2025 FIRST Robotics Competition Game Manual PDF

2025 FIRST® Robotics Competition Game Manual With inspiration from Operation Outpost by Team 1318, Issaquah Robotics Society. Contents 1 Introduction................................................................................................................................................ 5 1.1 About FIRST®...................................................................................................................................... 5 1.2 In Memoriam...................................................................................................................................... 5 1.3 FIRST® Robotics Competition........................................................................................................... 5 1.4 Gracious Professionalism®, a FIRST Credo....................................................................................... 6 1.5 Coopertition®...................................................................................................................................... 7 1.6 Spirit of Volunteering......................................................................................................................... 8 1.7 This Document & Its Conventions.................................................................................................... 9 1.8 Translations & Other Versions........................................................................................................ 11 1.9 Team Updates.................................................................................................................................. 11 1.10 Question and Answer System......................................................................................................... 12 2 FIRST Season Overview........................................................................................................................... 13 3 Game Sponsor Recognition.................................................................................................................... 15 4 Game Overview........................................................................................................................................ 17 5 ARENA...................................................................................................................................................... 19 5.1 FIELD................................................................................................................................................. 19 5.2 Areas, Zones, & Markings................................................................................................................ 21 5.3 REEF.................................................................................................................................................. 23 5.4 BARGE.............................................................................................................................................. 25 5.4.1 CAGE......................................................................................................................................... 26 5.4.2 NET............................................................................................................................................ 27 5.5 PROCESSOR..................................................................................................................................... 28 5.6 ALLIANCE WALL.............................................................................................................................. 29 5.6.1 DRIVER STATIONS................................................................................................................... 29 5.6.2 CORAL STATION...................................................................................................................... 32 5.7 SCORING ELEMENTS...................................................................................................................... 32 5.7.1 CORAL....................................................................................................................................... 33 5.7.2 ALGAE....................................................................................................................................... 34 5.8 AprilTags.......................................................................................................................................... 35 5.9 The FIELD Management System.................................................................................................... 39 5.10 FIELD STAFF.................................................................................................................................... 40 6 Game Details............................................................................................................................................ 41 6.1 MATCH Overview............................................................................................................................. 41 6.2 DRIVE TEAM..................................................................................................................................... 41 6.3 Setup................................................................................................................................................. 43 6.3.1 DRIVE TEAMS........................................................................................................................... 43 6.3.2 OPERATOR CONSOLES........................................................................................................... 43 6.3.3 ROBOTS.................................................................................................................................... 44 6.3.4 SCORING ELEMENTS............................................................................................................... 45 6.3.5 CAGES....................................................................................................................................... 46 6.4 MATCH Phases................................................................................................................................ 46 6.5 Scoring.............................................................................................................................................. 47 6.5.1 SCORING ELEMENT Scoring Criteria...................................................................................... 47 6.5.2 ROBOT Scoring Criteria........................................................................................................... 48 2 of 164 6.5.3 Coopertition Bonus................................................................................................................... 49 6.5.4 Point Values............................................................................................................................. 50 6.6 Violations......................................................................................................................................... 50 6.6.1 YELLOW and RED CARDS........................................................................................................ 51 6.6.2 YELLOW and RED CARD application....................................................................................... 52 6.6.3 YELLOW and RED CARDS during Playoff MATCHES............................................................. 52 6.6.4 Violation Details....................................................................................................................... 52 6.7 Head REFEREE and FTA Interaction............................................................................................... 53 6.7.1 Question Box (Q)...................................................................................................................... 54 6.8 Other Logistics................................................................................................................................. 54 7 Game Rules (G)........................................................................................................................................ 57 7.1 Personal Safety................................................................................................................................ 57 7.2 Conduct............................................................................................................................................ 58 7.3 Pre-MATCH...................................................................................................................................... 62 7.4 In-MATCH......................................................................................................................................... 65 7.4.1 AUTO......................................................................................................................................... 65 7.4.2 SCORING ELEMENTS............................................................................................................... 65 7.4.3 ROBOT....................................................................................................................................... 67 7.4.4 Opponent Interaction............................................................................................................... 69 7.4.5 Human...................................................................................................................................... 72 7.5 Post-MATCH.................................................................................................................................... 73 8 ROBOT Construction Rules (R)............................................................................................................... 75 8.1 General ROBOT Design.................................................................................................................... 77 8.2 ROBOT Safety & Damage Prevention............................................................................................. 79 8.3 Budget Constraints & Fabrication Schedule.................................................................................. 80 8.4 BUMPER Rules................................................................................................................................. 84 8.5 Motors & Actuators......................................................................................................................... 89 8.6 Power Distribution........................................................................................................................... 94 8.7 Control, Command & Signals System..........................................................................................103 8.8 Pneumatic System.........................................................................................................................108 8.9 OPERATOR CONSOLE...................................................................................................................112 9 Inspection & Eligibility (I).......................................................................................................................115 9.1 Rules...............................................................................................................................................115 10 Tournaments (T)................................................................................................................................119 10.1 MATCH Schedules.........................................................................................................................119 10.2 MATCH Replays.............................................................................................................................119 10.3 Measurement.................................................................................................................................120 10.4 Practice MATCHES........................................................................................................................121 10.4.1 Filler Line.................................................................................................................................121 10.5 Qualification MATCHES................................................................................................................121 10.5.1 Schedule.................................................................................................................................121 10.5.2 MATCH Assignment..............................................................................................................121 10.5.3 Qualification Ranking.............................................................................................................122 10.6 Playoff MATCHES..........................................................................................................................123 10.6.1 ALLIANCE Selection Process................................................................................................123 10.6.2 Playoff MATCH Bracket.........................................................................................................125 3 of 164 10.6.3 BACKUP TEAMS.....................................................................................................................128 10.6.4 LINEUPS..................................................................................................................................130 10.6.5 Pit Crews.................................................................................................................................131 10.6.6 Small Event Exceptions.........................................................................................................131 11 District Tournaments........................................................................................................................133 11.1 District Events................................................................................................................................133 11.1.1 Qualification Round Performance........................................................................................134 11.1.2 ALLIANCE Selection Results.................................................................................................135 11.1.3 Playoff Performance..............................................................................................................135 11.1.4 Awards....................................................................................................................................136 11.1.5 Team Age................................................................................................................................136 11.1.6 Regional Participation............................................................................................................136 11.2 District Championship Eligibility...................................................................................................136 11.3 District Championships with Multiple Divisions..........................................................................137 11.4 District Championship Playoffs....................................................................................................138 11.5 FIRST Championship Eligibility.....................................................................................................140 12 Regional Tournaments......................................................................................................................143 12.1 Regional Events.............................................................................................................................143 12.1.1 Awards....................................................................................................................................144 12.1.2 Team Age................................................................................................................................144 12.2 FIRST Championship Eligibility.....................................................................................................144 12.3 Regional Pool.................................................................................................................................145 12.3.1 Single-event team points calculation...................................................................................145 13 FIRST Championship Tournament (C).............................................................................................147 13.1 Advancement to the FIRST Championship..................................................................................147 13.2 4-ROBOT ALLIANCES....................................................................................................................147 13.3 FIRST Championship Pit Crews....................................................................................................147 13.4 FIRST Championship Playoffs......................................................................................................148 14 Event Rules (E)...................................................................................................................................149 14.1 General Rules.................................................................................................................................149 14.2 Machine Shops..............................................................................................................................152 14.3 Wireless Rules................................................................................................................................152 14.4 Load-In............................................................................................................................................153 14.5 Pits..................................................................................................................................................154 14.6 Practice Areas................................................................................................................................155 14.7 ROBOT Carts..................................................................................................................................156 14.8 Ceremonies....................................................................................................................................157 14.9 In the Stands..................................................................................................................................157 15 Glossary.............................................................................................................................................159 4 of 164 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. As a robotics community that prepares young people for the future, FIRST is the world’s leading youth-serving nonprofit advancing STEM education. For 30 years, FIRST has combined the rigor of STEM learning with the fun and excitement of traditional sports and the inspiration that comes from community through programs that have a proven impact on learning, interest, and skill-building inside and outside of the classroom. FIRST provides programs that span a variety of age groups: − 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 Pre-K-8, ages 4-16 o FIRST® LEGO® League Challenge for grades 4-8 (ages 9-16, ages vary by country) o FIRST® LEGO® League Explore for grades 2-4 (ages 6-10) o FIRST® LEGO® League Discover for grades Pre-K-1 (ages 4-6) Please visit the FIRST website for more information about FIRST and its programs. 1.2 In Memoriam In October 2019, Dr. Woodie Flowers, an innovator in design and engineering education and a Distinguished Advisor to FIRST and supporter of our mission, 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 1.3 FIRST® Robotics Competition FIRST® Robotics Competition combines the excitement of sport with the rigors of science and technology. Teams of students are challenged to design, build, and program industrial-size robots and compete for awards, while they also create a team identity, raise funds, hone teamwork skills, and advance respect and appreciation for STEM within the local community. Section 1 Introduction V1 5 of 164 Volunteer professional mentors lend their time and talents to guide each team. It’s as close to real- world engineering as a student can get. Plus, high school students gain access to exclusive scholarship opportunities from colleges, universities, and technical programs. 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 2025, FIRST Robotics Competition is projected to reach approximately 90,000 high-school students representing approximately 3,600 teams. Teams come from nearly every state in the United States, as well as many other countries. FIRST Robotics Competition teams will participate in 69 Regional Competitions, 103 District Competitions, and 12 District Championships. In addition, approximately 600 teams will qualify to attend the FIRST Championship in April 2025. This year’s game, and this manual, were presented at the 2025 FIRST Robotics Competition Kickoff on Saturday, January 4, 2025. At the Kickoff, all teams: − saw the 2025 game, REEFSCAPESM presented by Haas, for the first time, − learned about the 2025 game rules and regulations, and − received a set of game specific materials. 1.4 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, and − 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 and − avoid leaving anyone feeling as if they are excluded or unappreciated. Knowledge, pride, and empathy should be comfortably and genuinely blended. Section 1 Introduction V1 6 of 164 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. Figure 1-2 Dr. Woodie Flowers, Gracious Professionalism advocate and exemplar “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. 1.5 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. Message from Woodie Flowers Award Recipients The Woodie Flowers Award is the most prestigious mentoring award in FIRST. The award recipients 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 with Gracious Professionalism 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. Section 1 Introduction V1 7 of 164 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 Rob Mainieri (812, 64, 498, Eric Stokely (258, 360, 2557, Liz Calef (88) 2735, 6833) & 5295) Mike Bastoni (23) Dan Green (111) Glenn Lee (359) Ken Patton (51, 65) Mark Breadner (188) Gail Drake (1885) Kyle Hughes (27) John Novak (16, 323) Allen Gregory (3847) Bill Beatty (71) Chris Fultz (234) Lucien Junkin (118) Dave Verbrugge (5110, 67) John Larock (365) Matt Fagen (4253) Andy Baker (3940, 45) Earl Scime (2614) Christine Sapio (2486) Dave Kelso (131) Fredi Lajvardi (842) Mark Buckner (4265) Paul Copioli (3310, 217) Lane Matheson (932) Norman Morgan (2468) Mark Lawrence (1816) 1.6 Spirit of Volunteering Message from the Global Volunteers Welcome to the 2025 FIRST Robotics Competition – we're excited for you to discover FIRST® DIVE℠ presented by Qualcomm and REEFSCAPE℠ presented by Haas. We’re even more excited to see what you and your team can achieve this season and at the more than 185 events worldwide this season. FIRST is made possible by our volunteers Volunteers are the driving force behind the delivery of all FIRST programs including the FIRST Robotics Competition. Each year it takes thousands of volunteers donating their time, energy, and enthusiasm to ensure that every FIRST Robotics Competition team has the opportunity to achieve its goals. FIRST volunteers come from a diverse set of backgrounds and are united by the same goal: to provide the best possible FIRST experience for all participating teams. We encourage everyone in the FIRST community to join in the fun and excitement of events by participating as a volunteer. Why Volunteer? Witness capable students learning and growing Forge meaningful friendships with other awesome volunteers Be part of the magic that brings events to life Share the wonders of FIRST with those who are yet to discover it Bring invaluable event experiences back to your team Learn and grow beyond your usual circles Section 1 Introduction V1 8 of 164 FIRST Alumni and Graduating Students: You’ve experienced firsthand the impact of FIRST in your life, the opportunities it has provided, and the excitement of participating. Your FIRST experience does not have to end after you graduate – being a volunteer or mentor gives you the opportunity to continue learning, growing, building a community, and having fun at FIRST events. Your experience as a student in a FIRST program is invaluable to helping ensure future students have an amazing experience. There are volunteer roles for every skill level, background, and level of commitment – everyone is welcome! Learn more and sign up as a FIRST volunteer on the FIRST website. FIRST is about you Volunteers eagerly donate their time and efforts to make it possible for you to participate and have fun! We strive to demonstrate the FIRST philosophies of Gracious Professionalism and Coopertition in every interaction – in return, we ask the same of you. If for any reason you feel like our volunteers could have done a better job, we want to know about it – talk to a mentor, trusted adult, other event volunteer or staff member, or report it to FIRST via [email protected]. Join us for the 2025 season and be a part of the incredible journey that is FIRST Robotics Competition! Your involvement is key to our collective success. We look forward to welcoming you! With gratitude and excitement for what lies ahead, your 2025 Global Volunteers: Global Field Supervisors – Ayla DeLaat & Bryan Herbst Global FIRST Technical Advisors (FTAs) – James Cerar & Mark McLeod Global Head Referees – Aidan Browne & Jon Zawislak Global Judge Advisors – Cindy Stong & Allen Bancroft Global Lead Robot Inspectors – Al Skierkiewicz & Chuck Dickerson Global Lead Scorekeepers – Alex Herreid & Andrea “Duckie” Tribo Global Volunteer Coordinators – Laurie Shimizu & Sarah Plemmons 1.7 This Document & Its Conventions The 2025 Game Manual is a resource for all FIRST Robotics Competition teams for information specific to the 2025 season and the REEFSCAPE game. Its audience will find the following detail: − a general overview of the REEFSCAPE game, − detail about the REEFSCAPE playing FIELD, − a description of how to play the REEFSCAPE game, − rules (related to safety, conduct, game play, inspection, event, etc.), and − a description of how teams advance at 2025 tournaments and throughout the season 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. Section 1 Introduction V1 9 of 164 Specific methods are used throughout this manual 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, external articles, and rule references appear in blue underlined text. Key words that have a particular meaning within the context of the FIRST Robotics Competition and REEFSCAPE are defined in section 15 Glossary and indicated in ALL CAPS throughout this document. The rule numbering method indicates the section, subsection, and position of the rule within that subsection. The letter indicates the section in which the rule is published. − Q for Section 6.7.1 Question Box − G for Section 7 Game Rules − R for Section 8 ROBOT Construction Rules − I for Section 9 Inspection & Eligibility − T for Section 10 Tournaments − C for Section 13 FIRST Championship Tournament − E for Section 14 Event Rules The following digit(s) represents the subsection in which the rule can be found. The final digits indicate the rule’s position within that subsection. Figure 1-3 Rule numbering method 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, mass, etc. Metric conversions for non-rules (e.g. 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 Section 1 Introduction V1 10 of 164 the place of the imperial dimensions presented in this manual and the official drawings (i.e. dimensions and rules will always defer to measurements using imperial units). Rules include colloquial language, also called headlines, in an effort to convey an abbreviated version of the rule or rule set. There are two versions of headline formatting. Evergreen rules, or rules which are expected to go relatively unchanged from season to season, are indicated with a leading asterisk and their rule number and headline are presented in bold green text. “Relatively unchanged” means that the overall intent and presence of the rule from season to season is constant, but game specific terms may be updated as needed (e.g. changing Power Cells to ALGAE in a rule about what COACHES may not contact during a MATCH). These rules also start their respective section, so their rule number is not expected to change from season to season. All other rule headlines use 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 at [email protected] 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. 1.8 Translations & Other Versions The REEFSCAPE 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. These assets are posted on the Translated Manuals page. A text-based English version is provided only for use with assistive devices on the Translated Manuals page. This document is locked for editing and has a watermark applied to indicate that it should not be copied. If you have any questions on the document, please contact the FIRST Robotics Competition Team Advocate at [email protected]. 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 REEFSCAPE - Season Materials web page is the commanding version. 1.9 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. Team Update posts are scheduled as follows: − each Tuesday and Friday, starting on the first Tuesday after Kickoff and ending on the Tuesday prior to Week 1 events − each Tuesday, starting Week 1 and ending the week after the final District Championship events. Team Updates are posted on the REEFSCAPE - 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. Section 1 Introduction V1 11 of 164 1.10 Question and Answer System The Question and Answer System (Q&A) is a resource for clarifying the 2025 REEFSCAPE Game Manual, Awards webpages, official FIELD drawings, and/or FIRST Robotics Competition District and Regional Events web page content. Teams can search for previously asked questions and responses or pose new questions. Questions can include examples for clarity or reference multiple rules to understand the relationships and differences between them. The Q&A opens on January 8, 2025, 12:00 PM Eastern. Details on the Q&A can be found on the REEFSCAPE - Season Materials web page. The Q&A may result in revisions to the text in the official manuals (which are communicated using the process described in Team Updates). 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 section 9 Inspection & Eligibility and section 6.7 Head REFEREE and FTA Interaction, REFEREES and INSPECTORS are the ultimate authority on rules. If you have concerns about enforcement trends by volunteer authorities, please notify FIRST at [email protected]. The Q&A is not a resource for firm predictions on how a situation will play out an event. Questions about the following will not be addressed: − rulings on vague situations, − challenging decisions made at past events, or − design reviews of a ROBOT system for legality. 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? − If a ROBOT does this specific action, is it doing what this defined term is describing? Questions from “FRC 99999” represent content asked by key volunteers (e.g., REFEREES, INSPECTORS, etc.), answered by FIRST, and are considered relevant to teams. Section 1 Introduction V1 12 of 164 2 FIRST Season Overview Beneath the ocean’s surface lies our planet’s most complex ecosystems, full of life and potential for exploration and learning, where each inhabitant has a role to play in building a thriving environment. During the 2024-2025 FIRST® season, FIRST® DIVE℠ presented by Qualcomm, teams will use their STEM and collaboration skills to explore life beneath the surface of the ocean. Along the way, we’ll uncover the potential in each of us to strengthen our community and innovate for a better world with healthy oceans. Section 2 FIRST Season Overview V0 13 of 164 3 Game Sponsor Recognition Thank you to the 2025 FIRST® Robotics Competition season presenting sponsor, the Gene Haas Foundation. Section 3 Game Sponsor Recognition V0 15 of 164 4 Game Overview In REEFSCAPESM presented by Haas, two competing alliances are invited to score coral, harvest algae, and attach to the barge before time runs out. Alliances earn additional rewards for meeting specific scoring thresholds and for cooperating with their opponents. During the first 15 seconds of the match, robots are autonomous. Without guidance from their drivers, robots leave their starting zone, score coral on the reef, harvest algae from the reef, and collect and score additional coral. During the remaining 2 minutes and 15 seconds, drivers control their robots. Robots collect coral from human players at their coral station and score them on the reef. To unlock all scoring locations on the reef, robots must dislodge algae from the reef and either score it in the barge or deliver it to the human player through the processor. A human player can then deliver the algae to the barge. If at least two algae are scored in the processor by each alliance, both alliances earn a Coopertition Point (which influences their rank in the tournament) and lowers the requirements for a ranking point. As time runs out, robots prepare to return to the surface with their algae by grabbing onto their cages and parking under the barge. The alliance that earns the most points wins the match! Section 4 Game Overview V0 17 of 164 5 ARENA The ARENA includes all elements of the game infrastructure that are required to play REEFSCAPESM presented by Haas: the FIELD, SCORING ELEMENTS, queue area, team media area, designated TECHNICIAN area, and all equipment needed for FIELD control, ROBOT control, and scorekeeping. Figure 5-1 REEFSCAPE ARENA (queue area, TECHNICIAN area, and media area not pictured) The ARENA is modular and assembled, used, disassembled, and shipped many times during the competition season. It undergoes 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 2025 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 REEFSCAPE 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 REEFSCAPE FIELD are posted on the REEFSCAPE Playing FIELD web page on the FIRST website. 5.1 FIELD Each FIELD for REEFSCAPE is an approximately 26 ft. 5 in. (~805 cm) by 57 ft. 6⅞ in. (~1 755 cm) carpeted area bounded by inward facing surfaces of the ALLIANCE WALLS, CORAL STATIONS, PROCESSORS and PROCESSOR openings, and guardrails. Section 5 ARENA V3 19 of 164 Figure 5-2 FIELD boundary in pink The FIELD is populated with and surrounded by the following elements: − 1 REEF per ALLIANCE, − 1 PROCESSOR per ALLIANCE, − 2 CORAL STATIONS per ALLIANCE, and − 1 BARGE which consists of 3 CAGES and 1 NET for each ALLIANCE. The surface of the FIELD is low pile carpet, Shaw Floors, Philadelphia Commercial, Neyland II 20, “66561 Medallion.” Neyland II carpet is not available for purchase, and the closest equivalent is Shaw, Philadelphia Brand, Profusion 20, Style 54933; see results from FIRST’s evaluation in this blog post. Carpet edges and seams are secured with 3MTM Premium Matte Cloth (Gaffers) Tape GT2, GT3 or comparable Gaffer’s Tape. Tears, rips, and damage to the carpet may be repaired with the same styles of tape and ROBOTS must be prepared to operate on surfaces made of carpet, tape, or combinations of both materials as repairs are made through the course of competition. Guardrails form the long edges of the FIELD. Guardrails are a 1 ft. 8 in. (~51 cm) tall system of transparent polycarbonate supported on the top and bottom by aluminum extrusion. There are 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. Section 5 ARENA V3 20 of 164 Figure 5-3 Gate locations There are 2 versions of guardrails and DRIVER STATIONS used for competitions. 1 design is reflected in the 2025 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 them are the same unless otherwise noted. Detailed drawings for the AndyMark design are posted on the AndyMark website. All illustrations in this manual show the traditional FIELD design. 5.2 Areas, Zones, & Markings FIELD areas, 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. (~51 mm) 3M™ Premium Matte Cloth (Gaffers) Tape (GT2), ProGaff® Premium Professional Grade Gaffer Tape, or comparable gaffers tape. Section 5 ARENA V3 21 of 164 Figure 5-4 Areas, markings, and zones − ALLIANCE AREA: a 30 ft. wide by 13 ft. 8⅜ in. deep (~914 cm by 423 cm) infinitely tall volume formed by, and including the ALLIANCE WALL, CORAL STATION AREAs, the edge of the carpet, and white colored tape perpendicular to the DRIVER STATIONS. − BARGE ZONE: a 3 ft. 10 in. deep by 12 ft. 2½ in. long (~117 cm by 372 cm)., infinitely tall, 4-sided volume surrounding the ALLIANCE’S half of the BARGE. It is bounded by and includes the ALLIANCE- colored tape. − CORAL MARK: 1 of 6 4 in. by 4 in. (~102 mm by 102 mm) “+” marks used to identify placement of CORAL before the MATCH. Marks are made with black tape. − CORAL STATION AREA: a 5 ft. 10⅞ in. wide by 13 ft. 8⅜ in. ft deep (~180 cm by 423 cm) infinitely tall volume bounded by the CORAL STATION, edge of carpet, and ALLIANCE and white colored tape. − HUMAN STARTING LINE: a white line spanning the ALLIANCE AREA between the CORAL STATION AREAs that is parallel to and located 2 ft. (~61 cm) from the bottom square tube of the ALLIANCE WALL to the near edge of the tape. − PROCESSOR AREA: a 3 ft. 7⅜ in. wide by 7 ft. 6 in. deep (~110 cm by 229 cm) infinitely tall volume formed by, and including, the ALLIANCE colored tape, guardrail, and the PROCESSOR wall. − REEF ZONE: an infinitely tall 6-sided, 7 ft. 9½ in. wide (face to face) (~237 cm), volume surrounding the ALLIANCE’S REEF. It is bounded by and includes the ALLIANCE-colored tape. − ROBOT STARTING LINE: a black line that spans the width of the FIELD between each REEF and the BARGE. It is positioned such that it is 7 ft. 4 in. (~224 cm) from the REEF. Section 5 ARENA V3 22 of 164 5.3 REEF Figure 5-5 REEF A REEF is 1 of 2 5 ft. 5 ½ in. (~166 cm) hexagonal structures with BRANCHES that extend from each side where CORAL are scored. Each ALLIANCE has a dedicated REEF centered between each guardrail and located 12 ft. away from the ALLIANCE WALL. Each REEF has 4 levels to score on: Level 1 (L1), Level 2 (L2), Level 3 (L3), and Level 4 (L4). Figure 5-6: Scoring Level Locations (L1-L4) The base of each REEF has a trough (L1) into which ROBOTS can score CORAL. The trough includes the angled and vertical surfaces, as well as the top of the front edge as shown in Figure 5-7. The front edge of the trough is 1 ft. 6 in. (~46 cm) off the carpet. Section 5 ARENA V3 23 of 164 Figure 5-7: Trough Surfaces Vertical pipes extend up from the base, and pipes on the same face are 1 ft. 1 in. (~33 cm) apart (center to center). The pipes are made out of 1-¼ in. Schedule 40 Steel. Each pipe has 3 BRANCHES which are angled or compound extensions from the REEF vertical pipes. L2 is the 12 lowest level BRANCHES and are angled up at 35°. The highest point of the L2 BRANCH is 2 ft. 7⅞ in. (~81 cm) from the carpet and is inset 1⅝ in. (~41 mm) from the REEF base. L3 is the 12 mid-level BRANCHES and are angled up at 35°. The highest point of the L3 BRANCH is 3 ft. 11⅝ in. (~121 cm) from the carpet and is inset 1⅝ in. (~41 mm) from the REEF base. L4 is the 12 highest-level BRANCHES and they are vertical. The highest point of the L4 BRANCH is 6 ft. (~183 cm) from the carpet and is inset 1⅛ in. (~29 mm) from the REEF base. For scoring purposes, the BRANCHES of the REEF are tracked in FMS as follows: Figure 5-8: Reef Scoring Location Tracking Section 5 ARENA V3 24 of 164 5.4 BARGE Figure 5-9 BARGE The BARGE is a 29 ft. 2 in. (889 cm) wide, 3 ft. 8 in. (~112 cm) deep, and 8 ft. 5 in. (~257 cm) tall structure that spans the center of the FIELD. It is made of truss structure supported by legs just outside the guardrail. The BARGE includes 6 CAGES, a red and blue NET, and all structure supporting CAGES and NETS. The horizontal truss structure is 5 ft. 2 in. (~157 cm) above the carpet and is supported in the center of the FIELD by vertical truss and supporting materials. The BARGE has three CAGE locations on each side located 3 ft. 5½ in., 7 ft. ⅜ in., 10 ft. 7⅜ in. (~105 cm, ~214 cm, ~324 cm) from mid field to the center of the CAGE. The BARGE has three segments of lights on each side of the truss which indicate progression toward and completion of the Coopertition Bonus and the final 20 seconds in the match. One segment will light up each time an ALGAE is scored in the PROCESSOR. Once each alliance has scored two ALGAE all six segments will illuminate. The lights will flash to indicate that there are 20 seconds left in the match. Section 5 ARENA V3 25 of 164 5.4.1 CAGE Figure 5-10 Shallow (left) and Deep (right) staged CAGES CAGES are 2 ft. tall and 7⅜ in. wide (outside dimension) (~61 cm tall and ~19 cm wide) rectangular structures. Each CAGE is a welded structure made of 4 steel 1 in. Schedule 40 pipes, a bottom plate, a top plate, and an eyebolt with fastening hardware. CAGES are suspended from the truss structure in specific locations as shown in Figure 5-9 and hang at shallow or deep positions according to the corresponding team’s selection (see section 6.3.5 CAGES for details) such that the bottom of the cage is 2 ft. 6-1/8 in. (~77 cm) and 3-1/8 in. (~79 mm) from the carpet respectively. Deep CAGES are suspended using chain that is 19 links of ¼-in. Grade 43 zinc plated chain. ANCHORS are a collection of surfaces at the top of the CAGE and chain assembly that include the following items and as shown in Figure 5-11: A. the top surface of the CAGE top plate, B. the chain, C. both carabiners, D. the portion of the eye bolt extending above the CAGE top plate, E. the eye nut attached to the BARGE, F. the upper end surfaces of the CAGE pipes, and G. the inside surfaces of the CAGE pipes. Section 5 ARENA V3 26 of 164 Figure 5-11: ANCHOR Surfaces 5.4.2 NET Figure 5-12 NET A NET is a goal in which an ALLIANCE scores ALGAE. The NET is ¼ in. (~6 mm) knit polyester mesh, 4 ft. (~122 cm) wide by 12 ft. (~366 cm) long with a sewn cord border. It is available for purchase from AndyMark, am-5522. It is suspended from the top of the BARGE such that its lowest point hangs 6 ft. 4 in. (~193 cm) above the FIELD carpet. There is a NET for the Blue ALLIANCE and for the Red ALLIANCE. Section 5 ARENA V3 27 of 164 5.5 PROCESSOR Figure 5-13: PROCESSOR A PROCESSOR is a goal into which an ALLIANCE scores ALGAE. There is 1 PROCESSOR per ALLIANCE. The PROCESSOR is integrated into the guardrail near the ALLIANCE’S REEF ZONE and adjacent to the opponent’s PROCESSOR AREA. Each PROCESSOR has a rectangular opening through which ROBOTS score ALGAE which is 2 ft. 4 in. wide (~71 cm), 1 ft. 8 in. tall (~51 cm), and 7 in. (~18 cm) from the carpet. Once an ALGAE passes through the PROCESSOR, it rolls past a scoring sensor array and into the opponent’s PROCESSOR AREA. The HUMAN PLAYER must keep the PROCESSOR clear for scoring, and can shift scored ALGAE on top of the PROCESSOR where there are designated ALGAE holders. Section 5 ARENA V3 28 of 164 5.6 ALLIANCE WALL Figure 5-14: Red ALLIANCE WALL (highlighted in red) The ALLIANCE WALL separates ROBOTS from DRIVE TEAM members in the ALLIANCE AREA. It consists of 3 DRIVER STATIONS. 5.6.1 DRIVER STATIONS Figure 5-15 DRIVER STATION (ALLIANCE AREA perspective and FIELD perspective) A DRIVER STATION is 1 of 3 assemblies within an ALLIANCE WALL behind which a DRIVE TEAM operates their ROBOT. Each DRIVER STATION is made from a 3 ft. ¾ in. (~93 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 DRIVER Section 5 ARENA V3 29 of 164 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. The shelf also includes two clips to hold the shelf in place with a 1 in. (~25 mm) by 2 in. (~51 mm) thick tab that sits on the top surface of the shelf. There may be a ramp available at events for DRIVE TEAMS with limited mobility. It is designed to allow an individual using a wheelchair to access the DRIVER STATION shelf and/or see onto the FIELD; however, this accommodation is available to anyone who has a wheelchair or other physical disability that obstructs their view of the FIELD. Due to space constraints, the ramp is not allowed to be used in the PROCESSOR AREA. Teams should speak to the FTA before MATCHES begin to ensure that it is available for each of the team’s MATCHES. This ramp is available at many Regional and District events. For questions, please connect with the local Program Delivery Partner. Each DRIVER STATION contains the following elements for DRIVE TEAMS: − 1 Ethernet cable: attaches to the Ethernet port of the OPERATOR CONSOLE and provides connectivity to the FIELD Management System (FMS) − 1 120VAC NEMA 5-15R power outlet (i.e. standard US outlet): located on each DRIVER 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. − 1 Emergency Stop (E-Stop) button: located on the left side of the DRIVER STATION shelf and is used to deactivate a ROBOT in an emergency − 1 Autonomous Stop (A-Stop) button: located on the right side of the DRIVER STATION shelf and is used to DISABLE a ROBOT during AUTO − 1 team sign: located at the top of each DRIVER STATION. The FIELD facing side of the sign displays the team number in the ALLIANCE color. The ALLIANCE AREA side of the sign displays the following information in red: o Pre-MATCH: team number and ROBOT connection state o During the MATCH:  remaining MATCH period time,  MATCH scores, and  progress towards the CORAL RP threshold (n/a during the Playoff Tournament). Figure 5-16 Back of team sign Section 5 ARENA V3 30 of 164 − 1 timer (in DRIVER STATION 2 only): displays the official time remaining in the MATCH period on the FIELD-facing side (in white) and a more detailed breakdown of CORAL scored on each level of the REEF on the TEAM-facing side. (in red). Figure 5-17 Back of timer − 1 team LED stack: indicates ALLIANCE color, ROBOT status, E-Stop and A-Stop status, and is centered at the top of each DRIVER STATION. The stack includes 2 identical ALLIANCE-colored ROBOT status LEDs above a third amber A-stop/E- stop LED. LED states are as follows: o ROBOT status LEDs  Solid: indicates that the ROBOT is connected and enabled. This only happens during a MATCH.  Blinking: indicates that either the FMS 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.  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 A-Stop/E-stop LED  Solid: the ROBOT is DISABLED due to a press of the team E-stop button, the FIELD E-stop button, or by the scorekeeper via the FMS.  Blinking: the ROBOT is DISABLED for the remainder of AUTO due to a press of the team A-Stop button.  Off: the ROBOT is not DISABLED by the FIELD. − FMS hardware and wiring: mostly located below shelves in the 2 DRIVER STATIONS closer to the scoring table. Section 5 ARENA V3 31 of 164 5.6.2 CORAL STATION Figure 5-18 CORAL STATION A CORAL STATION is an assembly through which HUMAN PLAYERS feed CORAL into the FIELD. There are 4 CORAL STATIONS, 1 in each corner of the FIELD connecting the guardrail to the ALLIANCE WALL. Each CORAL STATION has a 6 ft. 4 in. wide by 7 in. tall (~193 cm wide by ~18 cm tall) opening through which CORAL passes to the FIELD; the bottom of the opening is 3 ft. 1½ in. (~95 cm) from the carpet. A 55° sloped tunnel, called the CHUTE, leads to the opening in the CORAL STATION. There are 2 stools available at events for DRIVE TEAMS to use. Each stool is 1 ft. 11 in. (~58 cm) wide by 1 ft. 1½ in. (~34 cm) deep, 6¼ in. (~16 cm) tall, and rated for 300 lbs. (~136 kg). It is specially intended to allow individuals who are shorter, better sightlines onto the FIELD; however, this accommodation is available to anyone who has another physical disability that obstructs their view of the FIELD. Due to space constraints, stools are not allowed to be used in the PROCESSOR AREA. Only 2 stools are available, and priority will be given to those with the biggest need. Teams should speak to the FTA before MATCHES begin to request that it is available for each of the team’s MATCHES. Teams may also purchase their own (Item Number: 779ac01stpm) or bring an equivalent (e.g. not foldable and similar dimensions) version to the event to guarantee use for every match. This stool is available at all events within the US & Canada and equivalents are available at international events. For questions, please connect with the local Program Delivery Partner. 5.7 SCORING ELEMENTS SCORING ELEMENTS are items that teams use to score additional points. There are 2 types of SCORING ELEMENTS used in REEFSCAPE: CORAL and ALGAE. Section 5 ARENA V3 32 of 164 5.7.1 CORAL Figure 5-19 CORAL A CORAL is a 11 ⅞ in. long (~30 cm) piece of 4 in. diameter Schedule 40 Cellular (Foam) Core PVC pipe. CORAL has a 4-in. (~102 mm) inside diameter and a 4½-in. (~11 cm) outside diameter. CORAL is available for purchase from AndyMark, am-5601 or can be cut from longer lengths of 4 in. diameter Schedule 40 Cellular (Foam) Core PVC pipe. Prior to Kickoff, CORAL was known as “Game Piece 1” and not available for pre- order prior to the season. CORAL in the KOP and at events has a weight of between 1.1-1.8 lbs. (~0.5-0.8 kg) and has text marking along the length of the pipe that may vary in color. Teams should be aware that CORAL and PVC pipe from different sources may have variances in color, markings, and weight. CORAL undergoes wear and tear during a competition. Generally, a CORAL that still appears to look approximately like a CORAL is considered a CORAL for the purposes of rule evaluation and scoring, whether damaged or not. Small chunks of a CORAL are not considered a CORAL. The edge of the CORAL may be rough or sharp. Teams should use caution when handling CORAL. Section 5 ARENA V3 33 of 164 5.7.2 ALGAE Figure 5-20: ALGAE Each ALGAE is a 16.25 in. (~413 mm) ± ¼ in. (~6 mm) diameter rubber playground ball. The ball is custom made for FIRST by Baden Sports and sold by AndyMark am-5602. Prior to Kickoff, ALGAE was known as “Game Piece 2” and was available for pre- order prior to the season. At events, ALGAE will be inflated using a sizing gauge so that the diameter measures between 16 in. (~406 mm) and 16.5 in. (~419 mm). The ALGAE and the jig will both be placed on a flat surface, and the ALGAE will be inflated with the valve sticking up vertically so that the seam is perpendicular to the large hole in the jig. It will be inflated until the two opposite points along the seam are contacting the top edge of the hole in the jig, which is 16.25 in. (~413 mm) diameter. The tolerances to which ALGAE are manufactured allow for variances in diameter, wall thickness, weight distribution and overall weight. They may not always be uniformly spherical, roll straight, or bounce as expected. Section 5 ARENA V3 34 of 164 Figure 5-21 ALGAE Inflation Jig 5.8 AprilTags AprilTags are 8⅛ in. (~21 cm) square targets located above CAGES, PROCESSORS, CORAL STATIONS and on REEFS. There are 22 unique markers on the FIELD, positioned as shown in Figure 5-22. Figure 5-22 AprilTag locations Section 5 ARENA V3 35 of 164 All markers are from the 36h11 tag family, IDs 1-22. All AprilTags are mounted to and centered on a 10½ in. (~27 cm) square polycarbonate panel. Each marker has an identifying text label. If AprilTags experience wear and marking during MATCHES, they are repaired with gaffers tape. Figure 5-23 AprilTag sizing Section 5 ARENA V3 36 of 164 CORAL STATION AprilTags (IDs 1, 2, 12, and 13) are mounted to the CORAL STATION. The bottom of each tag’s panel is 4 ft. 5¼ in. (~135 cm) above the carpet and centered on the CORAL STATION. Figure 5-24: CORAL STATION AprilTags PROCESSOR AprilTag panels (IDs 3 and 16) are 3 ft. 9⅞ in. (~117 cm) above the carpet and centered horizontally above the opening in the PROCESSOR WALL. Section 5 ARENA V3 37 of 164 Figure 5-25: PROCESSOR AprilTags REEF AprilTag plates (IDs 6-11 and 17-22) are 6⅞ in. (~17 cm) above the carpet and centered horizontally on each of the faces REEF. Figure 5-26: REEF AprilTags Section 5 ARENA V3 38 of 164 BARGE AprilTag plates (IDs 4, 5, 14, 15) are 5 ft. 9 in. (~178 cm) above the carpet, approximately centered above the middle CAGE, and angled 30° from vertical. Figure 5-27: BARGE AprilTags For further marker locating information please refer to the 2025 ARENA Layout and Marking Diagram. Printable versions of the markers are available on the 2025 Playing FIELD webpage. 5.9 The FIELD Management System The FIELD Management System (FMS) is all the electronics responsible for sensing and controlling the FIRST Robotics Competition FIELD. The FMS encompasses all FIELD electronics, including computers, REFEREE touchscreens, the wireless access point, sensors, stack lights, A-Stops and E-Stops, etc. When a DRIVE TEAM connects the Ethernet cable from their assigned DRIVER STATION to their OPERATOR CONSOLE, the Driver Station Software on the OPERATOR CONSOLE computer communicates with FMS. Once connected, the open ports available are described in Table 8-5. 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 alerts participants to milestones in the MATCH using audio cues detailed in Table 5-1. 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 5-1 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 “3 Bells” Section 5 ARENA V3 39 of 164 Event Timer Value Audio Cue Final 20 seconds 0:20 “Submarine Sonar Ping” MATCH end 0:00 “Buzzer” MATCH stopped n/a “Foghorn” 5.10 FIELD STAFF FIELD STAFF are responsible for making sure the MATCHES are cycled through efficiently, fairly, safely, and with a spirit of cooperation, Gracious Professionalism, and generosity of spirit. FIELD STAFF roles are filled by volunteers from the community who prepare for the event with thorough training and certification. There are 3 FIELD-side key volunteer roles with whom teams should be familiar and are encouraged to use as resources to make their event experience valuable (in whatever way the team defines “valuable”). − Head REFEREE – trains, directs, and supervises REFEREES. They oversee all scoring processes and procedures in collaboration with the FIRST Technical Advisor (FTA). They interact with STUDENTS, volunteers, and contracted/FIRST staff. The Head REFEREE is positioned between the FIELD and the scoring table and wears a yellow shirt. The Head REFEREE has final authority for decisions regarding MATCH scores, penalties, and YELLOW and RED CARD assignments. For additional details, please refer to the Head REFEREE role description. − FIRST Technical Advisor (FTA) - ensures events run smoothly, safely, and in accordance with FIRST requirements. The FTA collaborates with FIRST staff, event staff, and other event volunteers in many different areas at events. The FTA is the liaison between FIRST HQ and the event for all things related to the FIELD, ROBOTS, and game, acts as a team advocate for all teams competing at the event and is a major point of escalation and conflict resolution for the event. For additional details, please refer to the FTA role description. − FIELD Supervisor - directs activity on the FIELD to ensure efficient execution of the MATCHES, pacing of the event, and smooth flow of MATCH play. FIELD Supervisors are responsible for ensuring the FIELD is intact and lead FIELD Reset teams, who are responsible for resetting the FIELD after each MATCH in preparation for the subsequent MATCH. For additional details, please refer to the FIELD Supervisor role description. Section 5 ARENA V3 40 of 164 6 Game Details Figure 6-1 REEFSCAPE In REEFSCAPE, 2 ALLIANCES (an ALLIANCE is a cooperative of up to 4 FIRST Robotics Competition teams) play MATCHES, set up and implemented per the details described below. 6.1 MATCH Overview MATCHES run on 7–10-minute cycles, which consist of pre-MATCH setup, the 2-minute and 30-second MATCH, and the post-MATCH reset. During the MATCH, ROBOTS collect CORAL and score on their REEF. ROBOTS also collect ALGAE and score in their PROCESSOR or NET. HUMAN PLAYERS can score ALGAE in their NET once it has been passed to them via their opponent’s PROCESSOR. ROBOTS conclude the MATCH PARKING in their BARGE ZONE or suspending from a CAGE. 6.2 DRIVE TEAM A DRIVE TEAM is a set of up to 5 people from the same FIRST Robotics Competition team responsible for team performance for a specific MATCH. There are 4 specific roles on a DRIVE TEAM which ALLIANCES can use to assist ROBOTS with REEFSCAPE, and no more than 1 member of the DRIVE TEAM may be a non- STUDENT. 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 Section 6 Game Details V7 41 of 164 with more than 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 1 of their DRIVERS has more experience than a DRIVER on their first pick, and the teams agree the first pick team will “adopt” that DRIVER and make them a member of their DRIVE TEAM for Playoffs). The definition isn’t stricter for 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 DRIVERS as temporary members of the team until their bus arrives). Table 6-1 DRIVE TEAM roles Max./ Role Description Criteria DRIVE TEAM any team member, must wear “COACH” COACH a guide or advisor 1 button a resource for ROBOT any team member, must wear TECHNICIAN troubleshooting, setup, and 1 “TECHNICIAN” button removal from the FIELD an operator and controller DRIVER of the ROBOT STUDENT, must wear a “DRIVE TEAM” 3 a SCORING ELEMENT button HUMAN PLAYER manager A STUDENT is a person who has not completed high-school, secondary school, or the comparable level as of September 1 prior to Kickoff. 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: − 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 Section 6 Game Details V7 42 of 164 circuit breaker, connecting and resetting joysticks or gamepads from the OPERATOR CONSOLE, and removing the ROBOT from the FIELD. Per Table 6-1, each team is allotted up to 3 STUDENTS who may be assigned as DRIVERS or HUMAN PLAYERS. If multiple teams on an ALLIANCE do not have 3 STUDENTS at the event to act in these roles, 1 of the ALLIANCE’S teams may substitute a STUDENT TECHNICIAN as a HUMAN PLAYER for that MATCH only. In this case, − the Head REFEREE must be notified, − all HUMAN PLAYER rules now apply to this DRIVE TEAM member, and − this DRIVE TEAM member is no longer considered a TECHNICIAN for that MATCH. 6.3 Setup Before each MATCH begins, FIELD STAFF stage SCORING ELEMENTS as described in section 6.3.4 SCORING ELEMENTS. DRIVE TEAMS stage their ROBOTS (as described in section 6.3.3 ROBOTS) and OPERATOR CONSOLES (as described in section 6.3.2 OPERATOR CONSOLES). Then, DRIVE TEAMS take their places as described in section 6.3.1 DRIVE TEAMS. 6.3.1 DRIVE TEAMS DRIVE TEAMS prepare for a MATCH by staging in the appropriate areas, according to their role on the DRIVE TEAM, and by identifying themselves accordingly. DRIVE TEAM starting conditions are listed below, and a DRIVE TEAM obstructing or delaying any of the conditions is at risk of violating G301. A. only DRIVE TEAM members assigned to the upcoming MATCH are present, B. For QUALIFICATION and PLAYOFF MATCHES only DRIVE TEAM members whose ROBOTS have passed initial, complete Inspection are present, C. no more than 1 HUMAN PLAYER is staged in their PROCESSOR AREA, D. any number of HUMAN PLAYERS are staged in their CORAL STATION AREAS, E. HUMAN PLAYERS not included in C or D, DRIVERS, and COACHES are in their ALLIANCE AREA and behind the HUMAN STARTING LINE, F. TECHNICIANS are in the event-designated area near the FIELD, G. DRIVE TEAM members clearly display their designated buttons above their waists (COACH - “Coach”, DRIVERS and HUMAN PLAYERS - “Drive Team”, and TECHNICIAN - “Technician”), and H. if a Playoff MATCH, the ALLIANCE CAPTAIN clearly displays their designated ALLIANCE CAPTAIN identifier (e.g. hat or armband). 6.3.2 OPERATOR CONSOLES DRIVE TEAMS set up their OPERATOR CONSOLE as soon as the DRIVE TEAM from the previous MATCH has cleared the area. OPERATOR CONSOLES must be compliant with all relevant rules, specifically those in section 8.9 OPERATOR CONSOLE. The OPERATOR CONSOLE is plugged into the team’s assigned DRIVER STATION, as indicated on the team sign. Any control devices worn or held by their HUMAN PLAYERS and/or DRIVERS during the MATCH must be disconnected from or set on or beside the OPERATOR CONSOLE before the MATCH can begin. A DRIVE TEAM obstructing or delaying OPERATOR CONSOLE setup is at risk of violating G301. 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. Section 6 Game Details V7 43 of 164 6.3.3 ROBOTS DRIVE TEAMS stage their ROBOT in accordance with G303. A DRIVE TEAM obstructing or delaying ROBOT setup requirements is at risk of violating G301. If order of placement matters to either or both ALLIANCES, the ALLIANCE notifies the Head REFEREE during setup for that MATCH, and the Head REFEREE instructs ALLIANCES to alternate placement of ROBOTS. In a Qualification MATCH, REFEREE instructions are that ROBOTS are placed in the following order: 1. red DRIVER STATION 1 ROBOT 2. blue DRIVER STATION 1 ROBOT 3. red DRIVER STATION 2 ROBOT 4. blue DRIVER STATION 2 ROBOT 5. red DRIVER STATION 3 ROBOT 6. blue DRIVER STATION 3 ROBOT In an intra-Division Playoff MATCH, the same pattern is applied, but instead of blue ALLIANCE placing last, the higher seeded ALLIANCE (regardless of color) places last. For inter-Division Playoff MATCHES, the ALLIANCE that places last is determined by a (real or virtual) coin flip facilitated by the Head REFEREE where a “heads” result invites the red ALLIANCE to place last. FIELD STAFF may ask teams to indicate their intended location and are not required to wait for a team to stage their ROBOT in its exact location before moving to the next team. Section 6 Game Details V7 44 of 164 6.3.4 SCORING ELEMENTS Before each MATCH begins, FIELD STAFF stage SCORING ELEMENTS. Figure 6-2 CORAL MARK locations and SCORING ELEMENT staging positions 6.3.4.1 CORAL 126 CORAL are staged for each MATCH as follows (reference Figure 6-2): A. 1 CORAL is staged on each CORAL MARK (6 total, CORAL are staged such that each CORAL covers the opposite ends of each CORAL MARK), B. 1 CORAL may be preloaded in each ROBOT by the ROBOT’S DRIVE TEAM, such that the CORAL is fully supported by the ROBOT (up to 6 total, a CORAL not pre-loaded in a ROBOT is staged with CORAL in the corresponding ALLIANCE AREA), and C. remaining CORAL are split evenly behind each CORAL STATION (57 to 60 per ALLIANCE, depending on how many are preloaded in ROBOTS). 6.3.4.2 ALGAE 18 ALGAE are staged for each MATCH as follows (reference Figure 6-2): A. 6 ALGAE are staged on pairs of BRANCHES as shown in Figure 6-3 (12 total) such that they are placed lightly onto the REEF, and B. 1 ALGAE is placed on top of each CORAL staged on a CORAL MARK (6 total). Staged ALGAE will not contact CORAL placed on L4. Section 6 Game Details V7 45 of 164 Figure 6-3 Staging positions for ALGAE on a REEF 6.3.5 CAGES Each team can choose the height of the CAGE closest to their driver station. By default, all CAGES are left in the state from the last match. At the start of each day, all CAGES are set as deep CAGES. If a team would like to alter the CAGE height they must alert the FIELD STAFF during reset. Each team informs FIELD STAFF of their preference for their corresponding CAGE height. Figure 6-4 CAGE positions corresponding to DRIVER STATIONS 6.4 MATCH Phases The first phase of each MATCH is 15 seconds long and called the Autonomous Period (AUTO). During AUTO, ROBOTS operate without any DRIVE TEAM control or input. ROBOTS attempt to leave their ROBOT STARTING Section 6 Game Details V7 46 of 164 LINE, score SCORING ELEMENTS, and retrieve SCORING ELEMENTS. There is a 3-second delay between AUTO and TELEOP for scoring purposes as described in section 6.5 Scoring. The second phase of each MATCH is the remaining 2 minutes and 15 seconds (2:15) and called the Teleoperated Period (TELEOP). During TELEOP, DRIVERS remotely operate ROBOTS to retrieve and score SCORING ELEMENTS and climb their CAGES. 6.5 Scoring ALLIANCES are rewarded for accomplishing various actions throughout a MATCH, including LEAVING their ROBOT STARTING LINE, scoring CORAL on their REEF, scoring ALGAE in their PROCESSOR and NET, climbing CAGES, and winning or tying MATCHES. Rewards are granted either via MATCH points, Coopertition points, or Ranking Points (often abbreviated to RP, which increase the measure used to rank teams in the Qualification Tournament). All scores are assessed and updated throughout the MATCH, except as follows: A. assessment of CORAL scored on the REEF and ALGAE scored in the PROCESSOR or NET continues for up to 3 seconds after the ARENA timer displays 0:00 following AUTO. B. assessment of CORAL scored on the REEF and ALGAE scored in the PROCESSOR or NET continues for up to 3 seconds after the ARENA timer displays 0:00 following TELEOP. C. assessment of CAGE points is made 3 seconds after the ARENA timer displays 0:00 following TELEOP, or when all ROBOTS have come to rest following the conclusion of the MATCH, whichever happens first. LEAVING the ROBOT STARTING LINE, CORAL scoring, ALGAE scoring in the NET, PARKING and CAGE points are all evaluated and scored by human volunteers. Teams are encouraged to make sure that it is obvious and unambiguous that the criteria are met. 6.5.1 SCORING ELEMENT Scoring Criteria A CORAL is scored in the trough (L1) of the REEF if it is not in contact with a ROBOT on that ALLIANCE, not scored on any other level of the REEF, and A. contacting the trough, or B. fully or partially supported by a CORAL in contact with the trough. Section 6 Game Details V7 47 of 164 Figure 6-5 Examples of CORAL scored in the trough (L1) Figure 6-5 includes examples of CORAL on the REEF at the conclusion of a MATCH. A. CORAL A, C, F, and H are scored because they meet criteria A. B. CORAL B and G are scored because they meet criteria B. C. CORAL D and E do not meet any criteria for trough scoring. A CORAL is scored on L2-L4 BRANCH if the BRANCH is inside the volume of the CORAL and the CORAL is not in contact with a ROBOT on that ALLIANCE or an ALGAE. Only 1 CORAL can be scored per BRANCH. An ALGAE is scored in a PROCESSOR once it has passed through the opening of the PROCESSOR and by the sensor array. An ALGAE is scored in a NET if it is above the NET and within the perimeter of the NET, contacting the NET or ALGAE contacting the NET, and not in contact with a ROBOT on that ALLIANCE. If a CORAL scored in AUTO gets removed from a BRANCH during TELEOP, the AUTO points are removed. If a CORAL is scored in that location again, the AUTO points associated with the original scored CORAL is restored. CORAL scored in the trough is not tracked by specific location, if a CORAL is removed from the trough after AUTO, the points removed will correspond to the lowest scoring CORAL (i.e. TELEOP CORAL removed first); if CORAL is re-scored in the trough, points will be re-added in the reverse order (i.e. AUTO CORAL re-added first). 6.5.2 ROBOT Scoring Criteria To qualify for LEAVE points, a ROBOT must move such that its BUMPERS no longer overlap its ROBOT STARTING LINE at the end of AUTO. To qualify for PARK points, a ROBOT’S BUMPERS must be partially or completely contained in their BARGE ZONE at the end of the MATCH and does not meet the criteria for CAGE points. To qualify for CAGE points, a ROBOT must be contacting one and only one CAGE (and not touching any ANCHOR), not contacting the carpet, and may additionally contact only the following elements: Section 6 Game Details V7 48 of 164 A. SCORING ELEMENTS, B. another ROBOT qualified for CAGE points, C. a partner ROBOT contacted by an opponent in violation of G428, and D. an opponent ROBOT. 6.5.3 Coopertition Bonus In Qualification MATCHES, if at least 2 ALGAE are scored in each ALLIANCE’S PROCESSOR, all teams earn 1 Coopertition Point, and the threshold for the CORAL RP decreases as described in Table 6-2. See section 10.5.3 Qualification Ranking for more information about Coopertition influence on Qualification Ranking order. Section 6 Game Details V7 49 of 164 6.5.4 Point Values Point values for tasks in REEFSCAPE are detailed in Table 6-2. Table 6-2 REEFSCAPE point values MATCH points Ranking Coopertition AUTO TELEOP Points Points LEAVE 3 CORAL scored in trough (L1) 3 2 CORAL scored on L2 BRANCH 4 3 CORAL CORAL scored on L3 BRANCH 6 4 CORAL scored on L4 BRANCH 7 5 scored in PROCESSOR 6 6 ALGAE scored in NET 4 4 PARK in the BARGE ZONE 2 BARGE off-the-ground via shallow CAGE 6 off-the-ground via deep CAGE 12 Coopertition Bonus – at least 2 ALGAE scored in each PROCESSOR 1 AUTO RP - all non-BYPASSED ROBOTS LEAVE and at least 1 CORAL scored 1 in AUTO *CORAL RP - If at least 5 CORAL scored on each level. If Coopertition achieved, at least 5 CORAL must be scored on each of 3 1 levels. *BARGE RP - at least 14 BARGE points are scored 1 completing a MATCH with more MATCH points than your Win 3 opponent completing a MATCH with the same number of MATCH points Tie 1 as your opponent *For District Championship and/or FIRST Championship events, the CORAL or BARGE RP requirement may increase. 6.6 Violations Upon any instance of a rule violation, unless otherwise noted, 1 or more of the penalties listed in Table 6-3 are assessed. All rules throughout the Game Rules section are called as perceived by a REFEREE. Table 6-3 Rule violations Penalty Description MINOR FOUL a credit of 2 points towards the opponent’s MATCH point total MAJOR FOUL a credit of 6 points towards the opponent’s MATCH point total Section 6 Game Details V7 50 of 164 Penalty Description issued by the Head REFEREE for egregious ROBOT or team member YELLOW behavior or rule violations. A subsequent YELLOW CARD within the CARD same tournament phase results in a RED CARD. issued by the Head REFEREE for egregious ROBOT or team member RED CARD behavior or rule violations which results in a team being DISQUALIFIED for the MATCH. the state in which a ROBOT is commanded to deactivate all outputs, DISABLED rendering the ROBOT inoperable for the remainder of the MATCH. the state of a team in which they receive 0 MATCH points and 0 DISQUALIFIED Ranking Points in a Qualification MATCH or causes their ALLIANCE to receive 0 MATCH points in a Playoff MATCH VERBAL a warning issued by event staff or the Head REFEREE. WARNING ALLIANCE is An ALLIANCE is ineligible for the specified RP for that MATCH. This ineligible for overrides any RP awarded through normal MATCH play or other rule RP violations. 6.6.1 YELLOW and RED CARDS In addition to rule violations explicitly listed throughout this document, 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. The Head REFEREE may assign a YELLOW CARD as a warning, or a RED CARD for egregious behavior inappropriate at a FIRST Robotics Competition event. A YELLOW or RED CARD is indicated by the Head REFEREE holding a YELLOW and/or RED CARD in the air while the Game Announcer describes the violation. 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 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, a yellow rectangle will show next to the team number on the audience display during subsequent MATCHES, including any replays. Figure 6-6 Example audience screen graphic showing YELLOW CARD indicators Section 6 Game Details V7 51 of 164 All YELLOW CARDS are cleared in FMS at the conclusion of Practice, Qualification, and division Playoff MATCHES. VERBAL WARNINGS issued by the head REFEREE are cleared after Practice MATCHES and persist from Qualification MATCHES through subsequent tournament phases. 6.6.2 YELLOW and RED CARD application YELLOW and RED CARDS are applied based on the following: Table 6-4 YELLOW and RED CARD application Time YELLOW or RED CARDS earned: MATCH to which CARD is applied: REFEREES may or may not be present during Practice MATCHES. With input from event staff, The Head REFEREE may opt to perpetuate a VERBAL WARNING or Prior to Qualification MATCHES YELLOW CARD earned prior to Qualification MATCHES to the first Qualification MATCH for particularly egregious behavior. team’s current (or just-completed) MATCH. In the case where the team participated as a SURROGATE in the during the Qualification MATCHES 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 and the start of Playoff ALLIANCE’S first Playoff MATCH 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 section 6.6.4 Violation Details. 6.6.3 YELLOW and RED CARDS during Playoff MATCHES During Playoff MATCHES, YELLOW and RED CARDS are assigned to the violating team’s entire ALLIANCE instead of to only the violating team. If an ALLIANCE receives 2 YELLOW CARDS, the entire ALLIANCE is issued a RED CARD which results in DISQUALIFICATION for the associated MATCH. If both ALLIANCES receive a RED CARD, the ALLIANCE assessed the first RED CARD, chronologically, is DISQUALIFIED and loses the MATCH. 6.6.4 Violation Details There are several styles of violation wording used in this manual. Below are some example

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