor protrusions no greater
than ¼ in. (~6 mm) such as bolt heads, fastener ends, weld beads, and rivets are not considered part
of the FRAME PERIMETER.

To determine the FRAME PERIMETER, wrap a piece of string around the ROBOT
(excluding BUMPERS) at the BUMPER ZONE described in R18 and pull it taut. The
string outlines the FRAME PERIMETER.

Example: A ROBOT’S chassis is shaped like the letter ‘V’, with a large gap between
chassis elements on the front of the ROBOT. When wrapping a taut string around this
chassis, the string extends across the gap and the resulting FRAME PERIMETER is a
triangle with three sides.

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R2. In the STARTING CONFIGURATION (the physical configuration in which a ROBOT starts a MATCH),
no part of the ROBOT shall extend outside the vertical projection of the FRAME PERIMETER, with
the exception of its BUMPERS and minor protrusions such as bolt heads, fastener ends, rivets, cable
ties, etc.

If a ROBOT is designed as intended and each side is pushed up against a vertical wall
(in STARTING CONFIGURATION and with BUMPERS removed), only the FRAME
PERIMETER (or minor protrusions) will be in contact with the wall.

The allowance for minor protrusions in R2 is intended to allow protrusions that are both
minor in extension from the FRAME PERIMETER and cross sectional area.

If a ROBOT uses interchangeable MECHANISMS per I3, Teams should be prepared to

show compliance with R2 and R4 in all configurations.

R3. A ROBOT’S STARTING CONFIGURATION may not have a FRAME PERIMETER greater than 120
in. (~304 cm) and may not be more than 45 in. (~114 cm) tall.

Be sure to consider the size of the ROBOT on its cart to make sure it will fit through
doors. Also consider the size of the ROBOT to ensure that it will fit into a shipping crate,
vehicle, etc.

Note that the BUMPER Rules contained in BUMPER Rules may impose additional
restrictions on ROBOT design

R4. ROBOTS may not extend more than 12 in. (~30 cm) beyond their FRAME PERIMETER (see Figure
9-1)

Figure 9-1 FRAME PERIMETER extension

Expect to have to demonstrate a ROBOT’S ability to constrain itself per above during
Inspection. Constraints may be implemented with either hardware or software.

See Game Rules: ROBOTS for height and extension restrictions for various areas of the
FIELD.

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R5. The ROBOT weight must not exceed 125 lbs. (~56 kg). When determining weight, the basic ROBOT
structure and all elements of all additional MECHANISMS that might be used in a single configuration
of the ROBOT shall be weighed together (see I3).

For the purposes of determining compliance with the weight limitations, the following items are
excluded:

A. ROBOT BUMPERS
B. ROBOT battery and its associated half of the Anderson cable quick connect/disconnect pair
(including no more than 12 in. (~30 cm) of cable per leg, the associated cable lugs,
connecting bolts, and insulation)

9.3 ROBOT Safety & Damage Prevention

R6. Traction devices must not have surface features that could damage the ARENA (e.g. metal,
sandpaper, hard plastic studs, cleats, hook-loop fasteners or similar attachments). Traction devices
include all parts of the ROBOT that are designed to transmit any propulsive and/or braking forces
between the ROBOT and FIELD carpet.

R7. Protrusions from the ROBOT and exposed surfaces on the ROBOT shall not pose hazards to the
ARENA elements (including the POWER CELLS) or people.

R8. ROBOT parts shall not be made from hazardous materials, be unsafe, cause an unsafe condition, or
interfere with the operation of other ROBOTS.

Examples of items that will violate R8 include (but are not limited to):

Shields, curtains, or any other devices or materials designed or used to obstruct or

limit the vision of any DRIVERS and/or COACHES and/or interfere with their ability to
safely control their ROBOT
Speakers, sirens, air horns, or other audio devices that generate sound at a level
sufficient to be a distraction
Any devices or decorations specifically intended to jam or interfere with the remote
sensing capabilities of another ROBOT, including vision systems, acoustic range
finders, sonars, infrared proximity detectors, etc. (e.g. including imagery on your
ROBOT that, to a reasonably astute observer, mimics the retro-reflective features of
vision targets described in Vision Targets)
Exposed lasers other than Class I.
Flammable gasses
Any device intended to produce flames or pyrotechnics
Hydraulic fluids or hydraulic items
Switches or contacts containing liquid mercury
Circuitry used to create voltages in excess of 24 Volts
Any ballast not secured sufficiently, including loose ballast e.g. sand, ball bearings,
etc., such that it may become loose during a MATCH.
Exposed, untreated hazardous materials (e.g. lead weights) used on the ROBOT.
These materials may be permitted if painted, encapsulated or otherwise sealed to
prevent contact. These materials may not be machined in any way at an event.
Tire sealant
High intensity light sources used on the ROBOT (e.g. super bright LED sources
marketed as ‘military grade’ or ‘self-defense’) may only be illuminated for a brief time
while targeting and may need to be shrouded to prevent any exposure to
participants. Complaints about the use of such light sources will be followed by re-
inspection and possible disablement of the device.

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Teams should provide MSD Sheets for any materials they use that might be considered
questionable during ROBOT Inspection.

R9. ROBOTS must allow removal of game pieces from the ROBOT and the ROBOT from FIELD
elements while DISABLED and powered off.

ROBOTS will not be re-enabled after the MATCH, so teams must be sure that game
pieces and ROBOTS can be quickly, simply, and safely removed.

R10. Lubricants may be used only to reduce friction within the ROBOT. Lubricants must not
contaminate the FIELD or other ROBOTS.

9.4 Budget Constraints & Fabrication Schedule

R11. The total cost of all items on the ROBOT, including software, shall not exceed $5000 USD. All
costs are to be determined as explained in Budget Constraints & Fabrication Schedule. Exceptions
are as follows:

A. individual items that are less than $5 USD each, as purchasable from a VENDOR,
B. items from the team’s current year’s KOP (identical functional replacements may be used
to meet this criteria), up to the KOP quantity (including the rookie KOP items), and
C. Specific exempt items:
D. One (1) Inertial Measurement Unit (Note that R12 still applies)
E. Rockwell Automation sensors available through FIRST Choice in any season

An item is considered an IMU if it includes “IMU” or “Inertial Measurement Unit” in the

VENDOR’S product description.

Teams should be prepared to disclose to Inspectors the cost of any non-KOP item and
the total cost of the ROBOT. Teams should also be prepared to show that a particular
item was received from FIRST Choice or a voucher in the current season if necessary.

Per I6, teams must be prepared to display a Bill of Material (BOM) to Inspectors during
Inspection. The BOM may be displayed in either printed or electronic form.

Individual COMPONENTS or MECHANISMS, not excluded in R11, that are retrieved

from previous ROBOTS and used on 2020 ROBOTS must have their un-depreciated cost
included in the 2020 BOM and applied to the overall cost assessment.

Example 1: The Kickoff KOP checklist lists two (2) of motor controller XYZ in the Gray
Tote distributed to rookie teams. Any team, including a veteran team that did not receive
these items, can account for up to two (2) of them on the KOP checklist at a $0 cost.
Additional quantity of the same item would have to be accounted at the Fair Market
Value.

Example 2: A team uses FIRST Choice credits, or a voucher, to acquire part ABC. This
part, in the quantity obtained by the team via the KOP may be accounted at $0.
Additional quantity of the same item would have to be accounted at the Fair Market
Value.

Example 3: Part ABC is available in FIRST Choice, but a team decides they have enough
already on hand and does not acquire any through FIRST Choice. All of these items used
on the ROBOT need to be accounted for at Fair Market Value as they did not come from
the current year’s KOP.

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An “identical functional replacement” is an item which, to any reasonably astute observer,

has the same form, fit, feature set, and function as the original component.

For example, any CIM motor can replace a CIM motor or a sheet of polycarbonate paid
for completely by a voucher can be replaced with a sheet of polycarbonate of the same
parameters (thickness, color, size, etc.). As another example, a motor controller that has
the same form, fit, and function (i.e. controlling motors) as the original motor controller,
but a different feature set (i.e. can communicate over CAN vs. the original controller
which was PWM only) is not an identical functional replacement because the controllers’
feature sets differ.

R12. No individual, non-KOP item or software shall have a Fair Market Value that exceeds $500 USD.
The total cost of COMPONENTS purchased in bulk may exceed $500 USD as long as the cost of an
individual COMPONENT does not exceed $500 USD.

The Analog Devices ADIS16448 IMU MXP Breakout Board does not have a published
Fair Market Value (FMV). This device is considered to comply with R12 regardless of its
true FMV.

If a COTS item is part of a modular system that can be assembled in several possible
configurations, then each individual module must fit within the price constraints defined in
R12.

If the modules are designed to assemble into a single configuration, and the assembly is
functional in only that configuration, then the total cost of the complete assembly
including all modules must fit within the price constraints defined in R12.

In summary, if a VENDOR sells a system or a kit, a team must use the entire system/kit
Fair Market Value and not the value of its COMPONENT pieces.

Example 1: VENDOR A sells a gearbox that can be used with a number of different gear
sets, and can mate with two different motors they sell. A team purchases the gearbox, a
gear set, and a motor (which are not offered together as an assembly or kit), then
assembles them together. Each part is treated separately for the purpose of BOM
costing, since the purchased pieces can each be used in various configurations.

Example 2: VENDOR B sells a robotic arm assembly that the team wants to use.
However, it costs $700 USD, so they cannot use it. The VENDOR sells the “hand”,
“wrist”, and “arm” as separate assemblies, for $200 USD each. A team wishes to
purchase the three items separately, then reassemble them. This would not be legal, as
they are really buying and using the entire assembly, which has a Fair Market Value of
$700 USD.

Example 3: VENDOR C sells a set of wheels or wheel modules that are often used in
groups of four. The wheels or modules can be used in other quantities or configurations.
A team purchases four and uses them in the most common configuration. Each part is
treated separately for the purpose of BOM costing, since the purchased pieces can be
used in various configurations.

R13. The BOM cost of each non-KOP item must be calculated based on the unit Fair Market Value for
the material and/or labor, except for labor provided by team members (including sponsor employees
who are members of the team), members of other teams, event provided Machine Shops and
shipping.

The Fair Market Value of a COTS item is its price defined by a VENDOR for the part or
an identical functional replacement. This price must be generally available to all FIRST

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Robotics Competition teams throughout the build and competition season (i.e. short-term
sale prices or coupons do not reflect Fair Market Value), however teams are only
expected to make a good faith effort at determining the item price and are not expected
to monitor prices of ROBOT items throughout the season in response to price
fluctuations. The Fair Market Value is the cost of the item itself and does not include any
duties, taxes, tariffs, shipping, or other costs that may vary by locality. If COTS parts were
sourced in bulk, the cost may be scaled proportionally to assess the Fair Market Value of
one unit.

The Fair Market Value of COTS software is the price, set by the VENDOR, to license the
software (or component of the software) that runs on the ROBOT for the period from
Kickoff to the end of the FIRST Championship. The Fair Market Value of software
licensed free-of-cost, including through the Virtual KOP, for use on the ROBOT is $0.

The Fair Market Value of raw material used to construct FABRICATED parts may be
accounted for in one of two ways:

• The cost of any purchasable quantity that can be used to make the individual part
(i.e. the purchasable raw material is larger than the FABRICATED part).
• Grouping parts made from the same raw material and accounting for the cost of a
single quantity that can produce all of those parts.
Example 1: A team orders a custom bracket made by a company to the team's
specification. The company’s material cost and normally charged labor rate apply.

Example 2: A team receives a donated sensor. The company would normally sell this
item for $52 USD, which is therefore its Fair Market Value.

Example 3: Special price discounts from National Instruments and other FIRST Suppliers
are being offered to all teams for the whole season. The discounted purchase price of
items from these sources may be used in the additional parts accounting calculations.

Example 4: A team purchases steel bar stock for $10 USD and has it machined by a local
machine shop. The machine shop is not considered a team Sponsor but donates two (2)
hours of expended labor anyway. The team must include the estimated normal cost of
the labor as if it were paid to the machine shop and add it to the $10 USD.

Example 5: A team purchases steel bar stock for $10 USD and has it machined by a local
machine shop that is a recognized Sponsor of the team. If the machinists are considered
members of the team, their labor costs do not apply. The total applicable cost for the part
would be $10 USD.

It is in the best interests of the teams and FIRST to form relationships with as many
organizations as possible. Teams are encouraged to be expansive in recruiting and
including organizations in their team, as that exposes more people and organizations to
FIRST. Recognizing supporting companies as Sponsors of, and members in, the team is
encouraged, even if the involvement of the Sponsor is solely through the donation of
fabrication labor.

Example 6: A team purchases steel bar stock for $10 USD and has it machined by
another team. The total applicable cost for the part would be $10 USD.

Example 7: A team purchases a 4 ft. by 4 ft. (~122 cm by 122 cm) sheet of aluminum, but
only uses a piece 10 in. by 10 in. (~25 cm by 25 cm) on their ROBOT. The team identifies
a source that sells aluminum sheet in 1 by 1 ft. (~30 cm by 30 cm) pieces. The team may
cost their part based on a 1 by 1 ft. (~30 cm by 30 cm) piece, even though they cut the

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piece from a larger bulk purchase. They do not have to account for the entire 4 by 4 ft.
(~122 cm by 122 cm) bulk purchase item.

Example 8: A team purchases a widget at a garage sale or online auction for $3, but it’s
available for sale from a VENDOR for $13. The Fair Market Value that gets reported on
the BOM is $13.

Example 9: A team 3D prints multiple parts for their ROBOT from a single spool of
material. The cost of the spool (in the smallest available size able to produce the parts)
may be included just once on the BOM to account for all parts.

R14. FABRICATED ITEMS created before Kickoff are not permitted. Exceptions are:

A. OPERATOR CONSOLE,
B. BUMPERS (a protective assembly designed to attach to the exterior of the ROBOT and
constructed as specified in BUMPER Rules),
C. battery assemblies as described in R5-B,
D. FABRICATED ITEMS consisting of one COTS electrical device (e.g. a motor or motor
controller) and attached COMPONENTS associated with any of the following modifications:
E. wires modified to facilitate connection to a ROBOT (including removal of existing
connectors)
F. connectors and any materials to secure and insulate those connectors added (Note:
passive PCBs such as those used to adapt motor terminals to connectors are considered
connectors)
G. motor shafts modified and/or gears, pulleys, or sprockets added
H. motors modified with a filtering capacitor as described in the Blue Box below R56
I. COTS items with any of the following modifications:
J. Non-functional decoration or labeling
K. Assembly of COTS items per manufacturer specs, unless the result constitutes a MAJOR
MECHANISM as defined in I1
L. Work that could be reasonably accomplished in fewer than 30 minutes with the use of
handheld tools (e.g. drilling a small number of holes in a COTS part)

Please note that this means FABRICATED ITEMS from ROBOTS entered in previous
FIRST competitions may not be used on ROBOTS in the 2020 FIRST Robotics
Competition (other than those allowed per R14-B through -E). Before the formal start of
the Build Season, teams are encouraged to think as much as they please about their
ROBOTS. They may develop prototypes, create proof-of-concept models, and conduct
design exercises. Teams may gather all the raw stock materials and COTS
COMPONENTS they want.

Parts with precision machined (mill, CNC, etc.) features may still meet R14-E part iii if
functionally equivalent features could reasonably be made within the restrictions
specified.

Example 1: A team designs and builds a two-speed shifting transmission during the fall
as a training exercise. After Kickoff, they utilize all the design principles they learned in
the fall to design their ROBOT. To optimize the transmission design for their ROBOT,
they change the transmission gear ratios and reduce the size, and build two new
transmissions, and place them on the ROBOT. All parts of this process are permitted
activities.

Example 2: A team re-uses a 2020-legal motor from a previous ROBOT which has had
connectors added to the wires. This is permitted, per exception D, because the motor is a
COTS electrical COMPONENT.

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Example 3: A team re-uses a piece of aluminum tubing from a previous ROBOT which
has a precision machined bearing hole in it. On the current ROBOT, the bearing hole is
not used. As the only function of the hole on the current ROBOT is material removal,
which does not require precise tolerancing, a functionally equivalent hole could be made
with a hand drill in under 30 minutes and the part is permitted per R14-E iii.

R15. Software and mechanical/electrical designs created before Kickoff are only permitted if the source
files (complete information sufficient to produce the design) are available publicly prior to Kickoff.

Example 1: A team realizes that the transmission designed and built in the fall perfectly
fits their need for a transmission to drive the ROBOT arm. They build an exact copy of
the transmission from the original design plans, and bolt it to the ROBOT. This would be
prohibited, as the transmission – although made during the competition season – was
built from detailed designs developed prior to Kickoff.

Example 2: A team developed an omni-directional drive system for the 2019 competition.
In July 2019 they refined and improved the control software (written in C++) to add more
precision and capabilities. They decided to use a similar system for the 2020 competition.
They copied large sections of unmodified code over into the control software of the new
ROBOT (also written in C++). This would be a violation of the schedule constraint and is
not allowed.

Example 3: The same team decides to use LabVIEW as their software environment for
2020. Following Kickoff, they use the previously-developed C++ code as a reference for
the algorithms and calculations required to implement their omni-directional control
solution. Because they developed new LabVIEW code as they ported over their
algorithms, this is permitted.

Example 4: A different team develops a similar solution during the fall and plans to use
the developed software on their competition ROBOT. After completing the software, they
post it in a generally accessible public forum and make the code available to all teams.
Because they have made their software publicly available before Kickoff, they can use it
on their ROBOT.

Example 5: A team develops a transmission prior to Kickoff. After completing the project,
they publish the CAD files on a generally accessible public forum and make them
available to all teams. Because they have made the design publicly available before
Kickoff, they can use the design to create an identical transmission, fabricated after
Kickoff, for use on their 2020 ROBOT.

R16. During an event a team is attending (regardless of whether the team is physically at the event
location), the team may not work on their ROBOT or ROBOT elements outside of the hours that pits
are open, with the following exceptions:

A. Exceptions listed in R14, other than R14-E iii

B. Software development
C. Batteries may be charged during the designated Load-in time

For the purposes of this rule, official events begin as follows:

• Regionals, District Championships, and FIRST Championship: at the start of the first
designated Load-in period, according to the Public Schedule. If the Public Schedule
is not available or there is no designated Load-in period, the events begin at 4pm on
the day prior to pits opening.
• District Events: when pits open

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Examples of activity prohibited by R16 include:

Working on the ROBOT at the team’s shop after Load-in for the event has begun
Working on ROBOT parts at night at the team’s hotel.
Note that E8 and E20 impose additional restrictions on work done on the ROBOT or
ROBOT materials while attending an event.
One purpose of R16 is to increase equity between teams with significant travel to an
event and those nearby (close teams would otherwise have an advantage by being able
to work on their ROBOT, in their shop, until it’s time to go to the event).

9.5 BUMPER Rules

A BUMPER is a required assembly which attaches to the ROBOT frame. BUMPERS protect ROBOTS
from damaging/being damaged by other ROBOTS and FIELD elements. Criteria used in writing these
rules includes the following:

• Minimize variety of BUMPERS so teams can expect consistency

• Minimize the amount of design challenge in creating BUMPERS
• Minimize cost of BUMPER materials
• Maximize use of relatively ubiquitous materials

R17. ROBOTS are required to use BUMPERS to protect all outside corners of the FRAME
PERIMETER. For adequate protection, at least 6 in. (~16 cm) of BUMPER must be placed on each
side of each outside corner (see Figure 9-2 BUMPER corner examples) and must extend to within ¼
in. (~6 mm) of the FRAME PERIMETER corner. If a FRAME PERIMETER side is shorter than 12 in.
(~31 cm), that entire side must be protected by BUMPER (see Figure 9-3). A round or circular
FRAME PERIMETER, or segment of the FRAME PERIMETER, is considered to have an infinite
number of corners, therefore the entire frame or frame segment must be completely protected by
BUMPER(S).

The dimension defined in R17 is measured along the FRAME PERIMETER. The portion
of the BUMPER that extends beyond the corner of the FRAME PERIMETER is not
included in the 6 in. (~16 cm) requirement. See Figure 9-2.

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Figure 9-2 BUMPER corner examples

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Figure 9-3 BUMPER around full side/corner.

R18. Except as allowed per G16, BUMPERS must be located entirely within the BUMPER ZONE,
which is the volume contained between the floor and a virtual horizontal plane 7½ in. (~19 cm) above
the floor in reference to the ROBOT standing normally on a flat floor. BUMPERS do not have to be
parallel to the floor.

This measurement is intended to be made as if the ROBOT is resting on a flat floor

(without changing the ROBOT configuration), not relative to the height of the ROBOT
from the FIELD carpet. Examples include:

Example 1: A ROBOT that is at an angle while navigating the FIELD has its BUMPERS
outside the BUMPER ZONE. If this ROBOT were virtually transposed onto a flat floor,
and its BUMPERS are in the BUMPER ZONE, it meets the requirements of R18.

Example 2: A ROBOT deploys a MECHANISM which lifts the BUMPERS outside the
BUMPER ZONE (when virtually transposed onto a flat floor). This violates R18.

R19. BUMPERS must not be articulated (relative to the FRAME PERIMETER).

R20. BUMPERS (the entire BUMPER, not just the cover) must be designed for quick and easy
installation and removal to facilitate inspection and weighing.

As a guideline, BUMPERS should be able to be installed or removed by two (2) people in

fewer than five (5) minutes.

R21. Each ROBOT must be able to display Red or Blue BUMPERS to MATCH their ALLIANCE color,
as assigned in the MATCH schedule distributed at the event (as described in MATCH Schedules).
BUMPER Markings visible when installed on the ROBOT, other than the following, are prohibited:

A. those required per R22,

B. hook-and-loop fastener or snap fasteners backed by the hard parts of the BUMPER, and
C. solid white FIRST logos between 4¾ in. (~12 cm) and 5¼ in. wide (~13 cm) (i.e.
comparable to those available in the 2020 Virtual Kit.

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The FRAME PERIMETER facing surfaces of BUMPERS are not “displayed” and thus
R21 does not apply.

R22. Team numbers must be displayed and positioned on the BUMPERS such that an observer
walking around the perimeter of the ROBOT can unambiguously tell the team’s number from any
point of view and meet the following additional criteria:

A. consist of only Arabic numerals at least 4 in. (~11 cm) high, at least ½ in. (~13 mm) in
stroke width, and be either white in color or outlined in white with a minimum 1/16 in. (~2
mm) outline

The ½ in. (~13 mm) stroke width requirement applies to the majority of the stroke. Font
elements less than ½ in. (~13 mm) such as serifs, rounded edges, small hairlines or
gaps, etc. are permitted as long as the majority of the stroke meets the sizing
requirement and the numbers are unambiguous.

B. must not wrap around sharp corners (less than 160 degrees) of the FRAME PERIMETER
C. may not substitute logos or icons for numerals

There is no prohibition against splitting team numbers onto different sections of

BUMPER. The intent is that the team’s number is clearly visible and unambiguous so that
Judges, REFEREES, Announcers, and other teams can easily identify competing
ROBOTS.

This marking is intended to display the team number only, not to intentionally change the
surface characteristics of the BUMPER. Excessive material usage as part of any team
number marking will invite close scrutiny.

R23. Each set of BUMPERS (including any fasteners and/or structures that attach them to the
ROBOT) must weigh no more than 15 lbs. (~6 kg).

If a multi-part attachment system is utilized (e.g. interlocking brackets on the ROBOT and
the BUMPER), then the elements permanently attached to the ROBOT will be considered
part of the ROBOT, and the elements attached to the BUMPERS will be considered part
of the BUMPER. Each element must satisfy all applicable rules for the relevant system.

R24. BUMPERS must be constructed as follows (see Figure 9-6):

A. be backed by ¾ in. (nominal) thick (~19mm) by 5 in. ± ½ in. (~127 mm ± 12.7 mm) tall
plywood, Oriented Strand Board (OSB) or solid wood (with the exception of balsa). Small
clearance pockets and/or access holes in the wood backing are permitted, as long as they
do not significantly affect the structural integrity of the BUMPER.

¾” Plywood and OSB refer to items sold by VENDORS as that material and thickness,
teams may not fabricate their own plywood or OSB. Other engineered woods such as
Fiberboard or Particle Board are not likely to survive the rigors of FIRST Robotics
Competition gameplay and thus not permitted in R24-A.

Note: ¾” plywood is now often marked according to the actual dimension (²³⁄₃₂”) not the
nominal size. Plywood sold as ²³⁄₃₂” meets the requirements of R24-A.

B. hard BUMPER parts allowed per R24-A, -E, -F, and -G must not extend more than 1 in.
(~25 mm) beyond the FRAME PERIMETER (measured as shown in Figure 9-4).

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Figure 9-4 Hard Parts of BUMPER Corners

C. use a stacked pair of approximately 2½ in. (nominal, ~63mm) round, petal, or hex “pool
noodles” (solid or hollow) as the BUMPER cushion material (see Figure 9-6). All pool
noodles used in a BUMPER set (e.g. Red set of BUMPERS) may not be modified (with the
exception of cutting to length or beveling ends) or deformed and must be the same
diameter, cross-section, and density (e.g. all round hollow or all hex solid). Cushion
material may extend up to 2½ in. (~63 mm) beyond the end of the plywood (see Figure
9-7). To assist in applying the fabric covering, soft fasteners may be used to attach the pool
noodles to the wood backing, so long as the cross section in Figure 9-6 is not significantly
altered (e.g. tape compressing the pool noodles).

All pool noodles used on a ROBOT must be the same in order to maintain the desired
interaction between ROBOTS in the cases of BUMPER-to-BUMPER contact. BUMPERS
containing pool noodles of vastly different construction may cause a “ramp” effect when
interacting with other BUMPERS.

Minor noodle compression as a result of smoothing BUMPER fabric or rounding a

FRAME PERIMETER corner is not considered deformed. Any compression beyond that,
e.g. for the purposes of flattening the noodle, is deformation and a violation of R24-C.

D. be covered with a rugged, smooth cloth. (multiple layers of cloth and seams are permitted if
needed to accommodate R21, provided the cross section in Figure 9-6 is not significantly
altered).

Silk and bedding are not considered rugged cloths, however 1000D Cordura is. Tape
(e.g. gaffer’s tape) matching the BUMPER color is allowed to patch small holes on a
temporary basis.

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The cloth must completely enclose all exterior surfaces of the wood and pool noodle
material when the BUMPER is installed on the ROBOT. The fabric covering the BUMPERS
must be solid in color.
E. optionally use metal angle, as shown in Figure 9-6 or other fasteners (e.g. staples, screws,
etc.) to clamp cloth.
F. optionally use metal brackets (i.e. angle or sheet metal) to attach BUMPER segments to
each other (see Figure 9-5).

Figure 9-5 Hard Parts of BUMPER Corners

G. must attach to the FRAME PERIMETER of the ROBOT with a rigid fastening system to
form a tight, robust connection to the main structure/frame (e.g. not attached with hook-
and-loop, tape, or tie-wraps). The attachment system must be designed to withstand
vigorous game play. All removable fasteners (e.g. bolts, locking pins, pip-pins, etc.) will be
considered part of the BUMPERS.

Figure 9-6 BUMPER Vertical Cross Section

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R25. Corner joints between BUMPERS must be filled with pool noodle material. Examples of
implementation are shown in Figure 9-7.

Figure 9-7 Soft Parts of BUMPER Corners

R26. BUMPERS must be supported by the structure/frame of the ROBOT (see Figure 9-8). To be
considered supported, a minimum of ½ in. (~13 mm) at each end of each BUMPER wood segment
must be backed by the FRAME PERIMETER (≤¼ in. gap, ~6mm). “Ends” exclude hard BUMPER
parts which extend past the FRAME PERIMETER permitted by R24-B. Additionally, any gap between
the backing material and the frame:

A. must not be greater than ¼ in. (~6 mm) deep, or

B. not more than 8 in. (~20 cm) wide

Figure 9-8 BUMPER support examples

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The intent of this rule is to make sure the BUMPER wood is properly supported to
minimize the likelihood of breakage on impact. Flexible ROBOT elements, such as thin
plastic, do not accomplish this intent and are not considered “structure/frame” of the
ROBOT.

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9.6 Motors & Actuators

R27. The only motors and actuators permitted on 2020 ROBOTS include the following (in any
quantity):
Table 9-1 Motor allowances

Motor Name Part Numbers Available

AndyMark 9015 am-0912 AndyMark 9015
AndyMark NeveRest am-3104
AndyMark PG am-2161 (alt. PN am- am-2194 (alt. PN am-2766)
2765)
AndyMark RedLine Motor am-3775 am-3775a
AndyMark Snow Blower Motor am-2235 am-2235a
Banebots am-3830 M5 – RS550-12
M7-RS775-18 RS550VC-7527
RS775WC-8514 RS550
CIM FR801-001 PM25R-45F-1004
M4-R0062-12 PM25R-45F-1003
AM802-001A PMR25R-45F-1003
217-2000 PMR25R-44F-1005
PM25R-44F-1005 am-0255
CTR Electronics/VEX Robotics 217-6515 19-708850
Falcon 500 am-6515 am-6515_Short
Current/former KOP Automotive Denso AE235100-0160 Denso 262100-3040
motors Denso 5-163800-RC1 Bosch 6 004 RA3 194-06
Denso 262100-3030 Johnson Electric JE-PLG-149
Nidec Dynamo BLDC Motor am-3740 DM3012-1063
Playing with Fusion Venom BDC-10001
REV Robotics NEO Brushless REV-21-1650
REV Robotics NEO 550 REV-21-1651
VEX BAG 217-3351
VEX Mini-CIM 217-3371
West Coast Products RS775 Pro 217-4347
Electrical solenoid actuators, no greater than 1 in. (nominal) stroke and rated electrical
input power no greater than 10 watts (W) continuous duty at 12 volts (VDC)
Fans, no greater than 120mm (nominal) size and rated electrical input power no greater
than 10 watts (W) continuous duty at 12 volts (VDC)
Hard drive motors part of a legal COTS computing device
Factory installed vibration and autofocus motors resident in COTS computing devices
(e.g. rumble motor in a smartphone).
PWM COTS servos with a retail cost < $75.
Motors integral to a COTS sensor (e.g. LIDAR, scanning sonar, etc.), provided the
device is not modified except to facilitate mounting
One (1) compressor compliant with R79 and used to compress air for the ROBOT’S
pneumatic system
For servos, note that the roboRIO is limited to a max current output of 2.2A on the 6V rail
(12.4W of electrical input power). Teams should make sure that their total servo power
usage remains below this limit at all times.

Given the extensive amount of motors allowed on the ROBOT, teams are encouraged to
consider the total power available from the ROBOT battery during the design and build of
the ROBOT. Drawing large amounts of current from many motors at the same time could
lead to drops in ROBOT battery voltage that may result in tripping the main breaker or

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trigger the brownout protection of the roboRIO. For more information about the roboRIO
brownout protection and measuring current draw using the PDP, see roboRIO Brownout
and Understanding Current Draw.

AndyMark PG Gearmotors are sold with labeling based on the entire assembly.
Assemblies labeled am-3651 through am-3656 contain legal motors specified in the table
above. These motors may be used with or without the provided gearbox.

R28. The integral mechanical and electrical system of any motor must not be modified. Motors, servos,
and electric solenoids used on the ROBOT shall not be modified in any way, except as follows:

A. The mounting brackets and/or output shaft/interface may be modified to facilitate the
physical connection of the motor to the ROBOT and actuated part.
B. The electrical input leads may be trimmed to length as necessary and connectors or splices
to additional wiring may be added.
C. The locking pins on the window motors (P/N: 262100-3030 and 262100-3040) may be
removed.
D. The connector housings on KOP Automotive motors listed in Table 9-1 may be modified to
facilitate lead connections.
E. Servos may be modified as specified by the manufacturer (e.g. re-programming or
modification for continuous rotation).
F. The wiring harness of the Nidec Dynamo BLDC Motor may be modified as documented by
FIRST in the "Nidec Dynamo BLDC Motor with Controller" article.
G. Minimal labeling applied to indicate device purpose, connectivity, functional performance,
etc.
H. Any number of #10-32 plug screws may be removed from the Falcon 500.

The intent of this rule is to allow teams to modify mounting tabs and the like, not to gain a
weight reduction by potentially compromising the structural integrity of any motor.

R29. With the exception of servos, fans, or motors integral to sensors of COTS computing devices
permitted in R27, each actuator must be controlled by a power regulating device. The only power
regulating devices for actuators permitted on the ROBOT include:

A. Motor Controllers

i. DMC 60/DMC 60c Motor Controller (P/N: 410-334-1, 410-334-2)

ii. Jaguar Motor Controller (P/N: MDL-BDC, MDL-BDC24, and 217-3367) connected to
PWM only
iii. Nidec Dynamo BLDC Motor with Controller to control integral actuator only (P/N 840205-
000, am-3740)
iv. SD540 Motor Controller (P/N: SD540x1, SD540x2, SD540x4, SD540Bx1, SD540Bx2,
SD540Bx4, SD540C)
v. Spark Motor Controller (P/N: REV-11-1200)
vi. Spark MAX Motor Controller (P/N: REV-11-2158)
vii. Talon FX Motor Controller (P/N: 217-6515, 19-708850, am-6515, am-6515_Short) for
controlling integral Falcon 500 only.
viii. Talon Motor Controller (P/N: CTRE_Talon, CTRE_Talon_SR, and am-2195)
ix. Talon SRX Motor Controller (P/N: 217-8080, am-2854, 14-838288)
x. Venom Motor with Controller (P/N: BDC-10001) for controlling integral motor only
xi. Victor 884 Motor Controller (P/N: VICTOR-884-12/12)
xii. Victor 888 Motor Controller (P/N: 217-2769)
xiii. Victor SP Motor Controller (P/N: 217-9090, am-2855, 14-868380)

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xiv. Victor SPX Motor Controller (P/N: 217-9191, 17-868388, am-3748)

B. Relay Modules

i. Spike H-Bridge Relay (P/N: 217-0220 and SPIKE-RELAY-H)

ii. Automation Direct Relay (P/N: AD-SSR6M12-DC-200D, AD-SSRM6M25-DC-200D, AD-
SSR6M45-DC-200D)

C. Pneumatics controllers

i. Pneumatics Control Module (P/N: am-2858, 217-4243)

Note: The Automation Direct Relays are single directional. Per R30 they may not be
wired together in an attempt to provide bi-directional control.

R30. Each power regulating device may control electrical loads per Table 9-2. Unless otherwise noted,
each power regulating device shall control one and only one electrical load.
Table 9-2 Power regulating device allotments

Electrical Load Motor Relay Module Pneumatics

Controller Controller
AndyMark RedLine Motor
Banebots
CIM
REV Robotics NEO Brushless Yes No No
REV Robotics NEO 550
VEX Mini-CIM
WCP RS775 Pro
Yes
AndyMark 9015
(up to 2
VEXpro BAG No No
per
controller)
AndyMark PG
Yes
KOP Automotive Motors
(up to 2
NeverRest Yes No
per
Snow Blower Motor
controller)
CTR Electronics/VEX Falcon 500 Yes
Nidec Dynamo BLDC Motor w/ (integrated
No No
Controller controller
Playing With Fusion Venom only)
Compressor No Yes Yes
Yes
Pneumatic Solenoid Valves No Yes1
(1 per channel)
Yes
Electric Solenoids Yes1 Yes1
(1 per channel
Yes
CUSTOM CIRCUITS2 Yes1 Yes1
(1 per channel)
1Multiple low-load, pneumatic solenoid valves (relay only), electric solenoids or CUSTOM CIRCUITS may
be connected to a single relay module or motor controller. This would allow one (1) relay module or motor
controller to drive multiple pneumatic actions or multiple CUSTOM CIRCUITS. No other electrical load
can be connected to a relay module used in this manner.

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2A CUSTOM CIRCUIT is any electrical COMPONENT of the ROBOT other than motors, pneumatic
solenoids, roboRIO, PDP, PCM, VRM, RSL, 120A breaker, motor controllers, relay modules (per R29-B),
wireless bridge, electrical solenoid actuators, or batteries.

R31. Servos must be connected to, and only to, one of the following:

A. PWM PORTS on the roboRIO

B. PWM PORTS on a WCP Spartan Sensor Board (P/N: WCP-0045)
C. REV Robotics Servo Power Module (P/N: REV-11-1144)

9.7 Power Distribution

In order to maintain safety, the rules in this section apply at all times while at the event, not just while the
ROBOT is on the FIELD for MATCHES.

R32. The only legal source of electrical energy for the ROBOT during the competition, the ROBOT
battery, must be one and only one non-spillable sealed lead acid (SLA) battery with the following
specifications:

A. Nominal voltage: 12V

B. Nominal capacity at 20-hour discharge rate: minimum 17Ah, maximum 18.2Ah
C. Shape: Rectangular
D. Nominal Dimensions:7.1 in. x 3 in. x 6.6 in., +/- .1 in. for each dimension (~ 180 mm x
76mm x 168 mm, +/- 2.5 mm for each dimension)
E. Nominal weight: 11lbs. to 14.5 lbs. (~5 kg. to 6.5 kg.)
F. Terminals: Nut and bolt style

Examples of batteries which meet these criteria include:

Enersys (P/N: NP18-12, NP18-12B, NP18-12BFR)

MK Battery (P/N: ES17-12)
Battery Mart (P/N: SLA-12V18)
Sigma (P/N: SP12-18)
Universal Battery (P/N: UB12180)
Power Patrol (P/N: SLA1116)
Werker Battery (P/N: WKA12-18NB)
Power Sonic (P/N: PS-12180NB)
Yuasa (P/N: NP18-12B)
Panasonic (P/N: LC-RD-1217)
Interstate Batteries (P/N: BSL1116)
Duracell Ultra Battery (P/N: DURA12-18NB)
Teams should be aware that they may be asked to provide documentation of the
specifications of any battery not listed above.

Batteries should be charged in accordance with manufacturer’s specification. (Please see

the FIRST Safety Manual for additional information.)

R33. COTS USB battery packs with a capacity of 100Wh or less (20000mAh at 5V) and 2.5 Amp max
output per port, or batteries integral to and part of a COTS computing device or self-contained
camera (e.g. laptop batteries, GoPro style camera, etc.) may be used to power COTS computing
devices and any peripheral COTS input or output devices connected to the COTS computing device
provided they are:

A. securely fastened to the ROBOT.

B. connected only using unmodified COTS cables

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C. charged according to manufacturer recommendations

R34. Any battery charger used to charge a ROBOT battery must have the corresponding Anderson SB
connector installed.

R35. Any battery charger used to charge a ROBOT battery may not be used such that it exceeds 6-
Amp peak charge current.

R36. No batteries other than those allowed per R32 and R33 are allowed on the ROBOT, whether or
not they are being used to supply power.

For example, teams may not use additional batteries as extra weight on their ROBOTS.

R37. The ROBOT battery must be secured such that it will not dislodge during vigorous ROBOT
interaction including if the ROBOT is turned over or placed in any arbitrary orientation.

R38. Each electrical terminal on the ROBOT battery, main breaker, and their connections (lugs,
stripped wire ends, etc.) to the wire must be fully insulated at all times.

R39. Non-electrical sources of energy used by the ROBOT, (i.e., stored at the start of a MATCH), shall
come only from the following sources:

A. compressed air stored in the pneumatic system that has been charged in compliance with
R79 and R80,
B. a change in the altitude of the ROBOT center of gravity,
C. storage achieved by deformation of ROBOT parts,
D. closed-loop COTS pneumatic (gas) shocks, and
E. air-filled (pneumatic) wheels.

R40. The one (1) ROBOT battery, a single pair of Anderson Power Products (or APP) 2-pole SB type
connectors, the one (1) main 120-amp (120A) surface mount circuit breaker (Cooper Bussman P/N:
CB185-120, CB185F-120, CB285-120), and the one (1) CTR Electronics Power Distribution Panel
(PDP, P/N: am-2856, 217-4244, 14-806880) shall be connected with 6 AWG (7 SWG or 16 mm2)
copper wire or larger, with no additional devices or modifications, as shown in Figure 9-9.

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Figure 9-9 Electrical connection diagram

“SB type” refers to SB type only (e.g. SB-50, SB-120, etc.), not SBS or any other part
type beginning with SB. All batteries supplied by FIRST (such as Spare Parts and
international batteries) will have a Red or Pink SB50 connector installed which may not
be removed.

The pink connectors included in the 2020 KOP mate with the Red SB50 connector.

R41. All circuits, with the exceptions of those listed in R46 and R48, must connect to, and have power
sourced solely by, a single protected 12VDC WAGO connector pair (i.e. the Load Terminals, as
shown in Figure 9-9) of the one (1) CTR Electronics Power Distribution Panel, not the M6 cap screws.

R42. All wiring and electrical devices, including all Control System COMPONENTS, shall be electrically
isolated from the ROBOT frame. The ROBOT frame must not be used to carry electrical current.

R42 is checked by observing a >3kΩ resistance between either the (+) or (-) post within
the APP connector that is attached to the PDP and any point on the ROBOT.

All legal motor controllers with metal cases are electrically isolated. They may be
mounted directly to ROBOT frame COMPONENTS.

Note that some cameras, decorative lights and sensors (e.g. some encoders, some IR
sensors, etc.) have grounded enclosures or are manufactured with conductive plastics.
These devices must be electrically isolated from the ROBOT frame to ensure compliance
with R42.

R43. The 120A circuit breaker must be quickly and safely accessible from the exterior of the ROBOT.
This is the only 120A circuit breaker allowed on the ROBOT.

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Examples considered not “quickly and safely accessible” include breakers covered by an
access panel or door, or mounted on, underneath or immediately adjacent to moving
COMPONENTS.

It is strongly recommended that the 120A circuit breaker location be clearly and obviously
labeled so it can be easily found by FIELD STAFF during a MATCH.

R44. The PDP, associated wiring, and all circuit breakers must be visible for Inspection.

R45. Any active electrical item that is not an actuator (specified in R27) or core Control System item
(specified in R66) is considered a CUSTOM CIRCUIT. CUSTOM CIRCUITS shall not produce
voltages exceeding 24V.

R46. The roboRIO power input must be connected to the dedicated supply terminals on the PDP
shown in Figure 9-10. No other electrical load shall be connected to these terminals.

Figure 9-10 roboRIO power source

R47. The Wireless Bridge (Radio) power must be supplied directly by the 12V 2A output of a CTR
Electronics Voltage Regulator Module (VRM) (P/N: am-2857, 217-4245) and must be the only load
connected to those terminals.

Figure 9-11 Radio power source

Note that this wiring is different from the wiring for the radio used in 2015, but is identical
to the wiring from 2016-2019. When using a 2015 VRM with the OM5P-AN or OM5P-AC
radio, the radio should be connected as described above, not to the terminals labeled
“Radio”.

Note that this prohibits using any active POE Injector device to power the radio but does
not prohibit using any PASSIVE CONDUCTORS to inject the VRM power into an
Ethernet cable plugged into the radio port labeled “18-24v POE”.

R48. The VRM supplying power to the Wireless Bridge per R47 must be connected to the designated
supply terminals at the end of the PDP, and not the main WAGO connectors along the sides of the

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PDP as shown in Figure 9-12. With the exception of a single CTR Electronics Pneumatics Control
Module (PCM, P/N: am-2858), no other electrical load shall be connected to these PDP terminals.

Figure 9-12 VRM and PCM power source

Please reference How to Wire an FRC Robot for Wireless Bridge wiring information.

R49. Only one wire shall be connected to each WAGO connector on the PDP.

If multi-point distribution of circuit power is needed (e.g. to provide power to multiple

PCMs and/or VRMs from one 20A circuit), then all incoming wires may be appropriately
spliced into the main lead (e.g. using an insulated terminal block, crimped splice or
soldered wire splice), and the single main lead inserted into the WAGO connector to
power the circuit.

R50. The only circuit breakers permitted for use in the PDP are:

A. Snap Action VB3-A Series, terminal style F57

B. Snap Action MX5-A or MX5-L Series, 40A rating or lower

R51. The fuses in the PDP shall only be replaced with functionally identical fuses (mini automotive
blade fuses with values matching those printed on the PDP).

Note that these fuses must be pressed very firmly to seat properly. Improper seating can
cause component reboots during impacts.

R52. Each branch circuit must be protected by one and only one circuit breaker on the PDP per Table
9-3. No other electrical load can be connected to the breaker supplying this circuit.
Table 9-3 Branch circuit protection requirements

Branch Circuit Circuit Breaker Quantity Allowed

Value Per Breaker
Motor Controller Up to 40A 1

CUSTOM CIRCUIT Up to 40A 1

Automation Direct Relay 40A (*6M40*) Up to 40A 1

Fans permitted per Table 9-1 and not
Up to 20A No limit
already part of COTS computing devices
Spike Relay Module Up to 20A 1

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Automation Direct Relay 25A (*6M25*) Up to 20A 1

PCM – with compressor 20A 1

Additional VRM (non-radio)/Additional
20A 3 total
PCM (non-compressor)
Automation Direct Relay 12A (*6M12*) Up to 10A 1

R52 does not prohibit the use of smaller value breakers in the PDP or any fuses or
breakers within CUSTOM CIRCUITS for additional protection.

R53. All circuits shall be wired with appropriately sized insulated copper wire (SIGNAL LEVEL cables
don’t have to be copper):
Table 9-4 Breaker and Wire Sizing

Application Minimum Wire Size

12 AWG
31 – 40A protected circuit
(13 SWG or 4 mm2)
14 AWG
21 – 30A protected circuit
(16 SWG or 2.5 mm2)
6 – 20A protected circuit
18 AWG
Between the PDP dedicated terminals and the VRM or PCM
(19 SWG or 1 mm2)
Compressor outputs from the PCM
Between the PDP and the roboRIO 22 AWG
≤5A protected circuit (22 SWG or 0.5 mm2)
24 AWG
VRM 2A circuits
(24 SWG or .25mm2)
26 AWG
roboRIO PWM port outputs
(27 SWG or 0.14 mm2)
SIGNAL LEVEL circuits (i.e. circuits which draw ≤1A 28 AWG
continuous and have a source incapable of delivering >1A, (29 SWG or .08 mm2)
including but not limited to roboRIO non-PWM outputs,
CAN signals, PCM Solenoid outputs, VRM 500mA outputs
and Arduino outputs)
Wires that are recommended by the device manufacturer or originally attached to legal devices are
considered part of the device and by default legal. Such wires are exempt from R53.

In order to show compliance with these rules, teams should use wire with clearly labeled
sizes if possible. If unlabeled wiring is used, teams should be prepared to demonstrate
that the wire used meets the requirements of R53 (e.g. wire samples and evidence that
they are the required size).

R54. Branch circuits may include intermediate elements such as COTS connectors, splices, COTS
flexible/rolling/sliding contacts, and COTS slip rings, as long as the entire electrical pathway is via
appropriately gauged/rated elements.

Slip rings containing mercury are prohibited per R8.

R55. All non-SIGNAL LEVEL wiring with a constant polarity (i.e., except for outputs of relay modules,
motor controllers, or sensors) shall be color-coded along their entire length from the manufacturer as
follows:

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A. Red, yellow, white, brown, or black-with-stripe on the positive (e.g. +24VDC, +12VDC,
+5VDC, etc.) connections
B. Black or blue for the common or negative side (-) of the connections.

Exceptions to this rule include:

C. Wires that are originally attached to legal devices and any extensions to these wires using
the same color as the manufacturer.
D. Ethernet cable used in POE cables.

R56. CUSTOM CIRCUITS shall not directly alter the power pathways between the ROBOT battery,
PDP, motor controllers, relays (per R29-B), motors and actuators (per R27), pneumatic solenoid
valves, or other elements of the ROBOT control system (items explicitly mentioned in R66). Custom
high impedance voltage monitoring or low impedance current monitoring circuitry connected to the
ROBOT’S electrical system is acceptable, if the effect on the ROBOT outputs is inconsequential.

A noise filter may be wired across motor leads or PWM leads. Such filters will not be
considered CUSTOM CIRCUITS and will not be considered a violation of R56 or R73.

Acceptable signal filters must be fully insulated and must be one of the following:

• A one microfarad (1 µF) or less, non-polarized, capacitor may be applied across the
power leads of any motor on your ROBOT (as close to the actual motor leads as
reasonably possible).
• A resistor may be used as a shunt load for the PWM control signal feeding a servo.
9.8 Control, Command & Signals System
R57. ROBOTS must be controlled via one (1) programmable National Instruments roboRIO (P/N:
am3000), with image version FRC_roboRIO_2020_v10 or later.

There are no rules that prohibit co-processors, provided commands originate from the
roboRIO to enable and disable all power regulating devices. This includes motor
controllers legally wired to the CAN-bus.

R58. One (1) OpenMesh Wireless Bridge (P/N: OM5P-AN or OM5P-AC), that has been configured with
the appropriate encryption key for your team number at each event, is the only permitted device for
communicating to and from the ROBOT during the MATCH.

R59. The roboRIO Ethernet PORT must be connected to the Wireless Bridge PORT labeled “18-24
vPOE,” closest to the power connector (either directly, via a network switch, or via a CAT5 Ethernet
pigtail).

Note: Placing a switch between the roboRIO and radio may impede the ability for FIELD
STAFF to troubleshoot roboRIO connection issues on the FIELD. Teams may be asked
to try directly connecting from the radio to roboRIO as part of troubleshooting efforts.

R60. Communication between the ROBOT and the OPERATOR CONSOLE is restricted as follows:

A. Network ports:

i. HTTP 80: Camera connected via switch on the ROBOT, bi-directional

ii. HTTP 443: Camera connected via switch on the ROBOT, bi-directional
iii. UDP/TCP 554: Real-Time Streaming Protocol for h.264 camera streaming, bi-directional
iv. UDP 1130: Dashboard-to-ROBOT control data, uni-directional

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v. UDP 1140: ROBOT-to-Dashboard status data, uni-directional

vi. UDP/TCP 1180-1190: Camera data from the roboRIO to the Driver Station when the
camera is connected the roboRIO via USB, bi-directional.
vii. TCP/UDP 1250: CTRE Diagnostics Server, bi-directional
viii. TCP 1735: SmartDashboard, bi-directional
ix. UDP/TCP 5800-5810: Team Use, bi-directional

Teams may use these ports as they wish if they do not employ them as outlined above (i.e.
TCP 1180 can be used to pass data back and forth between the ROBOT and the DS if the
team chooses not to use the camera on USB).

B. Bandwidth: no more than 4 Mbits/second.

Note that the 4 Mbit limit will be strictly enforced by the Wireless Bridge.

The FMS Whitepaper has more details on how to check and optimize bandwidth usage.

While FIRST makes every effort to provide a wireless environment that allows teams
access to a full 4 Mbits/second data rate (with about 100 Kbit used for ROBOT control
and status), at some events wireless conditions may not accommodate this.

R61. The roboRIO, DRIVER Station software, and Wireless Bridge must be configured to correspond
to the correct team number, per the procedures defined in Getting Started with the 2020 Control
System.

R62. All signals must originate from the OPERATOR CONSOLE and be transmitted to the ROBOT via
the ARENA Ethernet network.

R63. No form of wireless communication shall be used to communicate to, from, or within the ROBOT,
except those required per R58 and R62.

Devices that employ signals in the visual spectrum (e.g. cameras) and non-RF sensors
that don’t receive human-originated commands (e.g. “beam break” sensors or IR sensors
on the ROBOT used to detect FIELD elements) are not wireless communication devices
and thus R63 doesn’t apply.

R64. The Wireless Bridge must be mounted on the ROBOT such that the diagnostic lights are visible to
ARENA personnel.

Teams are encouraged to mount the wireless bridge away from noise generating devices
such as motors, PCM(s), and VRM(s).

R65. ROBOTS must use at least one (1), but no more than two (2), diagnostic ROBOT Signal Lights
(RSL) (P/N: 855PB-B12ME522).

Any RSL must be:

A. mounted on the ROBOT such that it is easily visible while standing 3 ft. (~ 100 cm) in front
of the ROBOT,
B. connected to the “RSL” supply terminals on the roboRIO,
C. wired for solid light operation, by placing a jumper between the “La” and “Lb” terminals on
the light per Figure 9-13.

Please see How to Wire an FRC Robot for connection details.

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Figure 9-13 RSL jumper wiring

R66. The Driver Station software, roboRIO, Power Distribution Panel, Pneumatics Control Modules,
Voltage Regulator Modules, RSL, 120A breaker, motor controllers, relay modules (per R29-B),
Wireless Bridge, and batteries shall not be tampered with, modified, or adjusted in any way
(tampering includes drilling, cutting, machining, rewiring, disassembling, painting, etc.), with the
following exceptions:

Please note that the Driver Station application is a separate application from the
Dashboard. The Driver Station software may not be modified, while teams are expected
to customize their Dashboard code.

A. User programmable code in the roboRIO may be customized.

B. Motor controllers may be calibrated as described in owner's manuals.
C. Fans may be attached to motor controllers and may be powered from the power input
terminals.
D. If powering the compressor, the fuse on a Spike H-Bridge Relay may be replaced with a
VB3A-20A Snap-Action circuit breaker.
E. Wires, cables, and signal lines may be connected via the standard connection points
provided on the devices.
F. Fasteners (including adhesives) may be used to attach the device to the OPERATOR
CONSOLE or ROBOT or to secure cables to the device.
G. Thermal interface material may be used to improve heat conduction.
H. Labeling may be applied to indicate device purpose, connectivity, functional performance,
etc.
I. Jumpers may be changed from their default location.
J. Limit switch jumpers may be removed from a Jaguar motor controller and a custom limit
switch circuit may be substituted.
K. Device firmware may be updated with manufacturer supplied firmware.
L. Integral wires on motor controllers may be cut, stripped, and/or connectorized.
M. Devices may be repaired, provided the performance and specifications of the device after
the repair are identical to those before the repair.
N. The cover may be removed from the Talon SRX data port.
O. Electrical tape may be applied to the aluminum plate inside the Wireless Bridge.
P. The input terminal cover from the Power Distribution Panel may be omitted (no other
element may be installed using the threaded holes to install something in place of the PDP
terminal cover).

Please note that while repairs are permitted, the allowance is independent of any
manufacturer’s warranty. Teams make repairs at their own risk and should assume that
any warranty or RMA options are forfeited. Be aware that diagnosing and repairing
COMPONENTS such as these can be difficult.

For more information about modification O, please see this article.

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R67. Neither 12VDC power nor relay module or motor controller outputs shall be directly connected to
the roboRIO (with the exception of the designated 12VDC input).

R68. Every relay module (per R29-B), servo controller, and PWM motor controller shall be connected
to a corresponding port (relays to Relay ports, servo controllers and PWM controllers to PWM ports)
on the roboRIO (either directly or through a WCP Spartan Sensor Board) or via a legal MXP
connection (per R69). They shall not be controlled by signals from any other source, with the
exception of the Nidec Dynamo motor controller which must also be connected to the roboRIO Digital
I/O.

R69. If a motor is controlled via the MXP, its power regulating device must be connected by one of the
following methods:

A. directly to any PWM pins,

B. via a network of PASSIVE CONDUCTORS used to extend the PWM pins, or
C. via one approved active device:

i. Kauai Labs navX MXP

ii. RCAL MXP Daughterboard
iii. REV Robotics RIOduino
iv. REV Robotics Digit Board
v. West Coast Products Spartan Sensor Board
vi. Huskie Robotics HUSKIE 2.0 Board

A PASSIVE CONDUCTOR is any device or circuit whose capability is limited to the

conduction and/or static regulation of the electrical energy applied to it (e.g. wire, splices,
connectors, printed wiring board, etc.).

An “active device” is any device capable of dynamically controlling and/or converting a

source of electrical energy by the application of external electrical stimulus.

The “network of PASSIVE CONDUCTORS” only applies to the pins being used for PWM
output to motors or servos. This means that connecting an active device, such as a
sensor to one MXP pin does not prevent other MXP pins from being used in accordance
with R69-B.

R70. Each CAN motor controller must be controlled with signal inputs sourced from the roboRIO and
passed via either a PWM (wired per R68) or CAN-bus (either directly or daisy-chained via another
CAN-bus device) signal, but both shall not be wired simultaneously on the same device.

As long as the CAN bus is wired legally so that the heartbeat from the roboRIO is
maintained, all closed loop control features of the CAN motor controller may be used.
(That is, commands originating from the roboRIO to configure, enable, and specify an
operating point for all CAN motor controller closed loop modes fit the intent of R57).

R71. Each PCM must be controlled with signal inputs sourced from the roboRIO and passed via a
CAN-bus connection from the roboRIO (either directly or daisy-chained via another CAN-bus device).

R72. The PDP CAN interface must be connected to the CAN-bus on the roboRIO (either directly or
daisy-chained via another CAN-bus device).

For documentation on how to wire the CAN-bus connections of the PDP see How to Wire
an FRC Robot.

R73. The CAN-bus must be connected to the roboRIO CAN port.

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A. Additional switches, sensor modules, CUSTOM CIRCUITS, third-party modules, etc. may
also be placed on the CAN-bus.
B. No device that interferes with, alters, or blocks communications among the roboRIO and
the PDP, PCMs, and/or CAN Motor Controllers on the bus will be permitted.

Only one wire should be inserted into each Weidmuller CAN connector terminal. For
documentation on how to wire the CAN-bus connections of the roboRIO, PCM, PDP and
CAN motor controllers, see How to Wire an FRC Robot.

9.9 Pneumatic System

In order to maintain safety, the rules in this section apply at all times while at the event, not just while the
ROBOT is on the FIELD for MATCHES.

R74. To satisfy multiple constraints associated with safety, consistency, Inspection, and constructive
innovation, no pneumatic parts other than those explicitly permitted in this section shall be used on
the ROBOT.

R75. All pneumatic items must be COTS pneumatic devices and either:

A. rated by their manufacturers for pressure of at least 125psi (~862 kPa), or

B. installed downstream of the primary relieving regulator (see R82), and rated for pressure of
at least 70psi (~483 kPa)

Any pressure specification such as “working,” “operating,” “maximum,” etc. may be used
to satisfy the requirements of R75.

It is recommended that all pneumatic items be rated by their manufacturers for a working
pressure of at least 60 psi (~414 kPa).

R76. All pneumatic COMPONENTS must be used in their original, unaltered condition. Exceptions are
as follows:

A. tubing may be cut,

B. wiring for pneumatic devices may be modified to interface with the control system,
C. assembling and connecting pneumatic COMPONENTS using the pre-existing threads,
mounting brackets, quick-connect fittings, etc.,
D. removing the mounting pin from a pneumatic cylinder, provided the cylinder itself is not
modified,
E. labeling applied to indicate device purpose, connectivity, functional performance, etc.

Do not, for example, paint, file, machine, or abrasively remove any part of a pneumatic
COMPONENT – this would cause the part to become a prohibited item. Consider
pneumatic COMPONENTS sacred.

R77. The only pneumatic system items permitted on ROBOTS include the items listed below.

A. Pneumatic pressure vent plug valves functionally equivalent to those provided in the KOP,

Examples of acceptable valves include Parker PV609-2 or MV709-2.

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B. Pressure relief valves functionally equivalent to those provided in the KOP,

Examples of acceptable valves include Norgren 16-004-011, 16-004-003 or McMaster-

Carr 48435K714.

To be considered functionally equivalent the valve must be preset or adjustable to 125

psi (~862 kPA) and capable of relieving at least 1 scfm (~472 cm3/s).

C. Solenoid valves with a maximum ⅛ in. (nominal, ~3 mm) NPT, BSPP, or BSPT port
diameter or integrated quick connect ¼ in. (nominal, ~6mm) outside diameter tubing
connection,
D. Additional pneumatic tubing, with a maximum ¼ in. (nominal, ~6 mm) outside diameter,
E. Pressure transducers, pressure gauges, passive flow control valves (specifically “needle
valve”), manifolds, and connecting fittings (including COTS pneumatic U-tubes),
F. Check and quick exhaust valves, provided that the requirements of R86-A are still met.
G. Shutoff valves which relieve downstream pressure to atmosphere when closed (may also
be known as 3-way or 3-way exhausting valves).
H. Pressure regulators with the maximum outlet pressure adjusted to no more than 60 psi
(~413 kPa),
I. Pneumatic cylinders, pneumatic linear actuators, and rotary actuators,
J. Pneumatic storage tanks (with the exception of White Clippard tanks P/N: AVT-PP-41),
K. One (1) compressor that is compliant with R79,
L. Debris or coalescing (water) filters, and
M. Venturi valves (note: the high-pressure side of a Venturi valve is considered a pneumatic
device and must follow all pneumatic rules. The vacuum side of a Venturi valve is exempt
from the pneumatic rules per “a” in the Blue Box below).

The following devices are not considered pneumatic devices and are not subject to
pneumatic rules (though they must satisfy all other rules):

a device that creates a vacuum

closed-loop COTS pneumatic (gas) shocks
air-filled (pneumatic) wheels
pneumatic devices not used as part of a pneumatic system (i.e. used in a way that
does not allow them to contain pressurized air)

R78. If pneumatic COMPONENTS are used, the following items are required as part of the pneumatic
circuit and must be used in accordance with this section, as illustrated in Figure 9-14.

A. One (1) FIRST Robotics Competition legal compressor (per R79)

B. Pressure relief valve (per R77-B) connected via legal rigid fittings (e.g. brass, nylon, etc.)
C. Nason pressure switch, P/N SM-2B-115R/443
D. At least one pressure vent plug
E. Stored pressure gauge (upstream from Primary Regulator, must show psi or kPa)
F. Working pressure gauge (downstream from Primary Regulator, must show psi or kPa)
G. Working pressure regulator

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Figure 9-14 Pneumatic circuitry

R79. Throughout an event, compressed air on the ROBOT must be provided by its one onboard
compressor only. Compressor specifications must not exceed nominal 1.1 cfm (~519 cm3/s) flow rate
@ 12VDC at any pressure.

A ROBOT’S compressor may be substituted by another compressor, but a ROBOT may

only have one designated compressor at a time, and all compressed air on the ROBOT
must be sourced from a single compressor.

Note: Viair C-series compressors, which have a max working pressure of 120 PSI, are
rated for intermittent pressures greater than 125 PSI and therefore meet the
requirements of R75.

R80. Stored air pressure on the ROBOT must be no greater than 120 psi (~827 kPa). No stored air
pressure intended for the ROBOT may be located off-board the ROBOT.

R81. Working air pressure (air pressure used to actuate devices) on the ROBOT must be no greater
than 60 psi (~413 kPa) and must be provided through a single primary adjustable, relieving, pressure
regulator.

Examples of acceptable valves include: Norgren regulator P/N: R07-100-RNEA or

Monnier P/N: 101-3002-1.

R82. Only the compressor, relief valve, pressure switch, pressure vent plug, pressure gauge, storage
tanks, tubing, pressure transducers, filters, and connecting fittings may be in the high-pressure
pneumatic circuit upstream from the regulator.

It is recommended that all COMPONENTS in the high-pressure pneumatic circuit

upstream from the regulator be rated for at least 115 psi (~793 kPa) working pressure.

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R83. Pressure gauges must be placed in easily visible locations upstream and downstream of the
regulator to display the stored and working pressures.

R84. The relief valve must be attached directly to the compressor or attached by legal hard fittings (e.g.
brass, nylon, etc.) connected to the compressor output port.

Teams are required to check and/or adjust the relief valve to release air at 125 psi (~861 kPa). The
valve may or may not have been calibrated prior to being supplied to teams.

Instructions for adjusting the pressure relief valve can be found in the Pneumatics
Manual.

R85. The pressure switch requirements are:

A. It must be Nason P/N: SM-2B-115R/443

B. It must be connected to the high-pressure side of the pneumatic circuit (i.e. prior to the
pressure regulator) to sense the stored pressure of the circuit.
C. The two wires from the pressure switch must be connected directly to the pressure switch
input of the PCM controlling the compressor or, if controlled using the roboRIO and a relay,
to the roboRIO.
D. If connected to the roboRIO, the roboRIO must be programmed to sense the state of the
switch and operate the relay module that powers the compressor to prevent over-
pressuring the system.

R86. Any pressure vent plug must be:

A. connected to the pneumatic circuit such that, when manually operated, it will vent to the
atmosphere to relieve all stored pressure in a reasonable amount of time, and
B. placed on the ROBOT so that it is visible and easily accessible.

R87. The outputs from multiple solenoid valves must not be plumbed together.

9.10 OPERATOR CONSOLE

R88. The DRIVER Station software provided by National Instruments (install instructions found here) is
the only application permitted to specify and communicate the operating mode (i.e.
Autonomous/Teleoperated) and operating state (Enable/Disable) to the ROBOT. The DRIVER Station
software must be revision 20.0 or newer.

Teams are permitted to use a portable computing device of their choice (laptop computer,
tablet, etc.) to host the DRIVER Station software while participating in competition
MATCHES.

R89. The OPERATOR CONSOLE, the set of COMPONENTS and MECHANISMS used by the
DRIVERS and/or HUMAN PLAYER to relay commands to the ROBOT, must include a graphic
display to present the DRIVER Station diagnostic information. It must be positioned within the
OPERATOR CONSOLE so that the screen display can be clearly seen during Inspection and in a
MATCH.

R90. Devices hosting the DRIVER Station software must only interface with the Field Management
System (FMS) via the Ethernet cable provided at the PLAYER STATION (e.g. not through a switch).
Teams may connect the FMS Ethernet cable to their DRIVER Station device directly via an Ethernet
pigtail, or with a single-port Ethernet converter (e.g. docking station, USB-Ethernet converter,

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Thunderbolt-Ethernet converter, etc.). The Ethernet port on the OPERATOR CONSOLE must be
easily and quickly accessible.

Teams are strongly encouraged to use pigtails on the Ethernet port used to connect to
the FMS. Such pigtails will reduce wear and tear on the device’s port and, with proper
strain relief employed, will protect the port from accidental damage.

R91. The OPERATOR CONSOLE must not

A. be longer than 60 in. (~152 cm)

B. be deeper than 14 in. (~35 cm) (excluding any items that are held or worn by the DRIVERS
during the MATCH)
C. extend more than 6 ft. 6 in. (~198 cm) above the floor
D. attach to the FIELD (except as permitted by G26)

There is a 54 in. (~137 cm) long by 2 in. (nominal) wide strip of hook-and-loop tape
(“loop” side) along the center of the PLAYER STATION support shelf that should be used
to secure the OPERATOR CONSOLE to the shelf, per G26. See PLAYER STATION for
details.

Please note that while there is no hard weight limit, OPERATOR CONSOLES that weigh
more than 30 lbs. (~13 kg.) will invite extra scrutiny as they are likely to present unsafe
circumstances.

R92. Other than the system provided by the FIELD, no other form of wireless communications shall be
used to communicate to, from, or within the OPERATOR CONSOLE.

Examples of prohibited wireless systems include, but are not limited to, active wireless
network cards and Bluetooth devices. For the case of the FIRST Robotics Competition, a
motion sensing input device (e.g. Microsoft Kinect) is not considered wireless
communication and is allowed.

R93. OPERATOR CONSOLES shall not be made using hazardous materials, be unsafe, cause an
unsafe condition, or interfere with other DRIVE TEAMS or the operation of other ROBOTS.

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10 INSPECTION & ELIGIBILITY RULES

This section describes the rules governing MATCH participation. A team has participated in a MATCH if
any member of their DRIVE TEAM is in the ALLIANCE STATION, with or without the ROBOT on the
FIELD, at the start of the MATCH.

At each event, the Lead ROBOT Inspector (LRI) has final authority on the legality of any COMPONENT,
MECHANISM, or ROBOT. Inspectors may re-Inspect ROBOTS at any time to ensure compliance with the
rules. Teams are encouraged to consult with Inspectors or the LRI if they have any questions regarding
the legality of a ROBOT or about how to make a ROBOT legal.

While there is no specific defined procedure in place for teams to be re-inspected prior to PLAYOFF
MATCHES, it is typical for Inspectors to use the re-inspection discretion described above to do a limited
re-inspection on all ROBOTS near the end of QUALIFICATIONS or beginning of PLAYOFFS to help
identify any modifications that should be re-inspected per I4.

ROBOTS are permitted to participate in scheduled Practice MATCHES prior to passing Inspection.
However, the FIRST Technical Advisor (FTA), LRI, or Head REFEREE may determine at any time that
the ROBOT is unsafe, per Safety Rules, and may prohibit further participation in Practice MATCHES until
the condition is corrected and/or the ROBOT passes Inspection.

Prior to the start of a MATCH, any ROBOT which is unable or ineligible to participate in that MATCH as
determined by the FTA, LRI, or Head REFEREE is declared to be BYPASSED and is DISABLED. A team
whose ROBOT is BYPASSED remains eligible to receive Qualification Ranking Points or Playoff MATCH
points provided that its ROBOT has passed Inspection, per I2.

I1. It’s your team’s ROBOT. The ROBOT and its MAJOR MECHANISMS must be built by the FIRST
Robotics Competition team.

A MAJOR MECHANISM is a group of COMPONENTS and/or MECHANISMS assembled together to

address at least one (1) game challenge: robot movement, game piece control, field element
manipulation, or performance of a scorable task without the assistance of another ROBOT.

I1 requires that the ROBOT and its MAJOR MECHANISMS were built by its team, but
isn’t intended to prohibit or discourage assistance from other teams (e.g. fabricating
elements, supporting construction, writing software, developing game strategy,
contributing COMPONENTS and/or MECHANISMS, etc.)

Examples of MAJOR MECHANISMS include, but are not limited to, assemblies listed
below:

an assembly used to manipulate a game piece

an assembly used to position a ROBOT for an end game task
an assembly used to manipulate a FIELD element
an assembly used to move the ROBOT around the FIELD
Examples that would generally not be considered MAJOR MECHANISMS, and thus
probably aren’t subject to I1 include, but are not limited to, the following:

a gearbox assembly
a COMPONENT or MECHANISM that’s part of a MAJOR MECHANISM
COTS items

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Neither I1 nor the language in its Blue Box define specific thresholds for how much of a
MAJOR MECHANISM must be the result of the team’s effort. I1 expects and requires the
team’s honest assessment of whether they built the MAJOR MECHANISMS of their
ROBOT.

Attempts to exploit loopholes in the definition of MAJOR MECHANISM in order to bypass

this requirement are not in the spirit of I1 or the FIRST Robotics Competition. Examples
of exploitation include:

assembling pieces of a MAJOR MECHANISM provided by another team

receiving a mostly complete MAJOR MECHANISM from another team and providing
a small piece

I2. Get inspected before playing a Qualification/Playoff MATCH. A team is only permitted to
participate in a Qualification or Playoff MATCH and receive Ranking or MATCH Points respectively if
their ROBOT has passed an initial, complete Inspection.

Violation: If prior to the start of the MATCH, the team is DISQUALIFIED and not eligible to
participate in the MATCH. If after the start of the MATCH, the entire ALLIANCE receives a RED
CARD for that MATCH.

Please take note of this rule. It is important that FIRST Robotics Competition teams
ensure their ALLIANCE partners have passed Inspection. Allowing a partner that has not
passed Inspection to play puts the ALLIANCE at risk of RED CARDS. Teams should
check with their ALLIANCE partners early and help them pass Inspection before
competing.

I3. Bring it all to Inspection. At the time of Inspection, the ROBOT must be presented with all
MECHANISMS (including all COMPONENTS of each MECHANISM), configurations, and decorations
that will be used on the ROBOT in MATCHES without re-inspection (per I4) and may not exceed 150
lbs. (~68kg) (note that while up to 150 lbs. of ROBOT MECHANISMS may be inspected together, the
ROBOT configuration used in a MATCH may not violate R5). Exceptions listed in R5 are not included
in this weight.

I4. Unless the change is listed below, any change to a ROBOT must get re-inspected. A ROBOT
may play MATCHES with a subset of the MECHANISMS that were present during Inspection
provided the reconfigured ROBOT still meets all ROBOT Rules. Only MECHANISMS that were
present during the Inspection may be added, removed, or reconfigured between MATCHES without
re-inspection per I4. If a ROBOT is modified after its most recent passed Inspection, it must be re-
inspected before it is eligible to participate in a MATCH. A ROBOT that plays in a MATCH with an un-
inspected modification is subject to retro-active DISQUALIFICATION at the discretion of the LRI and
Head REFEREE.

Exceptions are listed in A through F (unless they result in a significant change to the ROBOT’S size,
weight, legality, or safety).

A. addition, relocation, or removal of fasteners (e.g. cable ties, tape, and rivets)
B. addition, relocation, or removal of labeling or marking
C. revision of ROBOT code
D. replacement of a COTS COMPONENT with an identical COTS COMPONENT
E. replacement of a MECHANISM with an identical MECHANISM (size, weight, material)
F. additions, removals, or reconfiguration of ROBOT with a subset of MECHANISMS already
inspected per I3.

I5. Don’t exploit I4. Teams may not use the re-inspection process in I4 to circumvent the weight limit in
I3.

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This restriction is not intended to prevent a team from returning to a previous

configuration (e.g. due to an unsuccessful upgrade or failure of a new component). If a
team is believed to be violating this rule, the LRI will discuss the situation with the team to
understand the changes and, if appropriate, the LRI in conjunction with the team will
select a single configuration with which the team will compete for the duration of the
event.

Example 1: A ROBOT passes initial Inspection (which includes MECHANISM A). Its team
then decides they want to use MECHANISM B, which was not Inspected. The weight of
the ROBOT, A, and B is less than the weight limit in I3, but more than that in R5. I4
requires the ROBOT be re-inspected, and I5 allows the ROBOT, A, and B to be
inspected collectively. If passed, the ROBOT may then compete in subsequent matches
with A or B.

Example 2: A ROBOT passes initial Inspection (which includes MECHANISM A). Its team
then decides they want to use MECHANISM B, which was not Inspected. The weight of
the ROBOT, A, and B is greater than the weight limit in I3. This requires re-inspection per
I4 and A is excluded to satisfy I3. B breaks, and the team decides to switch back to A.
The ROBOT must be re-inspected per I4, and the team is not violating I5.

Example 3: A team arrives at an event with a ROBOT, MECHANISM A, and

MECHANISM B, which collectively weigh 175 lbs. The ROBOT passes initial Inspection
with A and plays a MATCH. The team switches to B, gets re-inspected, and plays again.
The team switches back to A, gets re-inspected, and plays again. The team switches
back to B and asks to be re-inspected. At this point, the LRI suspects the team may be
violating I5 and has a discussion with the team to understand the changes being made.
The team reveals that I5 has been violated, and the LRI works with them to select A or B
for use for the remainder of the event.

I6. Document your costs. A Bill of Materials (BOM), listing all items on the ROBOT except those listed
in R11 and their relevant costs per Budget Constraints & Fabrication Schedule, must be presented at
the time of Inspection.

Teams are encouraged to use the BOM Template posted on the FIRST website. Please
note that while BOMs must be shown to Inspectors, teams are not required to submit
their BOMs to the Inspectors.

I7. ROBOTS are off for Inspection, mostly. For the safety of all those involved, ROBOTS, must be
presented for Inspection with the ROBOT powered off, pneumatics unpressurized, and springs or
other stored energy devices in their lowest potential energy states (e.g. battery removed).

Power and air pressure should only be enabled on the ROBOT during those portions of the
Inspection process where it is absolutely required to validate certain system functionality and
compliance with specific rules (firmware check, etc.). Inspectors may allow the ROBOT to be
powered beyond the parameters above if both criteria below are met.

A. The ROBOT design requires power or a charged stored energy device in order to confirm
that the ROBOT meets volume requirements, and
B. The team has included safety interlocks that mitigate unexpected release of such stored
energy.

The team may be asked to demonstrate these interlocks during the inspection process.

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I8. No student, no Inspection. At least one student team member must accompany the ROBOT for any
Inspection efforts.

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

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11 TOURNAMENTS

Each 2020 FIRST® Robotics Competition event is played in a tournament format. Each tournament
consists of three sets of MATCHES called Practice MATCHES (not necessarily played at all District
Events), Qualification MATCHES, and Playoff MATCHES.

Practice MATCHES provide each team with an opportunity to operate its ROBOT on the FIELD prior to
the start of the Qualification MATCHES.

Qualification MATCHES allow each team to earn Ranking Points which determine their seeding position
and may qualify them for participation in the Playoff MATCHES.

Playoff MATCHES determine the event Champions.

11.1 MATCH Schedules

A MATCH schedule is used to coordinate MATCHES at an Event. Figure 11-1 details information shown
on each schedule.

Figure 11-1 Sample MATCH Schedule

11.2 REFEREE Interaction

The Head REFEREE has the ultimate authority in the ARENA during the event, but may receive input
from additional sources, e.g. Game Designers, FIRST personnel, FTA, and technical staff. The Head
REFEREE rulings are final. No event personnel, including the Head REFEREE, will review video, photos,
artistic renderings, etc. of any MATCH, from any source, under any circumstances.

If a DRIVE TEAM needs clarification on a ruling or score, per C9, one (1) pre-college student from that
DRIVE TEAM should address the Head REFEREE after the ARENA Reset Signal (e.g. FIELD lights turn
green). A DRIVE TEAM member signals their desire to speak with the Head REFEREE by standing in the
corresponding Red or Blue Question Box, which are located on the floor near each end of the scoring
table. Depending on timing, the Head REFEREE may postpone any requested discussion until the end of
the subsequent MATCH as necessary.

While FMS tracks quantities of FOULS, FIRST instructs REFEREES to not self-track details about
FOULS; as a result, we don’t expect REFEREES to recall details about what FOULS were made, when
they occurred, and against whom.

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Any reasonable question is fair game in the Question Box, and Head REFEREES will do
good faith efforts to provide helpful feedback (e.g. how/why certain FOULS are being
called, why a particular ROBOT may be susceptible to certain FOULS based on its
design or game play, how specific rules are being called or interpreted), but please know
that they will likely not be able to supply specific details

11.2.1 YELLOW and RED CARDS

In addition to rule violations explicitly listed throughout the 2020 Game and Season Manual, YELLOW
CARDS and RED CARDS are used in FIRST Robotics Competition to address team and ROBOT
behavior that does not align with the mission, values, and culture of FIRST.

As noted in Rule Violations and C1, the Head REFEREE may assign a YELLOW CARD as a warning, or
a RED CARD for DISQUALIFICATION in MATCH for egregious behavior inappropriate at a FIRST
Robotics Competition event.

A YELLOW or RED CARD is indicated by the Head REFEREE standing in front of the team’s PLAYER
STATION and holding a YELLOW and/or RED CARD in the air.

YELLOW CARDS are additive, meaning that a second YELLOW CARD is automatically converted to a
RED CARD. A team is issued a RED CARD for any subsequent incident in which they receive an
additional YELLOW CARD, including earning a second YELLOW CARD during a single MATCH. A
second YELLOW CARD is indicated by the Head REFEREE standing in front of the team’s PLAYER
STATION and holding a YELLOW CARD and RED CARD in the air simultaneously after the completion of
the MATCH. A team that has received either a YELLOW CARD or a RED CARD carries a YELLOW
CARD into subsequent MATCHES, except as noted below.

Once a team receives a YELLOW or RED CARD, its team number is presented with a yellow background
on the Audience Screen at the beginning of all subsequent MATCHES, including any replays, as a
reminder to the team, the REFEREES, and the audience that they carry a YELLOW CARD.

Figure 11-2 Audience Screen graphic showing YELLOW CARD Indicators

All YELLOW CARDS are cleared in FMS at the conclusion of Practice, Qualification, and Division Playoff
MATCHES. The Head REFEREE may opt to perpetuate a YELLOW CARD earned during Practice
MATCHES through to Qualification MATCHES for particularly egregious behavior.

During the Playoff MATCHES, a team receives a YELLOW or RED CARD for their entire ALLIANCE. If
two (2) YELLOW CARDS are accrued by an ALLIANCE, the entire ALLIANCE is issued a RED CARD. A
RED CARD results in DISQUALIFICATION and the ALLIANCE loses the MATCH. If both ALLIANCES
receive RED CARDS, the ALLIANCE which committed the action earning the RED CARD first
chronologically is DISQUALIFIED and loses the MATCH.

YELLOW and RED CARDS are applied based on the following:

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Table 11-1 YELLOW and RED CARD application

Time YELLOW or RED CARD earned: MATCH to which CARD is applied:

prior to the start of Qualification MATCHES Team’s first Qualification MATCH
during the Qualification MATCHES Team’s current (or just-completed) MATCH. In
the case where the team participated as a
SURROGATE in the current (or just
completed) MATCH, the card is applied to the
team’s previous MATCH (i.e. the team’s
second Qualification MATCH.)
between the end of Qualification MATCHES ALLIANCE’S first Playoff MATCH
and the start of Playoff MATCHES
during the Playoff MATCHES ALLIANCE’S current (or just-completed)
MATCH.

Please see examples of the application of YELLOW AND RED CARDS as shown in
Violation Details.

11.3 MATCH Replays

Over the course of the Tournament it may be necessary for a MATCH to be replayed. Typical causes for
replays are MATCHES that end in a tie during the Playoffs, MATCHES that are stopped because FIELD
STAFF anticipated FIELD damage or personal injury, or if there is an ARENA FAULT. An ARENA FAULT
is an error in ARENA operation that includes, but is not limited to:

A. broken FIELD elements due to

a. normal, expected game play or
b. ROBOT abuse of FIELD elements that affects the outcome of the MATCH for their
opponents.

A broken FIELD element caused by ROBOT abuse that affects the outcome of the
MATCH for their ALLIANCE is not an ARENA FAULT.

B. power failure to a portion of the FIELD (tripping the circuit breaker in the PLAYER STATION is
not considered a power failure)
C. improper activation by the FMS
D. errors by FIELD STAFF (except those listed in Other Logistics)

If, in the judgment of the Head REFEREE, an ARENA FAULT occurs that affects the outcome of the
MATCH and any team on the affected ALLIANCE desires a replay, the MATCH will be replayed.

The outcome of the MATCH is affected if an error occurs that, in the judgement of the
Head REFEREE, changes which ALLIANCE would have won the MATCH and/or the
assignment of Ranking Points.

All reasonable effort is made to create the same conditions when replaying a MATCH. This means, for
example, that a team that was BYPASSED prior to the start of the MATCH which is to be replayed, is
BYPASSED for the replay MATCH. ROBOT and DRIVE TEAM starting locations do not need to be
replicated when replaying a MATCH.

Note that an ARENA FAULT that does not affect MATCH outcome in the judgement of
the Head REFEREE does not lead to a MATCH replay. Examples include, but are not
limited to:

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a piece of FIELD plastic falls into the FIELD, far away from any human or ROBOT
activity, and in such a way that it does not affect MATCH outcome
delay in the playing of an ARENA sound
mismatch between the timer on the Audience Screen and the ARENA Timer
any adjustment or delay in assignment of a penalty (including those made after the
MATCH)
11.4 Measurement
At each event, the ARENA will be open for at least thirty (30) minutes prior to the start of Qualification
MATCHES, during which time teams may survey and/or measure the ARENA and bring ROBOTS on the
FIELD to perform sensor calibration. The specific time that the FIELD is open will be communicated to
teams at the event. Teams may bring specific questions or comments to the FTA.

T1. Freeze, ROBOT. During the period when the ARENA is open for measurement, ROBOTS can be
enabled, but cannot move, nor can they interact with (e.g. shoot, push, pickup, etc.) POWER CELLS,
POWER PORTS, GENERATOR SWITCHES, CONTROL PANELS, or other FIELD elements.

Violation: Verbal warning. If repeated at any point during the event or egregious YELLOW CARD.

11.5 Practice MATCHES

Practice MATCHES are played before Qualification Matches. The Practice MATCH schedule is available
as soon as possible, but no later than the start of Practice MATCHES. For Regional events, it will also be
published and available online at the FIRST Robotics Event Results site, except during exceptional
circumstances. Practice MATCHES are randomly assigned, and teams may not switch scheduled
Practice MATCHES. Each team is assigned an equal number of Practice MATCHES unless the number
of teams multiplied by number of Practice MATCHES is not divisible by six. In this case, the Field
Management System (FMS) randomly selects some teams to play an extra Practice MATCH.

Practice MATCHES are not guaranteed at District Events due to event schedule constraints.

11.5.1 Filler Line

A Filler Line is used to fill open slots at events that employ scheduled Practice MATCHES or all slots at
events with an open Practice MATCH schedule. Teams from the Filler Line are used on a first come, first
served basis to fill empty spots in Practice MATCHES left by other teams that do not report to Queueing.
The number of teams in the Filler Line is dependent upon space at venues.

Only teams that meet all criteria below qualify for the Filler Line:

A. ROBOTS in the Filler Line must have passed Inspection (this requirement may be waived
for events with open Practice MATCH schedules);
B. DRIVE TEAMS must join the Filler Line with their ROBOT;
C. Teams may not work on their ROBOT while in the Filler Line;
D. Teams may not occupy more than one spot in the Filler Line; and
E. If a team is queued for their Practice MATCH, they may not also join the Filler Line.

11.6 Qualification MATCHES

11.6.1 Schedule

The Qualification MATCH schedule is made available as soon as possible, but no later than one (1) hour
before Qualification MATCHES are scheduled to begin. Teams receive one (1) hard copy and it is

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available at the FIRST Robotics Event Results site, except during exceptional circumstances. Each
Qualification schedule consists of a series of rounds in which each team plays one (1) MATCH per round.

11.6.2 MATCH Assignment

FMS assigns each team two (2) ALLIANCE partners for each Qualification MATCH using a predefined
algorithm, and teams may not switch Qualification MATCH assignments. The algorithm employs the
following criteria, listed in order of priority:

1. maximize time between each MATCH played for all teams

2. minimize the number of times a team plays opposite any team
3. minimize the number of times a team is allied with any team
4. minimize the use of SURROGATES (teams randomly assigned by the FMS to play an extra
Qualification MATCH)
5. provide even distribution of MATCHES played on Blue and Red ALLIANCE
6. provide even distribution of MATCHES played in each PLAYER STATION number.

All teams are assigned the same number of Qualification MATCHES, equal to the number of rounds,
unless the number of teams multiplied by number of MATCHES is not divisible by six. In this case, the
FMS randomly selects some teams to play an extra MATCH. For the purpose of seeding calculations,
those teams are designated as SURROGATES for the extra MATCH. If a team plays a MATCH as a
SURROGATE, it is indicated on the MATCH schedule, it is always their third Qualification MATCH, and
the outcome of the MATCH has no effect on the team’s ranking. YELLOW and RED CARDS assigned to
SURROGATES, however, do carry forward to subsequent MATCHES.

11.6.3 Qualification Ranking

Ranking Points (RP) are units credited to a team based on their ALLIANCE’S performance in
Qualification MATCHES. Ranking Points are awarded to each eligible team at the completion of each
Qualification MATCH per Table 4-2.

Exceptions to Ranking Point assignment are as follows:

A. A SURROGATE receives zero (0) Ranking Points.

B. A DISQUALIFIED team, as determined by the Head REFEREE, receives zero (0) Ranking
Points in a Qualification MATCH or causes their ALLIANCE to receive zero (0) MATCH
points in a Playoff MATCH.
C. A “no-show” team is either DISQUALIFIED from or issued a RED CARD for that MATCH
(see C6). A team is declared a no-show if no member of the DRIVE TEAM is in the
ALLIANCE STATION at the start of the MATCH.

The total number of Ranking Points earned by a team throughout their Qualification MATCHES divided by
the number of MATCHES they’ve been scheduled to play (minus any SURROGATE MATCH), then
truncated to two (2) decimal places, is their Ranking Score (RS).

All teams participating in Qualification MATCHES are ranked by Ranking Score. If the number of teams in
attendance is ‘n’, they are ranked ‘1’ through ‘n’, with ‘1’ being the team with the highest Ranking Score
and ‘n’ being the team with the lowest Ranking Score.

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Teams are ranked in order, using the sorting criteria defined in Table 11-2.
Table 11-2 Qualification MATCH ranking criteria

Order Sort Criteria

1st Ranking Score
2nd Cumulative AUTO points
3rd Cumulative ENDGAME points
4th Cumulative TELEOP POWER CELL and
CONTROL PANEL points
5th Random sorting by the FMS
11.7 Playoff MATCHES
In Playoff MATCHES, teams do not earn Ranking Points; they earn a Win, Loss or Tie. Within each series
of the Playoff MATCH Bracket, the first ALLIANCE to win two (2) MATCHES advances.

In the case where the Quarterfinal or Semifinal MATCH scores for both ALLIANCES are equal, the Win is
awarded to the ALLIANCE per criteria listed in Table 11-3. A DISQUALIFIED team, as determined by the
Head REFEREE, causes their ALLIANCE to receive zero (0) MATCH points in a Playoff MATCH.

In Finals MATCHES, the Champion ALLIANCE is the first ALLIANCE to win two (2) MATCHES. In the
case where an ALLIANCE hasn’t won two (2) MATCHES after three (3) MATCHES, the Playoffs proceed
with up to three (3) additional Finals MATCHES, called Overtime MATCHES, until an ALLIANCE has won
two (2) Finals MATCHES. In the case where the Overtime MATCH scores for both ALLIANCES are
equal, the win for that Overtime MATCH is awarded based on the criteria listed in Table 11-3.
Table 11-3 Playoff MATCH Tiebreaker Criteria

Order Sort Criteria

1st Cumulative FOUL and TECH FOUL points due to
opponent rule violations
2nd Cumulative AUTO points
3rd Cumulative ENDGAME points
4th Cumulative TELEOP POWER CELL and CONTROL
PANEL points
5th MATCH is replayed

11.7.1 ALLIANCE Selection Process

At the end of the Qualification MATCHES, the top eight (8) seeded teams become the ALLIANCE Leads.
The seeded ALLIANCES are designated, in order, ALLIANCE One, ALLIANCE Two, etc., down to
ALLIANCE Eight. Using the ALLIANCE selection process described in this section, each ALLIANCE Lead
chooses two (2) other teams to join their ALLIANCE.

If a team declines the ALLIANCE Lead position or doesn’t send a student representative for ALLIANCE
selection, they are ineligible to participate in the Playoff Tournament. If the declining/absent team would
have been an ALLIANCE Lead, all lower ranked ALLIANCE Leads are promoted one spot. The next
highest-ranked team moves up to become the ALLIANCE Eight Lead.

Each team chooses a student team representative who proceeds to the ARENA at the designated time
(typically before the lunch break on the final day of the event) to represent their team. The designated
student representative from each ALLIANCE in a Playoff MATCH is called the ALLIANCE CAPTAIN.

The ALLIANCE selection process consists of two (2) rounds during which each ALLIANCE CAPTAIN
invites a team seeded below them in the standings to join their ALLIANCE. The invited team must not
already have declined an invitation.

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Round 1: In descending order (ALLIANCE One to ALLIANCE Eight), each ALLIANCE CAPTAIN invites a
single team. The invited team’s representative steps forward and either accepts or declines the invitation.

If the team accepts, it becomes a member of that ALLIANCE. If an invitation from a top eight ALLIANCE
to another ALLIANCE Lead is accepted, all lower ALLIANCE Leads are promoted one spot. The next
highest-seeded, unselected team moves up to become the ALLIANCE Eight Lead.

If the team declines, that team is not eligible to be picked again or to be a BACKUP TEAM (see Playoff
MATCH Bracket ), and the ALLIANCE CAPTAIN extends another invitation to a different team. If an
invitation from a top eight ALLIANCE to another ALLIANCE Lead is declined, the declining team may still
invite teams to join their ALLIANCE; however, it cannot accept invitations from other ALLIANCES.

The process continues until ALLIANCE Eight makes a successful invitation.

Round 2: The same method is used for each ALLIANCE CAPTAIN’S second choice except the selection
order is reversed, with ALLIANCE Eight picking first and ALLIANCE One picking last. This process results
in eight (8) ALLIANCES of three (3) teams each.

Of the remaining eligible teams, the highest seeded teams must either accept or decline to be included in
a pool of available teams until there are up to eight (8) teams that accept to be added into the pool. FIELD
STAFF will coordinate the assembly of this BACKUP pool immediately after the top ranked ALLIANCE
has made their final pick. If a team is not available to accept inclusion in the BACKUP pool, it will be
assumed they have declined the invitation.

11.7.2 Playoff MATCH Bracket

The Playoff MATCHES take place following the completion of the Qualification MATCHES and the
ALLIANCE selection process. Playoff MATCHES are played in a bracket format as shown in Figure 11-3.

ALLIANCE Leads are assigned to PLAYER STATION 2, the first picks are assigned to their left in
PLAYER STATION 1, and second picks are assigned to the ALLIANCE Lead’s right in PLAYER
STATION 3. If a BACKUP TEAM is in play, they will be assigned to the PLAYER STATION that was
assigned to the DRIVE TEAM they’re replacing. Teams cannot change assignments.

For Quarterfinal MATCHES, the higher seeded ALLIANCE is assigned to the Red ALLIANCE. Beyond the
Quarterfinal MATCHES, the ALLIANCE on the top of each MATCH in Figure 11-3 is assigned to the Red
ALLIANCE, regardless of whether they are the higher seeded ALLIANCE in that particular MATCH.

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Figure 11-3 Playoff MATCH Bracket

In order to allow time between MATCHES for all ALLIANCES, the order of play is as follows:

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Table 11-4 Playoff Order

Quarterfinal Quarterfinal Quarterfinal Semifinals Finals

Round 1 Round 2 Round 3
Quarterfinal 1 Quarterfinal 5 Quarterfinal
Semifinal 1 Final 1
(1 vs.8) (1 vs.8) Tiebreaker 11

Quarterfinal 2 Quarterfinal 6 Quarterfinal FIELD

Semifinal 2
(4 vs.5) (4 vs.5) Tiebreaker 21 TIMEOUT

Quarterfinal 3 Quarterfinal 7 Quarterfinal

Semifinal 3 Final 2
(2 vs.7) (2 vs.7) Tiebreaker 31

Quarterfinal 4 Quarterfinal 8 Quarterfinal FIELD

Semifinal 4
(3 vs.6) (3 vs.6) Tiebreaker 41 TIMEOUT
Final
FIELD FIELD Semifinal
Tiebreakers
TIMEOUT1 TIMEOUT1 Tiebreaker 11
(Overtime) 1
Any Replays Semifinal Any Replays
due to ties1 Tiebreaker 21 due to ties1

FIELD
TIMEOUT1

Any Replays
due to ties1

1 - if required

11.7.3 Pit Crews

During the Playoff MATCHES, extra team members may be needed to maintain the ROBOT between
MATCHES because of the distance between the FIELD and the pit area. Each team is permitted to have
three (3) additional pit crew members who can also help with needed ROBOT repairs/maintenance.

11.7.4 TIMEOUTS

A TIMEOUT is a period of up to six (6) minutes between MATCHES which is used to pause Playoff
MATCH progression.

During a TIMEOUT, the ARENA Timer displays the time remaining in the TIMEOUT. Both ALLIANCES
enjoy the complete six (6) minute window. If an ALLIANCE completes their repairs before the ARENA
Timer expires, the ALLIANCE CAPTAIN is encouraged to inform the Head REFEREE that they are ready
to play. If both ALLIANCES are ready to play before the TIMEOUT expires, the next MATCH will start.

There are no TIMEOUTS for Practice or Qualification MATCHES.

If circumstances require an ALLIANCE to play in back-to-back MATCHES during the Playoff MATCHES,
the Head REFEREE will issue a FIELD TIMEOUT to allow teams to prepare for the next MATCH. FIELD
TIMEOUTS are the same time duration as TIMEOUTS.

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Figure 11-4 TIMEOUT Timeline

Each ALLIANCE in the Playoff tournament is issued (1) TIMEOUT.

Teams are expected to have their ROBOTS staged on the FIELD by the end of the
TIMEOUT. Teams that cause a delay to the start of a MATCH after a TIMEOUT are at
risk of being in violation of C7.

T2. If an ALLIANCE wishes to use their TIMEOUT, the ALLIANCE CAPTAIN must submit their TIMEOUT
coupon to the Head REFEREE within two (2) minutes of the ARENA reset signal preceding their
MATCH. If there is no preceding MATCH, the TIMEOUT coupon must be submitted no later than two
(2) minutes before the scheduled MATCH time. The TIMEOUT will begin two (2) minutes after the
ARENA reset signal (i.e. at the end of the Team TIMEOUT Coupon Window depicted in Figure 11-4)

A request presented outside the defined parameters in T2 will be denied.

There are no cascading TIMEOUTS. If an ALLIANCE calls a TIMEOUT during a FIELD TIMEOUT, the
FIELD TIMEOUT will expire two (2) minutes after the ARENA reset signal and the ALLIANCE’S
TIMEOUT will begin.

If an ALLIANCE wishes to call a TIMEOUT during a FIELD TIMEOUT, it must still do so within two (2)
minutes of the ARENA reset signal preceding their MATCH, per T2.

TIMEOUTS are not transferrable between ALLIANCES, meaning an ALLIANCE cannot hand their
designated TIMEOUT coupon to another ALLIANCE to use, however an ALLIANCE may use their own
coupon for any purpose they wish.

If a Playoff MATCH is replayed because of an ARENA FAULT which rendered a ROBOT inoperable, the
Head REFEREE has the option of calling a FIELD TIMEOUT.

11.7.5 BACKUP TEAMS

In the Playoff MATCHES, it may be necessary for an ALLIANCE to replace one of its members due to a
faulty ROBOT. ROBOT faults include but are not limited to:

1. mechanical damage,
2. electrical issues, or
3. software problems.

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In this situation, the ALLIANCE CAPTAIN has the option to bring in only the highest seeded team from
the pool of available teams to join its ALLIANCE. The team whose ROBOT and DRIVE TEAM replaces
another ROBOT and DRIVE TEAM on an ALLIANCE during the Playoff MATCHES is called the BACKUP
TEAM.

The resulting ALLIANCE is then composed of four (4) teams. The replaced team remains a member of
the ALLIANCE for awards, but cannot return to play, even if their ROBOT is repaired.

Each ALLIANCE is allotted one (1) BACKUP TEAM Coupon during the Playoff MATCHES. If a second
ROBOT from the ALLIANCE becomes inoperable, then the ALLIANCE must play the following MATCHES
with only two (2) (or even one (1)) ROBOTS.

Example: Three (3) teams, A, B and C, form an ALLIANCE going into the Playoff
MATCHES. The highest seeded team not on one of the eight (8) ALLIANCES is Team D.
During one of the Playoff MATCHES, Team C’s ROBOT suffers damage to its
mechanical arm. The ALLIANCE CAPTAIN decides to bring in Team D to replace Team
C. Team C and their ROBOT are not eligible to play in any subsequent Playoff
MATCHES. The new ALLIANCE of Teams A, B, and D are successful in advancing to the
Finals and win the event. Teams A, B, C, and D are all recognized as members of the
Winning ALLIANCE and receive awards

In the case where a BACKUP TEAM is part of the Winning or Finalist ALLIANCE, there will be a four (4)-
team Winning or Finalist ALLIANCE.

If during a TIMEOUT an ALLIANCE CAPTAIN determines that they need to call up a BACKUP TEAM,
they must submit their BACKUP TEAM coupon to the Head REFEREE while there are still at least two (2)
minutes remaining on the ARENA Timer. After that point, they will not be allowed to utilize the BACKUP
TEAM.

Alternatively, an ALLIANCE CAPTAIN may choose to call up a BACKUP TEAM without using their
TIMEOUT by informing the Head REFEREE directly within two (2) minutes of the Head REFEREE issuing
the ARENA reset signal preceding their MATCH. If there is no preceding MATCH, the BACKUP TEAM
coupon must be submitted no later than two (2) minutes before the scheduled MATCH time.

In the case where the ALLIANCE CAPTAIN’S ROBOT is replaced by a BACKUP TEAM, the ALLIANCE
CAPTAIN is allowed as a sixteenth ALLIANCE DRIVE TEAM member. This additional representative may
only serve in an advisory role and is considered a COACH (e.g. can’t be a HUMAN PLAYER)

The Head REFEREE will not accept the BACKUP TEAM coupon unless it lists the number of the team
whose ROBOT is being replaced and is initialed by the ALLIANCE CAPTAIN. Once a BACKUP TEAM
coupon is submitted and accepted by the Head REFEREE, the BACKUP TEAM coupon may not be
withdrawn by the ALLIANCE.

T3. An ALLIANCE may not request a TIMEOUT or a BACKUP TEAM after a Playoff MATCH is stopped
by the Head REFEREE (e.g. due to an ARENA FAULT or a safety issue). The sole exception is if the
replay is due to an ARENA FAULT that rendered a ROBOT inoperable.

Violation: A request presented outside parameters defined will be denied.

If a Playoff MATCH is replayed per T3, the Head REFEREE has the option of calling a
FIELD TIMEOUT.

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11.8 Advancement Through the District Model

Teams advance through the season depending on the events at which they compete: Regional or District.
This section details how teams advance from Regional events to the FIRST Championship, or from
District qualifying events, to their District Championship, to the FIRST Championship.

11.8.1 District Events

District teams are ranked throughout the season based on the points they earn at their first two (2) home
District events they attend, as well as at their District Championship. Points are awarded to teams as
follows:
Table 11-5 District Point Assignment

Category Points
Qualification Round
Performance

(For a typically sized District event, this will result in a minimum of

four (4) points being awarded for Qualification round
performance. For events of all sizes, a maximum of twenty-two
(22) points will be awarded.)
ALLIANCE CAPTAINS Equal to 17 minus the ALLIANCE CAPTAIN number (e.g. 14
points for ALLIANCE #3 Captain)
Draft Order Equal to 17 minus the Draft Order Acceptance Number (e.g. 12
Acceptance points for the team that is 5th to accept an invitation)
Playoff Advancement Points awarded based on team participation in individual playoff
rounds, and whether or not the ALLIANCE advances. See details
below.
Judged Team Awards 10 points for Chairman’s Award
8 points each for Engineering Inspiration and Rookie All Star
Awards
5 points each for all other judged team awards
Team Age 10 points for Rookie teams
5 points for second-year teams
Points earned at District Championships are multiplied by three (3) and then added to points earned at
District events, to determine the final season point total for the team.

If there is a tie in the season point total between teams, those items are broken using the following sorting
criteria:

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Table 11-6 District team sort criteria

Order Sort Criteria

1st Total Playoff Round Performance Points

2nd Best Playoff Round Finish at a single event
3rd Total ALLIANCE Selection Results Points
4th Highest Qualification Round Seed or Draft Order Acceptance
(i.e. Highest ALLIANCE Selection points at a single event)
5th Total Qualification Round Performance Points
6th Highest Individual MATCH Score, regardless of whether that
score occurred in a Qualification or Playoff MATCH
7th Second Highest Individual MATCH Score, regardless of whether
that score occurred in a Qualification or Playoff MATCH
8th Third Highest Individual MATCH Score, regardless of whether
that score occurred in a Qualification or Playoff MATCH
9th Random Selection
[Link] Qualification Round Performance

The calculation of Qualification performance points is done using the equation (an inverse error function)
in the table above. The equation utilizes the following variables:

• R – the qualification rank of the team at the event at the conclusion of Qualification
MATCHES (as reported by FMS)
• N – the number of FIRST Robotics Competition teams participating in the Qualification
rounds at the event
• Alpha (α) – a static value (1.07) used to standardize the distribution of points at events

This formula generates an approximately normal distribution of Qualification Round Performance points at
an event, based on rank, with most teams getting a moderate number of points, and fewer teams getting
the highest or lowest numbers of points available.

Table 11-7 displays sample Qualification Round Performance points for variously ranked teams at a forty
(40) team event. The system will automatically generate the appropriate points for each team based on
their rank and the number of teams at the event.
Table 11-7 Sample Qualification Round point assignments

Rank 1 2 3 4 … 19 20 21 … 37 38 39 40
Points 22 21 20 19 … 13 13 12 … 6 6 5 4
[Link] ALLIANCE Selection Results

This attribute measures both individual team qualification round seeding performance and recognition by
peers.

ALLIANCE CAPTAINS are recognized based on their qualification round seeding rank. This rank is a
result of the rules of the game, which typically incorporate several team performance attributes, and are
designed to eliminate ties in rank. Non-ALLIANCE CAPTAINS are rewarded based on peer recognition.
To be invited to join an ALLIANCE, a team’s peers have decided that the team has attributes that are
desirable. Giving points for ALLIANCE selection also supports come-from-behind teams. A team taking
several MATCHES to optimize their performance may be recognized as a late bloomer by a top seeded
team, even if that performance isn’t reflected in the rankings because of poor performance in early
MATCHES. These points also have the potential to recognize teams employing a minority strategy with

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their ROBOT. Teams with unique or divergent ROBOT capabilities that complement the strengths of other
ALLIANCE members may be selected to fill a strategic niche.

Note also that ALLIANCE CAPTAINS are given the same number of points as the team drafted in the
same sequence. For example, the third ALLIANCE CAPTAIN gets the same number of points as the third
draft. Numerical analysis supports the idea that ALLIANCE CAPTAINS are about as strong in ROBOT
performance as equivalently drafted teams. As an additional minor benefit, awarding the same points for
ALLIANCE CAPTAINS and equivalent drafts lubricates the acceptance of draft offers between ALLIANCE
CAPTAINS, which gives teams out of the top eight the chance to experience being ALLIANCE
CAPTAINS themselves.

[Link] Playoff Round Performance

This attribute measures team performance as part of an ALLIANCE.

All teams on the ALLIANCE winning a particular playoff series, who participate in MATCHES with their
ROBOTS, receive five (5) points per MATCH won. In most cases, teams receive ten (10) points at each of
the Quarterfinal, Semifinal, and Final levels, unless a BACKUP ROBOT is called in to play.

[Link] Awards

This attribute measures team performance with respect to team awards judged at the event.

The points earned for team awards in this system are not intended to capture the full value of the award
to the team winning the award, or to represent the full value of the award to FIRST. In many ways, the
team’s experience in being selected for awards, especially the Chairman’s Award, the Engineering
Inspiration Award, and the Rookie All Star Award, is beyond measure, and could not be fully captured in
its entirety by any points-based system. Points are being assigned to awards in this system only to help
teams recognize that FIRST continues to be “More than RobotsSM,” with the emphasis on our cultural
awards, and to assist in elevating award-winning teams above non-award-winning teams in the ranking
system.

Teams only get points for team awards judged at the event. If an award is not judged, e.g. Rookie Highest
Seed, is not for a team, e.g. the Dean’s List Award, or is not judged at the event, e.g. Safety Animation
Award, sponsored by UL, no points are earned.

[Link] Team Age

This attribute recognizes the difficulty in being a rookie or second-year team.

Points are awarded to rookie and second year teams in recognition of the unique challenges teams face
in those early years, and to increase the chance that they will make it to the District Championship to
compete with their ROBOTS. Like our dedicated Rookie awards, these additional points are intended to
recognize and motivate newer participants in FIRST Robotics Competition. These points are awarded
once at the beginning of the season. Rookie year is calculated based on the year in which FIRST
recognizes the team as a rookie.

[Link] Regional Participation

District teams do not earn points for their actions at any Regionals they may attend, nor are eligible for
FIRST Championship qualifying judged awards at those events. However, if a District team does earn a
slot at the FIRST Championship while attending a Regional event, that slot does count as part of the total
Championship allocation the District is receiving for the season.

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11.8.2 District Championship Eligibility

A team competing in a District qualifies for their District Championship by meeting one of the following
criteria:

A. District Chairman’s Award Winner

B. District Ranking; based on total points earned at their first two home District events as
detailed in District Events.

Teams do not earn points at third or subsequent District events, nor at any inter-district or
Regional events at which they compete during the season.

If a team declines an invitation to the District Championship, the next highest uninvited
team on the list is invited, and so on, until the event capacity is filled.

C. District Engineering Inspiration winner (qualifies to compete for the award only)
D. District Rookie All Star winner (qualifies to compete for the award only)

The capacity of each District Championship is shown in Table 11-8. Each District determines the number
of teams that qualify for their District Championship. These limits are based on factors including but not
limited to the total number of teams in the District, available venue capacity, etc.
Table 11-8 2020 District Championship Capacities

Capacity
District Championship
FIRST Chesapeake District Championship 80
FIRST Israel District Championship 45
FIRST Mid-Atlantic District Championship 60
FIRST North Carolina State Championship 32
FIRST Ontario Provincial Championship 80
FIRST in Texas District Championship 64
Indiana State Championship 32
Michigan State Championship 200
New England District Championship 64
Pacific Northwest District Championship 64
Peachtree District State Championship 45

11.8.3 District Championships with Multiple Divisions

Some District Championships have a sufficient number of teams to justify using more than one division.
Teams are assigned divisions by FIRST using a process developed by FIRST in Michigan.

The process employs a “brute force iterative randomizer” and is executed as follows:

1. The district team list is sorted in order of cumulative district points earned as described in District
Events.
2. The list is divided into quartiles based on rank (e.g. the 1st quartile has the top 25% ranked
teams)
3. Division assignments are randomly generated using equal contribution from each quartile
4. Three (3) criteria are calculated for each division:
a. Average strength: The arithmetic mean of the district point values of teams in a division

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b. Distribution of strength: The Signal to Noise Ratio (SNR) of the district point values of
teams in a division. SNR is calculated as follows:
𝑥̅ 2
𝑆𝑁𝑅 = 10(log )
𝜎2
𝑥̅ = arithmetic mean of the district points in a division

σ = standard deviation of the district points in a division

c. Distribution of strength for “top” teams: The SNR of the district point values of teams in
the 1st quartile of a division.
5. The three (3) criteria for each division are compared to the other division(s). If the difference
between the division’s value and any other division’s value exceeds the limits in Table 11-9, the
criteria is not met.
Table 11-9 District Championship Division Evaluation Limits

Two (2) Divisions Four (4) Divisions

Average strength 1 2
Distribution of strength 1 2.5
Distribution of strength for “top” teams 1.5 2
6. If all three (3) criteria met, event organizers publish the assignments. If any of the three (3) criteria
are not met, assignments are rejected, and the process returns to Step 3.
In these cases:

• Division winning ALLIANCES play each other in District Championship Playoffs, employing
the bracket below that corresponds to their District, until a winning ALLIANCE for the event is
determined.

Figure 11-5 FIRST in Michigan District Championship Playoff Bracket

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Figure 11-6 Chesapeake District Championship Playoff Bracket

• Teams participating in District Championship Playoffs earn Playoff round performance District
points as described in Playoff Round Performance.
• If an ALLIANCE in a District Championship Playoff has not yet adopted a BACKUP ROBOT
per BACKUP TEAMS, the ALLIANCE CAPTAIN may bring in only the highest seeded team
from their Division’s pool of available teams to join its ALLIANCE.

11.9 Advancement to the FIRST Championship

FIRST invites teams listed below the FIRST Championship:

A. Prequalified teams

members of the FIRST Hall of Fame

original and sustaining teams since 1992
2019 FIRST Championship winners
2019 FIRST Championship Engineering Inspiration Award winners
2019 FIRST Championship Chairman’s Award Finalists

B. 2020 Regional Qualifying teams

Qualifying Award Winners (excluding District teams participating at the Regional)

a) Regional Chairman’s Award
b) Engineering Inspiration Award
c) Rookie All-Star Award
Regional Winners
Wild Card recipients

C. 2020 District Championship Qualifying teams

Qualifying Award Winners

a) Chairman’s Award
b) Engineering Inspiration Award
c) Rookie All Star winners
District Championship Winners
Teams on the final District ranking list, as deep in the ranking list as the District needs to go
to fill their allocation.

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11.9.1 Wild Cards

Wild cards are used to qualify additional teams for the FIRST Championship from Regional events.

All Regional events have a minimum of one (1) Wild Card slot. Additional Wild Cards are generated as
follows:

A. any team that has already qualified for the FIRST Championship (per Advancement to the
FIRST Championship, parts A and B) that earns an additional spot (per Advancement to
the FIRST Championship, part B) generates one (1) Wild Card.
B. any team earning two (2) qualifying spots at a single Regional (per Advancement to the
FIRST Championship, part B, e.g. by being on the Winning ALLIANCE and earning the
Chairman’s Award) generates one (1) Wild Card.
C. any team that has already qualified for the FIRST Championship (per Advancement to the
FIRST Championship, parts A and B), and earns two (2) qualifying spots (per Advancement
to the FIRST Championship, part B) generates two (2) Wild Card slots.

Wild Card slots are distributed to the Finalist ALLIANCE, in the order of team selection per ALLIANCE
Selection Process, until either all Wild Card slots generated at that event are distributed or the Finalist
ALLIANCE is out of teams, whichever comes first.

If a member of the Finalist ALLIANCE has already qualified for the FIRST Championship they are skipped
and the next member of the ALLIANCE is awarded the available Wild Card.

Unused Wild Card slots are neither backfilled nor replaced.

A team may decline a Wild Card, but this does not pass the Wild Card slot down to the
next available team. The Wild Card goes unused.

Teams selected from the FIRST Championship Waitlist to participate at the FIRST Championship do not
generate Wild Cards.

11.9.2 FIRST Championship Eligibility for District Teams

Districts receive the percentage of 'available slots' at their assigned FIRST Championship location,
rounded up to the nearest whole slot, equal to the percentage of teams they have in their District
compared to the total of all FIRST Robotics Competition teams in the current season who would normally
be assigned to their FIRST Championship location. 'Available slots' are calculated by taking the total
number of slots at each FIRST Championship location, subtracting the number of pre-qualified teams
assigned to that location, and also subtracting a 10% allowance for waitlisted teams, as Districts are still
allowed to send waitlisted teams to the FIRST Championship. Further, this overall calculation uses a
‘snapshot’ of teams that have registered and paid as of a specific day a week or so after season payment
due.

If a District team earns a slot to the FIRST Championship within the season, but is not able to attend, the
top ranked team who has not yet been offered a slot is given the opportunity, and so on, until all slots are
filled. Slots for pre-qualified teams will not be backfilled.

Table 11-10 outlines the District Championship allocations for 2020. Districts determine the number of
Dean’s List, Chairman’s, Rookie All Star, and Engineering Inspiration Awards to present at their
Championship, within a range established by FIRST. The team counts are based on the team
representation of the respective District at the respective Championship. For the awards, ranges are
developed by using ratios agreed upon by FIRST and District Leadership. These ranges allow each
District to represent their own community as they see fit.

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For the Chairman’s Award, the ratios range from one (1) Chairman’s Award team for every eighteen (18)
Championship District teams to one (1) Chairman’s Award team for every nine (9) Championship District
teams.

For the Dean’s List Award, the ratios range from one (1) Dean’s List Finalist for every nine (9)
Championship District teams to one (1) Dean’s List Finalist for every six (6) Championship District teams.
Table 11-10 District slot allocation for FIRST Championship

Engineering
Chairman’s Dean’s List Inspiration Rookie All
Award Award Award Star Award
FIRST Championship

FIRST Championship

District Selection

District Selection

District Selection

District Selection
Normalized Slots

Max Ratio

Max Ratio
Min Ratio

Min Ratio
Slots

Max

Max
Min

Min
18 9 9 6
FIRST Championship: Detroit
FIRST 20 1 2 2 2 3 3 1 2 2 1 2 1
Chesapeake
FIRST in 90 5 10 5 10 15 15 1 2 1 1 2 2
Michigan
FIRST Mid- 21 1 2 2 2 4 4 1 2 2 1 2 1
Atlantic
Indiana 10 1 1 1 2 2 2 1 2 1 1 2 1
FIRST
NE FIRST 33 2 4 4 4 6 6 1 2 2 1 2 1
Ontario 27 2 3 3 3 5 5 1 2 1 1 2 1
FIRST Championship: Houston
FIRST Israel 13 11 1 1 1 1 2 2 1 2 1 1 2 1
FIRST in 37 32 2 4 4 4 5 5 1 2 2 1 2 2
Texas
FIRST North 14 11 1 1 1 2 2 2 1 2 2 1 2 1
Carolina
Pacific 28 12 1 3 3 3 4 4 1 2 2 1 2 1
Northwest
Peachtree 16 24 1 2 2 2 2 2 1 2 2 1 2 2
All Districts, regardless of Championship Slot allocation, may award one (1) or two (2) Engineering
Inspiration and Rookie All-Star Awards.

Chairman’s Award and Dean’s List Award maximums and minimums are determined by ratios applied to
a given District’s Championship Slot allocations. However, Districts assigned to Houston have relatively
larger Championship slot allocations for a given team count compared to Districts assigned to Detroit, and
we did not want these larger allocations to skew award allocations. So, for the purposes of award
allocations only, Championship slots for Houston Districts were ‘normalized’, as shown in the table,
reducing the slots allocated to what they would have been if both Championship geographies had the
same total number of FIRST Robotics Competition teams. This ‘normalized’ slot allocation was then used
to determine award minimums and maximums. As noted, these normalized slot values are used only for

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award allocations. The Houston-assigned Districts still retain the full Championship Slots Allocated (the
larger number) shown in the table.

11.10 FIRST Championship: Additions and Exceptions

At the 2020 FIRST Championship events, teams are split into six (6) Divisions. The process used to
assign teams to their Division is as follows:

1. Rookies are assigned randomly, team by team, sequentially to Divisions (i.e. a team in Division 1,
a team in Division 2, a team in Division 3, a team in Division 4, a team in Division 5, a team in
Division 6, then back to Division 1 again, until Rookies are all assigned to a Division.
2. Step 1 is repeated with Veteran teams.

Each Division plays a standard Tournament as described in Qualification MATCHES and Playoff
MATCHES to produce the Division Champions. Those six (6) Division Champions proceed to the
Championship Playoffs, on the Einstein FIELDS, to determine the 2020 FIRST Robotics Competition
Championship Winners, per FIRST Championship Playoffs .

11.10.1 Four ROBOT ALLIANCES

There is no provision for BACKUP TEAMS at the Championship.

Instead, before each Division Playoff Tournament, ALLIANCES are selected per the process as
described in ALLIANCE Selection Process, however the process continues with a 3rd round of selection
as follows.

Round 3: The same method is used for each ALLIANCE CAPTAIN’S third choice except the selection
order is reversed again, with ALLIANCE One picking first and ALLIANCE Eight picking last. This process
results in eight (8) ALLIANCES of four (4) teams each.

ALLIANCES may start with any three (3) of the four (4) ROBOTS on their ALLIANCE during Division
Playoff MATCHES and during the Championship Playoffs. The list of three (3) teams participating in the
MATCH and their selected PLAYER STATIONS is called the LINEUP. One representative from the team
not on the LINEUP is allowed as a sixteenth ALLIANCE member. This additional representative may only
serve in an advisory role and will be considered a COACH (e.g. can’t be a HUMAN PLAYER).

The LINEUP is kept confidential until the FIELD is set for the MATCH, at which point each ALLIANCE’S
LINEUP appears on the Team Signs.

If an ALLIANCE does not submit a LINEUP for their first of the Division Playoffs or the Championship
Playoffs within two (2) minutes before the scheduled MATCH time, the LINEUP is the ALLIANCE Lead,
1st ALLIANCE selection, and 2nd ALLIANCE selection. If any of these three (3) ROBOTS are unable to
play, the ALLIANCE must play the MATCH with only two (2) (or even one (1)) ROBOT(S).

If an ALLIANCE would like to change their LINEUP after their 1st Division Playoff or Championship Playoff
MATCH, the ALLIANCE CAPTAIN must report the LINEUP to the Head REFEREE, or their designee, in
writing prior to end of the preceding MATCH (e.g. the LINEUPS for Quarterfinal 2 must be submitted
before the end of Quarterfinal 1). If the HEAD REFEREE is busy and there is no designee defined, the
ALLIANCE CAPTAIN waits in the question box to report the LINEUP.

Once the LINEUP is declared, it cannot be changed unless there is a team or FIELD TIMEOUT. If there is
a TIMEOUT, the ALLIANCE CAPTAIN may submit a different LINEUP, but must do so while there are still
more than two (2) minutes remaining in the TIMEOUT.

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Example: Four (4) teams, A, B, C and D, form an ALLIANCE going into the Playoff
MATCHES on their Division FIELD. During one of the Playoff MATCHES, Team C’s
ROBOT becomes inoperable. The ALLIANCE decides to bring in Team D to replace
Team C. Team C repairs their ROBOT and may play in any subsequent Playoff
MATCHES replacing Team A, B, or D. All four (4) ALLIANCE members are also eligible
to play MATCHES during the Championship Playoffs should the ALLIANCE win the
Division Tournament.

If a MATCH must be replayed due to an ARENA FAULT, the LINEUP for the replayed MATCH is the
same as the original MATCH. The sole exception is if the ARENA FAULT rendered a ROBOT inoperable,
in which case the LINEUP can be changed.

11.10.2 FIRST Championship Pit Crews

FIRST distributes buttons to the ALLIANCE CAPTAINS during the ALLIANCE CAPTAIN meeting, which
takes place on the Division FIELDS. These buttons provide the necessary access to the ARENA for pit
crew members.

T4. Only team members wearing proper buttons are allowed on the ARENA floor during Division and
Championship Playoff MATCHES.

Violation: MATCH will not start until the situation is corrected. Those not displaying identification
must leave the ARENA.

Teams should assume they may be chosen for an ALLIANCE and think about the
logistics of button distribution and set a plan prior to the ALLIANCE selection process. It
is each ALLIANCE CAPTAIN’S responsibility to distribute buttons to their pit crew
members.

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11.10.3 FIRST Championship Playoffs

The six (6) Division Champions play a round-robin style tournament to determine the 2020 FIRST
Robotics Competition Champions. In this format, each Division Champion plays one MATCH against
each of the other Division Champions. The order of MATCHES is shown in Table 11-11.
Table 11-11 Championship MATCH order

Houston Detroit
MATCH
Round

Mass Energy Mass Energy

Red Blue Red Blue Red Blue Red Blue
1 Carver Turing Archimedes Tesla
1 2 Galileo Roebling Carson Darwin
3 Hopper Newton Curie Daly
4 Carver Roebling Archimedes Darwin
2 5 Turing Newton Tesla Daly
6 Galileo Hopper Carson Curie
7 Carver Newton Archimedes Daly
3 8 Roebling Hopper Darwin Curie
9 Turing Galileo Tesla Carson
10 Hopper Carver Curie Archimedes

4 11 Newton Galileo Daly Carson

12 Roebling Turing Darwin Tesla
13 Galileo Carver Carson Archimedes

5 14 Hopper Turing Curie Tesla

15 Newton Roebling Daly Darwin
In the Championship Playoffs, ALLIANCES do not earn Ranking Points; they earn Championship Points.
Championship Points are units credited to an ALLIANCE based on their performance in each MATCH
and are awarded at the completion of each Round Robin tournament MATCH.

A. The winning ALLIANCE receives two (2) Championship Points

B. The losing ALLIANCE receives zero (0) Championship Points
C. In the event of a tied score, each ALLIANCE receives one (1) Championship Point

Exceptions to A-C are as follows:

D. A DISQUALIFIED team, as determined by the Head REFEREE, causes their ALLIANCE to

receive zero (0) Championship points.

The total number of Championship Points earned by a team throughout the round robin MATCHES
divided by the number of round robin MATCHES in which they’ve been scheduled is their Championship
Score (CS).

All teams participating in round robin MATCHES are ranked by Championship Score. If the number of
teams in attendance is ‘n’, they are ranked ‘1’ through ‘n’, with ‘1’ being the team with the highest
Championship Score and ‘n’ being the team with the lowest Championship Score.

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Table 11-12 Einstein Tournament Ranking Criteria

Criteria
Order Sort
1st Championship Score
2nd Cumulative AUTO points
3rd Cumulative ENDGAME points
4th Cumulative TELEOP POWER CELL and CONTROL PANEL points
5th If tie affects which ALLIANCES advance to Playoffs, a tiebreaker
MATCH is played between the affected ALLIANCES.
If tie is between ALLIANCES advancing to Playoffs, FMS randomly
seeds tied ALLIANCES to determine ALLIANCE color.
The two (2) ALLIANCES with the highest Championship Scores at the conclusion of the round robin
tournament advance to the Einstein Finals. In the Einstein Finals, ALLIANCES do not earn points, they
earn a Win, Loss or Tie. The first ALLIANCE to win two (2) MATCHES is declared the 2020 FIRST
Robotics Competition Champions.

During the Einstein Finals, if the MATCH score of each ALLIANCE is equal, the MATCH is replayed. In
this circumstance, the LINEUP may be changed

11.10.4 FIRST Championship TIMEOUTS

There are no TIMEOUTS for teams in the Einstein tournament.

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12 GLOSSARY

Term Definition
ACTIVATED During TELEOP, the state of a SHIELD GENERATOR Stage that has
reached CAPACITY and, if required, has the corresponding CONTROL
PANEL action successfully completed.
ACTIVE DEVICE any device capable of dynamically controlling and/or converting a
source of electrical energy by the application of external electrical
stimulus
ALLIANCE a cooperative of up to four (4) FIRST Robotics Competition teams
ALLIANCE CAPTAIN The designated student representative from each ALLIANCE in a
Playoff MATCH
ALLIANCE STATION a 30-ft. (~914 cm) wide by 10 ft. 9⅛ in. (~328 cm) to 12 ft. 10⅞ in. (~393
cm) deep infinitely tall volume formed by, and including the ALLIANCE
WALL, the edge of the carpet, and ALLIANCE colored tape
ALLIANCE WALL The ALLIANCE WALL is the structure that separates ROBOTS from
DRIVERS, COACHES, and HUMAN PLAYERS. It consists of three (3)
PLAYER STATIONS, the LOADING BAY, and the POWER PORT.
ALLIANCE WALLS define the short edges of the FIELD and, along with
the guardrails, prevent ROBOTS from exiting the FIELD during the
MATCH
ARENA all elements of the game infrastructure that are required to play
INFINITE RECHARGESM: the FIELD, POWER CELLS, and all
equipment needed for FIELD control, ROBOT control, and scorekeeping
ARENA FAULT an error in ARENA operation
AUTO The first phase of each MATCH is called Autonomous (AUTO) and
consists of the first fifteen (0:15) seconds.
BACKUP TEAM The team whose ROBOT and DRIVE TEAM replaces another ROBOT
and DRIVE TEAM on an ALLIANCE during the Playoff MATCHES
BOM Bill of Material
BOTTOM PORT a 10 in. (~25 cm) tall, 2 ft. 10 in. (~86 cm) wide rectangle. The bottom
edge is 1 ft. 6 in. (~46 cm) above the carpet.
BOUNDARIES 3 in. (~8 cm) wide, 1 in. (~3 cm) tall steel barriers that divide the area
inside the SHIELD GENERATOR into four (4) equal sized rectangles
that are 5 ft. 3¾ in. (~162 cm) wide by 5 ft. 10⅞ in. (~180 cm) deep.
BUMPERS a required assembly which attaches to the ROBOT frame
BUMPER ZONE the volume contained between the floor and a virtual horizontal plane
7½ in. (~19 cm) above the floor in reference to the ROBOT standing
normally on a flat floor
BYPASSED the state assigned to any ROBOT which is unable or ineligible to
participate in that MATCH as determined by the FTA, LRI, or Head
REFEREE
CAPACITY the number of POWER CELLS, defined in Table 4-1, that must be
scored to charge each stage.

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Term Definition
COACH a precollege student or adult mentor member of the DRIVE TEAM who
acts as a guide or advisor
COMPONENT any part in its most basic configuration, which cannot be disassembled
without damaging or destroying the part or altering its fundamental
function
CONTROL A ROBOT is in CONTROL of a POWER CELL if:

E. the POWER CELL is full supported by the ROBOT,

F. the POWER CELL travels across the FIELD such that
when the ROBOT changes direction, the POWER CELL
travels with the ROBOT, or
G. the ROBOT is holding a POWER CELL against a FIELD
element in attempt to guard or shield it.

CONTROL PANEL a 2 in. (~5 cm) tall, 2 ft. 8 in. (~81 cm) diameter disk constructed of two
pieces of ¼ in. (~6 mm) thick polycarbonate, spaced apart by ten ½ in.
(~13 mm) diameter metal spacers at regular intervals.
CORRAL the collection area for scored POWER CELLS located at the rear base
of the POWER PORT
COTS Commercial off the Shelf, a standard (i.e. not custom order) part
commonly available from a VENDOR for all teams for purchase
CUSTOM CIRCUIT any electrical COMPONENT of the ROBOT other than motors,
pneumatic solenoids, roboRIO, PDP, PCM, VRM, RSL, 120A breaker,
motor controllers, relay modules (per R29-B), wireless bridge, electrical
solenoid actuators, or batteries
DISABLED the state in which a ROBOT is commanded to deactivate all outputs,
rendering the ROBOT inoperable for the remainder of the MATCH
DISQUALIFIED the state of a team in which they receive zero (0) MATCH points and
zero (0) Ranking Points in a Qualification MATCH or causes their
ALLIANCE to receive zero (0) MATCH points in a Playoff MATCH
DRIVER a precollege student member of the DRIVE TEAM who is an operator
and controller of the ROBOT
DRIVE TEAM a set of up to five (5) people from the same FIRST Robotics
Competition team responsible for team performance for a specific
MATCH.
ENDGAME The final thirty (0:30) seconds of TELEOP
ENERGIZED Stage 3 ACTIVATED
FABRICATED ITEM any COMPONENT or MECHANISM that has been altered, built, cast,
constructed, concocted, created, cut, heat treated, machined,
manufactured, modified, painted, produced, surface coated, or conjured
partially or completely into the final form in which it will be used on the
ROBOT
FIELD 26 ft. 11¼ in. (~821 cm) by 52 ft. 5¼ in. (~1598 cm) carpeted area
bound by and including the inward- and upward-facing surfaces of the
guardrails and inward-facing surfaces of the ALLIANCE WALLS (except
Chute surfaces and any surface beyond the face of the POWER
PORT).

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Term Definition
FIELD STAFF REFEREES, FTAS, or other staff working around the FIELD
FMS the electronics core responsible for sensing and controlling the FIRST
Robotics Competition FIELD. The FMS encompasses all FIELD
electronics, including computers, REFEREE touchscreens, wireless
access point, sensors, stack lights, E-Stops, etc.
FOUL a credit of three (3) points towards the opponent’s MATCH score
FRAME PERIMETER fixed, non-articulated structural elements of the ROBOT contained
within the BUMPER ZONE
FTA a FIRST Technical Advisor
GENERATOR SWITCH a 7 ft. 6 in. (~229 cm) wide, 10 ft. 1½ in. deep (~309 cm), and 4 ft. 6 in.
(~137 cm) tall assembly that swings from the top of the SHIELD
GENERATOR.
HANDLE a structure that consists of a RUNG and the supporting structure below
the horizontal beam of the GENERATOR SWITCH.
HANGING A ROBOT that five (5) seconds after the ARENA timer displays zero (0)
following TELEOP, it is fully supported (either directly or transitively) by
its GENERATOR SWITCH.
HUMAN PLAYER a pre-college student DRIVE TEAM member who acts as a POWER
CELL manager
INITIATION LINE a white tape line spanning the width of the FIELD and located 10 ft.
(~305 cm) from the face of PLAYER STATION 2 to the near edge of the
tape.
INNER PORT a 1 ft. 1 in. (~33 cm) diameter circle concentric with and 2 ft. 5¼ in. (~74
cm) behind (i.e. on the ALLIANCE STATION side of) the OUTER
PORT. The center is 8 ft. 2¼ in. (~249 cm) above the carpet.
KOP Kit of Parts, the collection of items listed on the current season’s Kickoff
Kit Checklists, distributed to the team via FIRST Choice in the current
season, or paid for completely (except shipping) with a Product
Donation Voucher (PDV) from the current season
LEVEL the RUNG is within 8 degrees of horizontal.
LINEUP The list of three (3) teams participating in the MATCH and their selected
PLAYER STATIONS
LOADING BAY a 6 ft. 6 in. (~198 cm) tall by 5 ft. (~152 cm) wide structure located
between PLAYER STATIONS 2 and 3.
LOADING ZONE a 5 ft. (~152 cm) wide, 2 ft. 6 in. (~76 cm) deep infinitely tall volume with
a triangular base bounded by the LOADING BAY and ALLIANCE
colored tape.
LRI a Lead ROBOT Inspector
MAJOR MECHANISM a group of COMPONENTS and/or MECHANISMS assembled together
to address at least one (1) game challenge: robot movement, game
piece control, field element manipulation, or performance of a scorable
task without the assistance of another ROBOT.
MATCH a two (2) minute and thirty (30) second period of time in which
ALLIANCES play INFINITE RECHARGE
MECHANISM a COTS or custom assembly of COMPONENTS that provide specific
functionality on the ROBOT
MXP myRIO Expansion port, the expansion port on the roboRIO

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Term Definition
OPERATIONAL the ALLIANCE’S ENDGAME SCORE is ≥ 65 points.
OPERATOR CONSOLE the set of COMPONENTS and MECHANISMS used by the DRIVERS
and/or HUMAN PLAYER to relay commands to the ROBOT
OUTER PORT a regular hexagon that measures 2 ft. 6 in. (~76 cm) in height. The
center of the OUTER PORT is 8 ft. 2¼ in. (~249 cm) above the carpet.
PASSIVE CONDUCTORS any device or circuit whose capability is limited to the conduction and/or
static regulation of the electrical energy applied to it (e.g. wire, splices,
connectors, printed wiring board, etc.)
PCM a Pneumatic Control Module
PDP a Power Distribution Panel
PINNING preventing the movement of an opponent ROBOT by contact
PLAYER STATION one (1) of three (3) assigned positions in an ALLIANCE WALL from
where a DRIVE TEAM operates their ROBOT.
POSITION CONTROL Rotate CONTROL PANEL so a specified color aligns with the sensor for
at least five (5) seconds.
POWER CELL a yellow 7 in. (~18 cm) diameter Medium Bounce Dino-Skin foam ball.
The FIRST logo is printed on each ball in black ink. The ball is made by
Flaghouse (PN 1892 YEL) and sold by AndyMark (PN AM-4200)
POWER PORT a 10 ft. 2¼ in. (~310 cm) tall by 4 ft. (~122 cm) wide (excluding
backboards) structure and is located between PLAYER STATIONS 1
and 2.
RED CARD a penalty assessed for egregious ROBOT or team member behavior or
rule violations which results in a team being DISQUALIFIED for the
MATCH
REFEREE an official who is certified by FIRST to enforce the rules of INFINITE
RECHARGE
RENDEZVOUS POINT a 5 ft. 6¾ in. (~170 cm) wide, 12 ft. 6¾ in. (~383 cm) deep, infinitely tall
volume formed by the ALLIANCE colored BOUNDARIES and the black
BOUNDARY pair that divides the Red and the Blue BOUNDARIES.
ROBOT an electromechanical assembly built by the FIRST Robotics
Competition team to play the current season’s game and includes all the
basic systems required to be an active participant in the game –power,
communications, control, BUMPERS, and movement about the field.
ROTATION CONTROL Rotate CONTROL PANEL at least three (3) (but no more than five (5))
complete revolutions in the same direction.
RP a Ranking Point
RS the Ranking Score
RSL a ROBOT Signal Light
RUNG a 1¼ in. schedule 40 aluminum pipe (1.66 in. (~4 cm) outer diameter)
with two (2) exposed 4 ft. 7⅝ in. (~141 cm) long sections.
SECTOR A 26 ft. 11¼ in. (~821 cm) wide by 10 ft. 2 in. (~310 cm) deep infinitely
tall volume formed by an ALLIANCE’S ALLIANCE WALL, guardrail, and
INITIATION LINE. The SECTOR includes the INITIATION LINE.
SHIELD GENERATOR a 14 ft. 1½ in. (~431 cm) wide, 15 ft. ¾ in. (~459 cm) deep, and 9 ft. 6½
in. (~291 cm) tall structure located in the center of the field, oriented at a
22.5 degree angle relative to the guardrails.

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Term Definition
SIGNAL LEVEL circuits which draw ≤1A continuous and have a source incapable of
delivering >1A, including but not limited to roboRIO non-PWM outputs,
CAN signals, PCM Solenoid outputs, VRM 500mA outputs and Arduino
outputs
STARTING the physical configuration in which a ROBOT starts a MATCH
CONFIGURATION
STARTING LINE a white tape line spanning the width of the carpet and located 2 ft. 4 in.
(~71 cm) from the back of the PLAYER STATION 2 diamond plate
panel to the near edge of the tape.
SURROGATE a team randomly assigned by the FIELD Management System to play
an extra Qualification MATCH
TARGET ZONE a 4 ft. (~122 cm) wide, 2 ft. 6 in. (~76 cm) deep infinitely tall volume with
a triangular base bounded by the POWER PORT and ALLIANCE
colored tape.
TECH FOUL a credit of fifteen (15) points toward the opponent’s MATCH score
TECHNICIAN a precollege student member of the DRIVE TEAM who is a resource for
ROBOT troubleshooting, setup, and removal from the FIELD
TELEOP The second phase of each MATCH is called the Teleoperated Period
(TELEOP) and consists of the remaining two minutes and fifteen
seconds (2:15).
TIMEOUT a period of up to six (6) minutes between MATCHES which is used to
pause Playoff MATCH progression
TRENCH a 3 ft. ½ in. (~93 cm) tall, 4 ft. 8 in. (~142 cm) wide, and 3 ft. 5½ in.
(~105 cm) deep structure that forms a 4 ft. 4 in. (~132 cm) wide, 2 ft. 4
in. (~71 cm) tall, and 2 ft. 6 in. (~76 cm) deep tunnel.
TRENCH RUN a 4 ft. 7 ½ in. (~141 cm) wide, 18 ft. (~549 cm) deep, infinitely tall
volume that is bounded by the guardrail, the edge of the TRENCH
vertical support closest to the center of the FIELD, and ALLIANCE
colored tape.
VENDOR a legitimate business source for COTS items that satisfies all the criteria
listed in the Robot Construction Rules' Overview section.
VRM a Voltage Regulator Module
YELLOW CARD a warning issued by the Head REFEREE for egregious ROBOT or team
member behavior or rule violations. A subsequent YELLOW CARD
within the same tournament phase results in a RED CARD

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