2024-2025 FIRST® Tech Challenge Competition Manual PDF

2024-2025 FIRST® Tech Challenge INTO THE DEEP Competition Manual INTO THE DEEP Competition Manual Contents 1 Introduction................................................................................................................................................ 5 1.1 About FIRST®...................................................................................................................................... 5 1.2 FIRST® Tech Challenge...................................................................................................................... 5 Gracious Professionalism®, a FIRST Credo................................................................................................ 5 1.3 Coopertition®...................................................................................................................................... 6 1.4 Spirit of Volunteering......................................................................................................................... 7 1.5 Accessibility and Inclusion................................................................................................................ 7 1.6 This Document & Its Conventions.................................................................................................... 7 1.7 Translations & Other Versions.......................................................................................................... 9 1.8 Team Updates.................................................................................................................................... 9 1.9 Question and Answer System......................................................................................................... 10 2 FIRST Season Overview.......................................................................................................................... 11 3 Competition Eligibility and Inspection (I)............................................................................................... 13 4 Advancement........................................................................................................................................... 15 5 Event Rules (E)......................................................................................................................................... 17 5.1 General Rules................................................................................................................................... 17 5.2 Machine Shops and Host Team Build Spaces.............................................................................. 21 5.3 Wireless Rules.................................................................................................................................. 21 5.4 Load-In.............................................................................................................................................. 21 5.5 Pits.................................................................................................................................................... 21 5.6 ROBOT Carts.................................................................................................................................... 23 5.7 Ceremonies...................................................................................................................................... 23 5.8 In the Stands.................................................................................................................................... 24 6 Judged Awards........................................................................................................................................ 25 7 Game Sponsor Recognition.................................................................................................................... 27 8 Game Overview........................................................................................................................................ 29 9 ARENA...................................................................................................................................................... 31 10 Game Details........................................................................................................................................ 33 11 Game Rules (G).................................................................................................................................... 35 V0 2 of 75 12 ROBOT Construction Rules (R)........................................................................................................... 37 12.1 General ROBOT Design................................................................................................................ 39 12.2 ROBOT Safety & Damage Prevention......................................................................................... 41 12.3 Fabrication.................................................................................................................................... 43 12.4 ROBOT SIGN Rules....................................................................................................................... 45 12.5 Motors & Actuators...................................................................................................................... 48 12.6 Power Distribution....................................................................................................................... 51 12.7 Control, Command & Signals System......................................................................................... 57 12.8 Pneumatic Systems..................................................................................................................... 62 12.9 OPERATOR CONSOLE................................................................................................................. 62 13 Tournament (T).................................................................................................................................... 67 14 League Play Tournaments (L)............................................................................................................ 69 15 FIRST Championship Tournament (C)............................................................................................... 71 16 Glossary............................................................................................................................................... 73 V0 3 of 75 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 − FIRST® LEGO® League Challenge for grades 4-8 (ages 9-16, ages vary by country) − FIRST® LEGO® League Explore for grades 2-4 (ages 6-10) − 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 FIRST® Tech Challenge FIRST® Tech Challenge is a student-centered program that focuses on giving young people a unique and stimulating experience. Each year, small teams of students with the help of mentors engage in a new dynamic challenge where they design, build, test, and program ROBOTS that must perform a series of game tasks autonomously and under driver control. Participants and alumni of FIRST programs gain access to education and career discovery opportunities, connections to exclusive scholarships and employers, and a place in the FIRST community for life. To learn more about FIRST® Tech Challenge and other FIRST® Programs, visit www.firstinspires.org. 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. Section 1 Introduction V0 5 of 75 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. 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 1-1 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. 1.3 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. Section 1 Introduction V0 6 of 75 1.4 Spirit of Volunteering FIRST can only hope to achieve our mission of providing life-changing robotics programs that give young people the skills, confidence, and resilience to build a better world with your help. There are two phrases which drive and motivate the individuals that volunteer their time for FIRST: “Giving Back” and “Pay It Forward.” Each year, you have the extraordinary opportunity to help create the best-ever experience for our fellow volunteers, mentors, COACHES, and students by becoming a FIRST volunteer To our team members and mentors: remember that the volunteers you interact with are dedicating their most precious asset - their time - to ensure that all teams have a fulfilling, fun, and memorable competition. Volunteers are the lifeblood of FIRST, and without them, FIRST would not be where it is today. We urge 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. We strive to train each volunteer to always exhibit Gracious Professionalism - we hope we can work together to create an environment where all feel safe and welcome. Please consider volunteering at local events near you but know that not all applicates can be placed in all roles at any given event. Please work with your volunteer coordinator and local program delivery partner to help identify the most meaningful way you can help in your region. A complete set of all role- specific volunteer materials can be found on our Volunteer Resources Page. 1.5 Accessibility and Inclusion FIRST is committed to Equity, Diversity, and Inclusion and as such, FIRST makes reasonable accommodations for persons with disabilities that request accommodation. If a participant needs an accommodation for an event, please contact your local leadership before the event so they can help ensure the accommodation is provided. Local leadership may make exceptions to event rules to allow for reasonable accommodations given the exceptions do not create an undue hardship or cause safety concerns. 1.6 This Document & Its Conventions The 2024 Competition Manual is a resource for all FIRST Tech Challenge teams for information specific to the 2024 season and the INTO THE DEEP game. Its audience will find the following detail: − a general overview of the INTO THE DEEP game (to be released 9/7/2024), − detail about the INTO THE DEEP playing FIELD (to be released 9/7/2024), − a description of how to play the INTO THE DEEP game (to be released 9/7/2024), − rules (related to safety, conduct, game play, inspection, event, etc.), − ROBOT construction rules, and − a description of how teams advance at 2024-25 tournaments and throughout the season (to be released 9/7/2024), 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 V0 7 of 75 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 and rule references within this manual appear in blue underlined text with a grey background. Links to external resources appear blue underlined text. For linked references not included in a preview release of this document, the links will appear with the section letter and ### for the rules number within square brackets. For example, a cross link to a game rule before a game rule is released will appear as [G###] and will be replaced with the current linked rule when that section of the manual is released. Key words that have a particular meaning within the context of the FIRST Tech Challenge and INTO THE DEEP are defined in section 16 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. − I for Section 3 Competition Eligibility and Inspection (I) − E for Section 5 Event Rules (E) − G for Section 11 Game Rules (G) − R for Section 12 ROBOT Construction Rules (R) − T for Section 13 Tournament (T) − L for Section 14 League Play Tournaments (L) − C for Section 15 FIRST Championship Tournament (C) 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 1-1 Rule numbering method Warnings, cautions, and notes appear in orange 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 orange 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 orange box, the rule supersedes the language in the orange 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 Section 1 Introduction V0 8 of 75 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 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, rules which are expected to go relatively unchanged from season to season, are indicated with their headline presented in *bold green text with a leading asterisk. “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 Cones to Pixels in a rule about what COACHES may not contact during a MATCH). These rules also start their respective section, so their rule number is less likely to change from season to season. All other rule headlines use bold orange 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]. Team resources that aren’t generally season specific (for example, what to expect at an event, communication resources, team organization recommendations, and award descriptions) can be found on the FIRST Tech Challenge website. 1.7 Translations & Other Versions The FIRST Tech Challenge manual is originally and officially written in English and is occasionally translated into other languages for the benefit of FIRST Tech Challenge teams whose native language may not be English. These assets are posted on the Translated Manuals page. A text-based English version can be provided only for use with assistive devices and not for redistribution. For more information, please contact the FIRST Tech Challenge 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 Game and Season web page is the authoritative version. 1.8 Team Updates Team Updates are used to notify the FIRST Tech Challenge community of revisions to the official season documentation (for example, the manual, drawings, etc.) or important season news. Team Update posts are scheduled as follows: − Every other Thursday beginning on kickoff day and ending two weeks prior to the FIRST Championship. Team Updates are posted on the Game and Season web page and are generally posted at 1pm Eastern. Team Updates are indicated using the following formatting: − Additions are highlighted in yellow. This is an example. − Deletions are indicated with a strikethrough. This is an example. Section 1 Introduction V0 9 of 75 1.9 Question and Answer System The Question and Answer System (Q&A) is a resource for teams to ask questions about gameplay, competition rules, judging and advancement, ROBOT build rules, and FIELD setup. 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 September 16th, 2024, 12:00 PM Eastern. Access to the Game Q&A forum is through the Lead COACH 1 and/or Lead COACH 2’s account through the www.firstinspires.org/ dashboard. Follow the instructions on how to create an official Q&A account. Teams may still create a separate view -only account to read the forum. The Q&A may result in revisions to the text in the official manuals (which are communicated using the process described in section 1.8 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, 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 at an event. Questions about the following may not be addressed: − rulings on vague situations, − challenging decisions made at past events, or − design reviews of a ROBOT system for legality. Questions that are overly broad, vague, and/or include no rule references. Some examples of questions that may not be answered in the Q&A are: − How should the REFEREE have ruled when this specific game play happened? − Duplicate questions − Questions clearly defined/addressed in this manual 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 “FTC 1000” represent content asked by key volunteers (e.g., REFEREES, INSPECTORS, etc.), answered by FIRST, and are considered relevant to teams. Section 1 Introduction V0 10 of 75 2 FIRST Season Overview Explore the Future The ocean is more than what you can see on the horizon. Beneath the 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. Join us as we explore the future. Section 2 FIRST Season Overview V0 11 of 75 3 Competition Eligibility and Inspection (I) This section will be updated with the Kickoff Competition Manual release on September 7th, 2024 Section 3 Competition Eligibility and V0 13 of 75 Inspection (I) 4 Advancement This section will be updated with the Kickoff Competition Manual release on September 7th, 2024 Section 4 Advancement V0 15 of 75 5 Event Rules (E) This section of event rules are general rules which apply from the beginning of the public schedule when teams arrive through the end of the event with departure from the venue. They are high level rules intended to promote an orderly and safe experience for all participants. The event director may specify additional restrictions beyond those listed here based on local venue requirements. Safety is always paramount, and many rules are intended to establish norms at each event that will mitigate injury risk to all participants. The event director has the final decision authority for all safety-related issues within a venue. 5.1 General Rules The rules below apply throughout an event, i.e. from when Load-In begins to when Load-Out is complete. Universal Violation Note: A violation of any Event Rules (E) will result in a verbal warning. Egregious or subsequent violations will be addressed by the Head REFEREE, the Lead ROBOT INSPECTOR (LRI) and/or event director. Teams should note that egregious and/or frequent violations may be shared with the Judge Advisor which could lead to disqualification from awards. Criminal behavior will not be tolerated and may be met with immediate disqualification for the team from the game and judging. Additional rule specific violations, if applicable, are listed with their corresponding rule. E101 *Personal safety comes first. All team members must observe the following safety practices throughout the event: A. wear safety glasses (only ANSI-approved, UL Listed, CE EN166 rated, AS/NZS certified, or CSA rated non-shaded) while in and around the playing FIELD and in the pit area. Clear or lightly tinted safety glasses are preferred. Shaded glasses are allowed for those who need them and do not require a specific accommodation request. The only instances where teams are not required to wear safety glasses are in their first 10 minutes of their event load in, and for the first 10 minutes pits are open each day of the event as long as they’re not working on the ROBOT or setting up their pit. B. wear closed toed/heeled shoes. C. control entanglement risks by tying back long hair and removing other dangling decorations including lanyards, spirit wear and rings as needed while working on or around a ROBOT or ROBOT related materials or tools. D. wear appropriate clothing. E. walk in the venue. F. comply with government and venue-specific health and safety requirements in place for that event (e.g. mask wearing). For more information about safety at FIRST events, please reference the FIRST Safety Manual. Section 5 Event Rules (E) V0 17 of 75 E102 *Be a Gracious Professional. All participants must be gracious and professional at all times while attending a FIRST Tech Challenge event. Uncivil behavior toward any participants is not tolerated. Examples of inappropriate behavior include, but are not limited to A. use of offensive language or other uncivil conduct towards someone, B. intentionally blocking the view of other participants or spectators for an extended period (team members momentarily holding up team signs while directly supporting their team is not considered a violation of this rule.), and C. jamming or interfering with the remote sensing capabilities of a ROBOT or the FIELD while in open-access spectator seating areas. 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 AprilTags employed on the FIELD is a violation of this rule. Examples of particularly contemptible behavior that may result in ejection from the event include, but are not limited to, the following: A. assault, e.g. throwing something that hits another person (even if unintended), B. threat, e.g. saying something like “if you don’t reverse that call, I’ll make you regret it,” C. harassment, e.g. badgering someone with no new information after a decision’s been made or a question’s been answered, D. bullying, e.g. using body or verbal language to cause another person to feel inadequate or unsafe, E. insulting, e.g. telling someone they don’t deserve to be on a team, F. swearing at another person (versus swearing under one’s breath or at oneself), and G. yelling at another person(s) in anger or frustration. E103 *Children with adults, please. Children under 12 must be accompanied in the pits by an adult at all times. E104 *Respect the venue. Teams may not damage the venue, including but not limited to bleachers, floors, walls, railings, etc., in any way. This includes littering with team giveaways including candies, flyers and stickers. E105 *Teams must check in. An adult team member must check in at the Pit Administration station, or the designated check in location, no later than 45 minutes before Qualification MATCHES are scheduled to start unless otherwise specified or approved by the event director. Violation: Failure to check in may result in a team not participating in the event. Section 5 Event Rules (E) V0 18 of 75 E106 *Event resources are for competing teams only. Only teams registered for an event may use that event’s competition FIELD, practice FIELD, and inspection. Host teams supplying practice FIELD elements and/or machine shop resources may use them, however teams registered for that event must be granted priority. E107 *Practice only when/where permitted. Teams may only practice with their ROBOT in their pit space, in the designated event practice areas, or while in a practice MATCH. Teams may not set up their own practice equipment outside their pit in other areas of the event venue. When practicing in their pit, safety must remain the top priority. If the event director determines a pit practice setup is unsafe or interferes with activity in adjacent pits or aisles, the team must discontinue the activity. E108 *Work in designated areas only. At the event venue, teams may only produce FABRICATED ITEMS as follows: A. in their pit area, B. in another team’s pit area with permission from that team, C. while queued for a MATCH or practice FIELD (given space constraints, extra scrutiny regarding safety is required), D. any area designated by event staff (e.g. playoff pit area, etc.), or E. as permitted at provided machine shops that are available to all teams. E109 *Some things don’t belong at events. Do not bring or use the following: A. skateboards B. ‘hoverboards’ C. drones D. bottled gas tanks (e.g. helium) E. noisy devices or noisemakers, such as floor stompers, whistles and/or air horns F. walkie-talkies G. scooters, except for those used for accommodations E110 *Don’t arrange for additional utilities. Do not arrange for power, internet access, or phone lines from venue service providers or attempt to use venue internet connections reserved for event purposes (e.g. FIRST event management software or web casting). E111 *Don’t sell stuff. Teams may not conduct sales at an event. This includes, but is not limited to, raffle tickets, food, hats, shirts, candy, water, soft drinks, fruit, or any promotional products unless specifically allowed by the event director. E112 *Make FIRST loud, but with restrictions. Do not invite or bring live bands to play in the audience. Do not play loud music. E113 *Hang banners with care. Be respectful when hanging your banners. A. Do not cover or move other team or sponsor signs already in place. B. Share the available space fairly with other teams. C. Do not obstruct the view of spectators. D. Get permission from the event director before hanging banners outside of your pit. Section 5 Event Rules (E) V0 19 of 75 E. Hang signs and banners in a safe manner. F. Banners hung outside team pits must not be larger than 25 ft.2 (2.3 m2). We encourage teams to bring team flags and/or signs for display in their pits and/or the playing FIELD area. To find your event director, inquire at the pit administration desk. Respect venue-specific rules regarding sign location and hanging methods. At the end of the event, safely remove all signs and anything used to hang the signs (tape, string, etc.). E114 *Limit flag and flagpole size if used on the FIELD. Flags and flagpoles may not be of unreasonable size and weight if they are going to be used on or around the FIELD. As a guideline, reasonable flags are less than 3 ft. by 5 ft. (~91 cm by 152 cm) in size and weigh less than 2 lbs. (~907g). Reasonable flagpoles may not be more than 8 ft. (~243 cm) long and weigh less than 3 lbs. (~1360g). E115 *No firearms or other weapons. Firearms or other weapons are prohibited at all FIRST events for all FIRST programs, including without limitation, all official FIRST Events posted here. This rule includes prop or simulated weapons which appear to be real. This policy does not apply to law enforcement or venue security personnel. E116 *Inspection required for practice FIELD access. A team may only use a practice FIELD with a ROBOT that has passed an initial, complete inspection. This rule only applies to events not using scheduled inspection times. E117 *Don’t record FIRST staff or volunteers at the event without their consent. Do not record your interactions with FIRST event staff, or anyone at an event, without the person’s consent and do not challenge the decision to decline consent to be recorded. FIRST event staff are empowered to excuse themselves from an interaction in which they are being recorded after declining consent. Laws regarding recording of conversations vary state-to-state and country-to country, and, in some cases, recording without consent may be criminal. Introducing the idea of recording a conversation with an implied reason of proving someone’s error can escalate a discussion and is likely to increase its adversarial nature. Section 5 Event Rules (E) V0 20 of 75 5.2 Machine Shops and Host Team Build Spaces Rarely, some events host a machine shop or open their team’s build space, during specific hours (see the event public agenda), to help teams with repair and fabrication of their ROBOT. Machine shops are typically sponsored by the local host organization. In most cases, the machine shop is on site and readily accessible to all teams. 5.3 Wireless Rules E301 *No wireless communication. Teams may not set up their own Wi-Fi (802.11a/b/g/n/ac/ax/be) wireless communication (e.g. access points or ad-hoc networks) in the venue. A wireless hot spot created by a cellular device, camera, smart TV, etc. is considered an access point. Some smart TVs have access points enabled by factory default. Please make sure that functionality is disabled for any TVs brought to the event. E302 *Don’t interfere with wireless networks. Participants may not interfere, attempt to interfere, or attempt to connect with any other team or FIRST wireless network without expressed permission. Teams are encouraged to report suspected wireless security vulnerabilities to the FIRST Technical Advisor (FTA) or event director if at the event or to FIRST via [email protected] to report a suspected issue after the event. Violation: Subsequent violations may lead to dismissal from the event and/or legal action based on applicable laws. 5.4 Load-In Some large events (often multi-day events) may set specific time frames, published on the event public schedule, in which teams are invited to load their ROBOT and equipment into their pit areas before pits officially open. Load-in can be stressful for teams and volunteers, which can be mitigated by preparation and planning. Unanticipated factors, like traffic or weather, can change a team’s scheduled arrival time, making the process difficult. The most important things a team should remember are to be safe, gracious, and professional. Teams who experience smooth and easy load-ins are encouraged to check with others to see if they can help and make their experience as positive as possible. 5.5 Pits A team pit is the designated space, typically a 10 ft. by 10 ft. by 10 ft. (~3 m x 3 m x 3 m) area, where a team may work on their ROBOT. Each team is assigned a pit space marked with their team number. This helps team members, judges, and visitors find teams easily. Pit spaces may vary based on competition venue size limits. Section 5 Event Rules (E) V0 21 of 75 The pit area refers to the general area where team pits are located which encompasses the aisles between the pits, pit admin, ROBOT inspection, practice FIELD, or other areas where ROBOTS may be active or worked on. All pit rules apply to the full pit area. Additional limitations beyond those listed below may be imposed by the event director but they should be clearly communicated at least 48 hours before the event start time and applied to all teams fairly. Team pits may or may not have a table and power outlet. If individual team outlets are not provided, the venue must provide access to team-useable outlets in the pit area for charging batteries. Teams, volunteers, FIRST staff, and guests spend a lot of time in the pits. Get to know other teams and help each other when you can. Time is short and help is very often right "next door" in the adjacent team pits. Small, bench-top machinery, with appropriate guards, is permitted in team pits. ‘Small’ machinery is machinery that can be easily lifted by one person and examples include, but are not limited to, 3D printers, small band saws, small drill presses, desktop CNC mills, and sanders. E501 *Pits are unavailable if closed. Teams may not be in their team pit outside the designated pit hours. E502 *Stay in your pit. Teams may neither allow their materials to expand beyond their team pit (including running power or internet lines from their team pit to any other area), swap team pits with other teams, nor move themselves to empty team pits. E503 *Keep aisles clear. Aisles must be kept clear. E504 *No sparks. Tools that throw sparks or produce open flames are prohibited. Examples of tools that violate this rule include, but are not limited to, welders, bench and angle grinders, gas torches, etc. E505 *Nothing too big. Floor standing power tools are prohibited. Examples include but are not limited to full-size drill presses, band saws, and table saws. Violation: Teams will be asked to remove or not bring in floor standing power tools. Any items that are deemed unsafe or outside specifications by FIRST personnel and/or event director must be removed. E506 *No brazing or welding. Brazing/welding is prohibited. Violation: Teams will be asked to remove or not bring in brazing/welding tools. Any items that are deemed unsafe or outside specifications by FIRST personnel, and/or event director must be removed. E507 *Solder with specific tools only. Soldering may be done using an electric iron/gun only. Violation: Any items that are deemed unsafe or outside specifications by FIRST personnel and/or the event director must be removed. Section 5 Event Rules (E) V0 22 of 75 E508 *Structures must be safe. Teams may not build any structure that supports the weight of people or stores items overhead. Structures may not block or inhibit fire sprinkler systems or otherwise be unsafe. Violation: Any pit structures that are deemed unsafe or outside specifications by FIRST personnel and/or the event director must be removed. E509 *Secure team identification assets. Team signs, flags, and displays must be securely mounted to the pit structure. Violation: Any pit structures that are deemed unsafe or outside specifications by FIRST personnel and/or the event director must be removed. E510 *Only use aerosol or other chemicals with noxious fumes in approved areas. Any aerosol or chemical that produces noxious fumes or spray particulates should only be used in approved areas. Not all venues will allow the use of these products anywhere on site. Violation: Any items that are deemed unsafe or outside specifications by FIRST personnel and/or the event director must be removed. 5.6 ROBOT Carts Most teams use carts to transport their ROBOT throughout an event. Carts are not required but are strongly recommended (to minimize risk of muscle strains, dropped ROBOTS, and other hazards). In addition to the rules listed below, teams are strongly encouraged to put the team’s number on the cart, refer to the FIRST Safety Manual for ROBOT lifting techniques, and practice putting the ROBOT on and off the cart to develop a safe, quick, fluid routine. E601 *Carts must be safe and easy to use. Carts must be easy to control, maneuver, and pose no risk to bystanders. E602 *Carts shouldn’t be too big. Carts must fit through a standard 30-inch door. E603 *Carts can’t park anywhere. Carts must remain in the team pit (or cart staging area during a MATCH) when not in use. E604 *No noisy carts. Carts may not be equipped with music or other sound-generating devices. E605 *No motor driven carts. ROBOT carts may not use powered propulsion. 5.7 Ceremonies At every event, there are opening and closing ceremonies to show honor and respect for represented countries, sponsors, teams, mentors, volunteers, and award winners. Ceremonies provide everyone with the opportunity to collectively applaud the successes of all participants. They also give teams a chance to "meet" the volunteers and other people and sponsors involved with the event. Closing ceremony elements at the end of the event are integrated into and presented between playoff MATCHES. At the awards ceremony, FIRST presents trophies and medallions to outstanding teams. All team members are encouraged to attend the ceremonies, be punctual, and show appreciation to volunteers that staffed the event. Section 5 Event Rules (E) V0 23 of 75 E701 *Quiet in the pits during ceremonies. During ceremonies outside of playoff MATCHES, team members may not: A. use power tools B. use loud hand tools (hammers, saws, etc.) C. shout, yell, or use loud voices, unless as a demonstration of approval during a ceremonial activity. E702 *Pit person limit during Ceremonies is 5. No more than 5 team members may be in the pits during Ceremonies outside of Playoff MATCHES. All teams are encouraged to have as many people in the stands for ceremonies as possible. This is important both to celebrate all who are recognized during ceremonies, but also to listen for important day-of information from event organizers which might be critical for your team. E703 *Be respectful during anthems. Team members, including any remaining in the pits, should exhibit peaceful behavior during the presentation of all national anthems. Traditionally, team members stand to face the flag, remove hats, and either sing along or maintain a respectful silence during the anthems of all nations present at the event. If team members wish to abstain, they have a right to do so, as long as they remain silent and non-disruptive. 5.8 In the Stands E801 *No saving seats. Teams are not permitted to save or designate seats for team members that are not present. Teams may not hang banners or ribbons or otherwise designate seating. (Event staff will remove and discard any banners, roping, etc., used to designate seating.) Please take turns sitting in the bleachers/stands if seating is limited. If there is a crowding problem, we ask that you kindly leave after your team's MATCH and return later, if possible. The event director may reserve seats for attendees who require accessible seating or to ensure teams in the playoffs have seats to watch their teams play. E802 *Don’t throw items from the stands. Items may not be thrown from audience seating. Section 5 Event Rules (E) V0 24 of 75 6 Judged Awards This section will be updated with the Kickoff Competition Manual release on September 7th, 2024 Section 6 Judged Awards V0 25 of 75 7 Game Sponsor Recognition Section 7 Game Sponsor Recognition V0 27 of 75 8 Game Overview This section will be updated with the Kickoff Competition Manual release on September 7th, 2024 Section 8 Game Overview V0 29 of 75 9 ARENA This section will be updated with the Kickoff Competition Manual release on September 7th, 2024 Section 9 ARENA V0 31 of 75 10 Game Details This section will be updated with the Kickoff Competition Manual release on September 7th, 2024 Section 10 Game Details V0 33 of 75 11 Game Rules (G) This section will be updated with the Kickoff Competition Manual release on September 7th, 2024 Section 11 Game Rules (G) V0 35 of 75 12 ROBOT Construction Rules (R) The rules listed below explicitly address legal parts and materials and how those parts and materials may be used on a ROBOT. A ROBOT is an electromechanical assembly built by the FIRST Tech Challenge team to play the current season’s game and includes all the basic systems required to be an active participant in the game –power, communications, control, and movement about the FIELD. There are many reasons for the structure of the rules, including safety, reliability, parity, creation of a reasonable design challenge, adherence to professional standards, and impact on the competition. Another intent of these rules is to have all energy sources and active actuation systems on the ROBOT (e.g. batteries, motors, servos, 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 can accurately and efficiently assess the legality of a given part. ROBOT construction rules in this section only apply to the construction of your ROBOT as it might be inspected. MATCH play rules and consequences for violating rules during MATCH play are outlined in section 11 Game Rules (G). 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 an assembly of COMPONENTS that provide specific functionality on the ROBOT. A MECHANISM can be disassembled (and then reassembled) into individual COMPONENTS without damage to the parts. 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 2 ROBOT panels from RoboPanels Corp. and receives both items. They put 1 in their storeroom and plan to use it later. Into the other, they drill “lightening holes” to reduce weight. The first panel is still classified as a COTS item, but the second panel 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. Example 3: A team obtains openly available design drawings from a professional publication and uses them to fabricate a gearbox for their ROBOT. The design drawings are considered a COTS item and may be Section 12 ROBOT Construction Rules (R) V0 37 of 75 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 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 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. should maintain sufficient stock or production capability so they are able to ship any general (i.e., non-FIRST unique) product within a timely manner. It is recognized that certain unusual circumstances (such as a global supply chain disruption and/or 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. 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 2 weeks. This would be considered a FABRICATED ITEM, and the 2-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 5 business days and leave the welding of the cuts to the team. D. makes their products available to all FIRST Tech Challenge teams. A VENDOR must not limit supply or make a product available to just a limited number of FIRST Tech Challenge teams. The intent of this definition is 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 any applicable cost accounting rules. Section 12 ROBOT Construction Rules (R) V0 38 of 75 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 effective distribution channels. Remember, FIRST Tech Challenge 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 (i.e. reference the relevant rule in this manual) proving the legality of items during inspection where a rule specifies limits for a legal part (e.g. motors, servos, 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 the FIRST Tech Challenge at [email protected] for an official ruling. To seek approval for alternate parts/devices for inclusion in future FIRST Tech Challenge seasons, please use the Part Suggestion Form. FIRST Tech Challenge can be a high-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. 12.1 General ROBOT Design R101 *STARTING CONFIGURATION is limited to an 18-inch Cube. In the STARTING CONFIGURATION (the physical configuration in which a ROBOT starts a MATCH), the ROBOT must be fully self- contained within an 18-inch wide, by 18 inch long, by 18-inch-high volume. The only exceptions are: A. preloaded game elements may extend outside the starting size constraint. B. minor protrusions (0.25 inches) by flexible materials (i.e., zip tie, surgical tube, string, etc.) may extend beyond the 18-inch (45.72 cm) size constraint If a ROBOT uses interchangeable MECHANISMS per [I###], teams should be prepared to show compliance with this rule and R104 in all configurations. Section 12 ROBOT Construction Rules (R) V0 39 of 75 R102 *ROBOTS may assist in holding the STARTING CONFIGURATION. In the STARTING CONFIGURATION, ROBOTS must be fully self-supported (i.e., does not exert force on the sides or top of a sizing tool). ROBOTS may accomplish this using any combination of: A. mechanical means while powered-off, and/or B. initializing an OpMode that pre-positions servos and motors to a desired stationary position. The OpMode may control motors and servos to hold their position to maintain the STARTING CONFIGURATION. ROBOTS holding STARTING CONFIGURATION during inspection or waiting for a MATCH to start may have to do so for several minutes and should limit the possibility of thermal failure (e.g. not having motors stalled against a hard stop). Teams must also be especially cautious when operating a running ROBOT during inspection, notifying the INSPECTOR that the ROBOT is live and taking every precaution to ensure the process is carried out safely. R103 *There is no ROBOT weight limit. There is no explicit weight limit for FIRST Tech Challenge ROBOTs While there is no official weight limit, teams should still consider the impact of a ROBOT’s weight on various factors, including but not limited to: − FIELD TILE damage − battery consumption − ROBOT transportation − total ROBOT performance R104 There is a horizontal expansion limit. After the MATCH has started, ROBOTS may expand beyond the STARTING CONFIGURATION but must stay within an overall working ARENA TILE footprint. The overall working footprint has the following constraints: A. has no vertical height limit B. is a 20” x 42” (50.8cm x 116.8cm) rectangle measured parallel (coplanar) to the TILE floor C. is always a vertical projection relative to the TILES, so robots which change orientation (drive, tip, spin, etc.) during the match are still subject to the horizontal expansion limit measured parallel (coplanar) to the TILES. D. [game specific exception may be added at kickoff on 9/7/2024] This rule is intended to limit the amount of floor area each robot can cover with the maximum mechanical range of motion of all extensions. Teams should be prepared to show compliance with this rule and demonstrate their robot expansions during the inspection process. During inspection each ROBOT will need to demonstrate that the full mechanical range of motion of all extensions outside of STARTING CONFIGURATION will be contained within a fixed 20 in by 42 in working area. Section 12 ROBOT Construction Rules (R) V0 40 of 75 Teams are subject to penalties listed in [G###] for any violations during the MATCH. Figure 12-1: Expansion Limits 12.2 ROBOT Safety & Damage Prevention R201 *Don’t damage the TILE floor. Traction devices must not have surface features which could damage the TILE floor. Traction devices are all parts of the ROBOT that are designed to transmit any propulsive and/or braking forces between the ROBOT and the FIELD. Examples of traction devices known to cause damage when used directly on TILE floors are high traction wheels (for example, AndyMark am-2256) and high grip tread (for example, Roughtop, AndyMark am-3309). While these (and other) COMPONENTS are not outright prohibited, e.g. used as part of an intake, MECHANISMS that involve these COMPONENTS contacting the TILE floor are not allowed. R202 *No exposed sharp edges. Protrusions from the ROBOT and exposed surfaces on the ROBOT shall not pose hazards to the ARENA elements (including SCORING ELEMENTS) or people. Section 12 ROBOT Construction Rules (R) V0 41 of 75 R203 *Design ROBOTS for safety. ROBOT parts shall not be made from hazardous materials, be unsafe, cause an unsafe condition, or interfere with the operations of other ROBOTS. Examples of items that will violate this rule include (but are not limited to): A. shields, curtains, or any other devices or materials designed or used to obstruct or limit the vision of any DRIVE TEAM members and/or interfere with their ability to safely control their ROBOT, B. speakers, sirens, air horns, or other audio devices that generate sound at a level sufficient to be a distraction, C. 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 utilizes or closely mimics 36h11 AprilTags), D. flammable gasses, E. any device intended to produce flames or pyrotechnics, F. hydraulic fluids or hydraulic items, G. switches or contacts containing liquid mercury, H. 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. I. high intensity light sources used on the ROBOT 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, J. animal based materials, K. any device designed to damage or flip competing ROBOTS, L. devices or conditions that pose an unnecessary risk of entanglement Flashing lights can be particularly distracting and can cause harm to some individuals. Decorative or functional lighting which flashes at greater than 2Hz will invite additional scrutiny and teams may be asked to disable or modify their lighting at the discretion of the Head REFEREE and/or LRI. R204 *SCORING ELEMENTS stay with the FIELD. ROBOTS must allow removal of SCORING ELEMENTS from the ROBOT and the ROBOT from FIELD elements while powered off. Teams must make sure that SCORING ELEMENTS and ROBOTS can be quickly, simply, and safely removed per [G###] and [G###]. Teams are encouraged to consider [G###] when developing their ROBOTS. Section 12 ROBOT Construction Rules (R) V0 42 of 75 R205 *Don’t Contaminate the FIELD. ROBOTs may not contain any materials which if unintentionally released would damage the FIELD, other ROBOTs or delay the start of a MATCH due to required decontamination. Lubricants may be used only to reduce friction within the ROBOT. Lubricants must not contaminate the FIELD or other ROBOTS. Lubricants used on the ROBOT must not be excessively applied such that they spin off or drip off during normal ROBOT operations on the FIELD. Additional examples of items that will violate this rule include (but are not limited to): − any ballast not secured sufficiently, including loose ballast e.g. sand, ball bearings etc., such that it may be released on the FIELD during a MATCH − liquid or gel materials − tire sealant, and − Other lubricants R206 *Don’t damage SCORING ELEMENTS. ROBOT elements likely to contact SCORING ELEMENTS shall not pose a significant hazard to the SCORING ELEMENT. SCORING ELEMENTS 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 SCORING ELEMENTS are violations of this rule. R207 *No Air Power on the ROBOT. ROBOTS may not use any closed air devices such as but not limited to: pneumatic solenoids or cylinders, gas storage vessels, gas springs, compressors, or vacuum generating devices. Air-filled (pneumatic) wheels are exempt from this rule. 12.3 Fabrication R301 *Legal COTS Parts and Raw materials can be modified. Allowed raw materials and Legal COTS parts can be modified (drilled, cut, painted, etc.) as long as no other rules are violated. Raw materials referrers to unfinished building stock such as but not limited to: − sheet stock − extruded shapes − metals, plastic, rubber, and wood − magnets R302 *Custom parts can be reused year to year. FABRICATED ITEMS created before Kickoff are permitted. R303 *Custom designs and software can be reused year to year. ROBOT software and designs created before Kickoff are permitted. Section 12 ROBOT Construction Rules (R) V0 43 of 75 R304 *SCORING ELEMENTS are not allowed for ROBOT Construction. Current season SCORING ELEMENTS or replicas of SCORING ELEMENTS are not allowed to be used as part of ROBOT construction or for any other team supplied SCORING ELEMENTS. R305 *During an event, work can occur outside of pit hours. During an event a team is attending (regardless of whether the team is physically at the event location), the team may work on or practice with their ROBOT or ROBOT elements outside of the hours that pits are open. For teams who chose to work offsite during an event please work smart and safely. Ensure team members get adequate rest and have sufficient adult supervision during afterhours and off-site work. Note that E107 and E108 impose additional restrictions on work done on the ROBOT or ROBOT materials while attending an event. R306 *COTS MECHANISMS have limits. COTS MAJOR MECHANISMS (as defined in [I###]) purposefully designed to complete a game task are prohibited. Allowed exceptions to this rule are: A. COTS drive chassis, provided none of the individual parts violate any other rules COTS parts are intended to help teams design and build ROBOT MECHANISMS to complete game tasks and solve challenges but are not intended to be purpose-built complete bolt-on out-of-the-box solution to complete game objectives. R307 *COTS should be single DoF. COTS COMPONENTS and MECHANISMS must not exceed a single degree of mechanical freedom (DoF). Examples of allowed COTS single degree of freedom MECHANISMS and COMPONENTS are as follows: A. linear slide kit, B. linear actuator kit, C. single speed (non-shifting) gearboxes, D. pulley, E. turntable, and F. lead screw G. single DoF grippers Allowed exceptions to this rule are: H. ratcheting devices (wrenches, bearings, etc.), I. Holonomic wheels (omni or mecanum), and J. dead-wheel odometry kits The general test for a single degree of freedom MECHANISM is whether the orientation and position of each COMPONENT in the MECHANISM can be generally predicted based on the orientation and position of a single COMPONENT (such as the input) of the system. Section 12 ROBOT Construction Rules (R) V0 44 of 75 12.4 ROBOT SIGN Rules A ROBOT SIGN is a required assembly which attaches to the ROBOT. A ROBOT SIGN simultaneously identifies a ROBOT’s team number as well as its ALLIANCE affiliation for FIELD STAFF. Criteria used in writing these rules include the following: − Maximize FIELD STAFF’s ability to determine team number and ALLIANCE of a ROBOT, − Minimize the amount of design challenge in creating ROBOT SIGNS, and − Increase consistency in displaying ROBOT identification. R401 *Two ROBOT SIGNS per ROBOT. ROBOT SIGNS must be placed in at least two separate locations on the ROBOT. These locations must be on opposite or adjacent surfaces of the ROBOT, ≥90 degrees apart. All ROBOT surfaces visible to FIELD STAFF can be used for placing ROBOT SIGNS including the top of the ROBOT. The intent of this rule is for FIELD STAFF to easily view ROBOT SIGNS from at least 12 feet (3.66 meters) away before, during, and after the MATCH. ROBOT SIGNS must meet the following criteria: A. be made of a robust material, B. minimally be 6.5 inches (16.51 cm) wide (Figure 12-2), C. minimally be 2.5 inches (6.35 cm) tall (Figure 12-2), and D. be supported by the structure/frame of the ROBOT Examples of robust materials that satisfy this rule include, but are not limited to, acrylic, plastic laminated paper, wood, and metal. ROBOT SIGNS must be designed to withstand vigorous game play. Figure 12-2: Team Number ROBOT SIGN Sizing Section 12 ROBOT Construction Rules (R) V0 45 of 75 R402 *ROBOT SIGNS indicate your ALLIANCE. Each ROBOT SIGN must contain a red or blue opaque background to indicate their ALLIANCE color, as assigned in the MATCH schedule at the event. Visible markings on ROBOT SIGNS when installed on the ROBOT, other than the following, are prohibited: A. those required per R403, B. solid white FIRST logos no larger than 1.5 in. (3.81 cm) in height (Figure 12-3), C. small amounts of hook-and-loop tape, hard fasteners, or functional equivalents, and D. narrow areas of differing colors exposed at corners, folds, or cutouts. ROBOT SIGNS that are reversible or configurable must not allow the opposite ALLIANCE color to be visible to FIELD STAFF, except where permitted by this rule. Figure 12-3: Legal team number display for team 117 playing on the red ALLIANCE R403 *Team number on ROBOT SIGNS. Team numbers must be displayed and positioned on the ROBOT SIGN as shown in Figure 12-2, Figure 12-3 and Figure 12-4, and meet the following additional criteria: A. consist of solid opaque white Arabic numbers (e.g. 1,2,3,4) 2 inches (5.08 cm) tall, B. there must be a minimum of 1/4” inches (6.35 mm) of background surrounding the numbers, C. numbers may not be vertically stacked (Figure 12-5) D. be made of robust materials E. cannot be powered or rely on power from any sources to illuminate/reveal numbers Figure 12-4: Legal number for team 21001 playing on the blue ALLIANCE Section 12 ROBOT Construction Rules (R) V0 46 of 75 Figure 12-5: Team number orientation examples for team 1355 playing on the blue ALLIANCE If a team at an event does not have completely legal ROBOT SIGNS, and there is no color printer or other means available at the event to create a legal ROBOT SIGN, the head REFEREE may approve an alternate substitute for use at the event. Team numbers must be robust enough to withstand the rigors of MATCH play. Example robust materials include: − self-adhesive numbers (mailbox or vinyl numbers) − ink jet or laser printed numbers on paper and laminated or protected from ROBOT-to-ROBOT interaction. Examples of prohibited team numbers on ROBOT SIGNS include but are not limited to: − Edge lit engraved plastic − LED Display numbers Section 12 ROBOT Construction Rules (R) V0 47 of 75 12.5 Motors & Actuators R501 *Allowable motors. The only allowed motor actuators are: Table 12-1 Motor allowances Part Numbers Motor Name Notes Available AndyMark NeveRest 12V DC am-3104 AndyMark NeveRest Hex 12V DC am-3104c 5201, 5202, 5203, and 5204 goBILDA Yellow Jacket 520x Series 12V DC 5201-0002-0026, etc series Modern Robotics / MATRIX 12V DC 5000-0002-0001 REV Robotics HD Hex 12V DC REV-41-1291 REV Robotics Core Hex 12V DC REV-41-1300 Studica Robotics Maverick 12V DC 75001 TETRIX MAX 12V DC 739530 Discontinued TETRIX MAX TorqueNADO 12V DC W44260 VEX EDR 393 276-2177 Counts as a servo for R503 Factory installed vibration and autofocus motors resident in COTS computing devices (e.g. rumble motor in a smartphone). Can only be used as part of the device, cannot be removed and/or repurposed. These motors do not count toward the limit in R503. Motors integral to a COTS sensor (e.g. LIDAR, scanning sonar, etc.), provided the device is not modified except to facilitate mounting. These motors do not count toward the limit in R503. Many legal gearmotors are sold with labeling based on the entire assembly. These motors may be used with or without the provided gearbox. Section 12 ROBOT Construction Rules (R) V0 48 of 75 R502 *Allowable servos. Servo actuators must meet the requirements below. Servos must be compatible with the power regulation devices they are ultimately used with (per R505) and may include additional servo position output interfaces (e.g. 4th Wire Position Feedback). Table 12-2 Servo Requirements at 6V Actuator Mechanical Example Servos (including, but not limited to) Class Stall Current Output Power NOT COMPLETE LIST AndyMark High-Torque Servos (am-4954) Axon MAX+ Servo (Axon MAX+) DSSERVO 35KG Coreless (DS3235MG) Servo ≤ 8 watts @6V ≤ 4 amps @6V FEETECH Digital Servo (FT5335M-FB) goBILDA Dual Mode Servo (2000-0025-0003) REV Robotics Smart Servo (REV-41-1097) Studica Multi-Mode Smart Servo (75002) Actuonix Micro Linear Servo (P8-100-252-12-R) Linear Servo N/A ≤ 1 amps @6V Hitec Linear Servo (HLS12-3050-6V) Studica Linear Servo RC Actuator (75014) Servo mechanical output power is approximated by the following formula (using 6V data reported by manufacturer): Mechanical Output Power = 0.25 x (Stall Torque in N-m) x (No Load Speed in rad/s) Servos must meet both requirements to be legal for use. Refer to the Legal and Illegal Parts List for a list of servos that are pre-approved, otherwise teams must be able to provide documentation verifying servo specifications. Use the online calculator to verify output power compliance. If a manufacturer does not provide 6V specs, any specs for voltages that exceed 6V are allowed to be used. Stall current is the maximum stall current possible for the device at the specified voltage, regardless of any programmable software limits that may be available within the servo. It is important to ensure the voltage provided by the intended power regulation device is within the operating voltage range of the desired servo. The REV Control Hub and REV Expansion Hub provide 5V to servos, and the REV Servo Power Module and Studica Servo Power Block provide 6V to servos. While virtually all servos are compatible with 6V, servos with an operating voltage range of 6-8.4 DCV, for example, may not work properly when only provided 5V. Section 12 ROBOT Construction Rules (R) V0 49 of 75 R503 *ROBOTs are limited to a total of 8 motors and 12 servos. A ROBOT may not have more than 8 motors and 12 servos from the allowable actuator lists per R501 and R502 for all MECHANISMS used in all configurations, with the following exceptions: A. The VEX EDR 393 (276-2177) motor is counted as a servo instead of a motor. If a ROBOT has multiple configurations used at a single event which use different MECHANISMS the sum total of all motors and servos must be less than or equal to the limit set in this rule. For servos, note that each REV Expansion Hub and REV Control Hub provide 5V and are limited to a max current output of 5A total shared across all servo ports and the +5V auxiliary power port, with a 2A maximum limit across paired servo ports (10W of maximum electrical output power per port pair, 25W total). Teams should make sure that their total servo power usage always remains below this limit. Given the extensive number of motors and servos 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 and/or servos at the same time could lead to drops in ROBOT battery voltage that may result in exceeding the battery fuse limits or browning out the control system leading to power loss or communications loss. R504 *Don’t modify actuators unless explicitly allowed. The integral mechanical and electrical system of any motor or servo must not be modified. Motors and servos 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 leads may be trimmed to length as necessary and connectors or splices to additional wiring may be added, C. servos may be modified as specified by the manufacturer (e.g. re-programming or modification for continuous rotation), D. minimal labeling may be applied to indicate device purpose, connectivity, functional performance, etc. as long as the team applied label doesn’t obstruct the markings used to identify the device, E. insulation may be applied to electrical terminals, F. repairs, provided the original performance and specifications are unchanged, and G. maintenance recommended by the manufacturer. Section 12 ROBOT Construction Rules (R) V0 50 of 75 R505 *All actuators must be powered from approved devices. With the exception of servos, fans, or motors integral to sensors of COTS computing devices permitted in R501, each actuator must be controlled by a power regulating device. The only power regulating devices for actuators permitted on the ROBOT are: Table 12-3 Power Regulators and Limits Power Regulating Device Part Number Load Limit per Device REV Control Hub or REV-31-1153 / 2 Motors per Port Expansion Hub Motor Ports REV-31-1595 REV Control Hub or REV-31-1153 / 2 Servos per Port Expansion Hub Servo Ports REV-31-1595 2 Servos per Port OR REV Servo Power Module REV-11-1144 2 VEX Motor Controller 29 (one per port) REV SPARKmini REV-31-1230 2 Motors per Device Studica Servo Power Block 75005 2 Servos per Port 1 VEX EDR 323 Motor VEX Motor Controller 29 276-2193 (Counts as a Servo per R503) R506 *No relays or alternative electrical actuation. The application of electromechanical actuation through the use of additional relays, electromagnets, electrical solenoid actuators, or related systems is prohibited. In addition, the use of relays and electromagnets is also prohibited. 12.6 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. R601 *Battery limit – everyone has the same main ROBOT power. The only legal source of electrical energy for the ROBOT control system and actuation during the competition, the ROBOT battery, must be 1 and only 1 approved 12V NiMH main battery. The ROBOT main battery must have a COTS equivalent in-line 20A ATM mini blade fuse installed. Installed connectors may be replaced with other popular connectors such as Anderson Powerpole, XT30, or any connector with a comparable power rating. The only allowed ROBOT main power battery packs are: Table 12-4 Legal ROBOT Main Power Battery Packs Battery Pack Part Number Notes AndyMark Flat Pack Battery DC 12V am-5290 goBILDA 12V NiMH Nested Battery 3100-0012-0020 Matrix 12V 3000mAh NiMH 14-0014 REV 12V Slim Battery REV-31-1302 Section 12 ROBOT Construction Rules (R) V0 51 of 75 Battery Pack Part Number Notes Studica 12V 3000mAh NiMH 70025 TETRIX MAX 12V 3000mAh NiMH W39057 Formerly 739023 There are many other similar style batteries available from multiple VENDORS but only the listed manufactures and part numbers are legal for use at FIRST Tech Challenge Events. Batteries should be charged in accordance with manufacturer’s specification. (Please see the FIRST Safety Manual for additional information.) R602 *Other batteries are only allowed for peripheral devices and LEDs only. COTS USB battery packs with a capacity of 100Wh or less (27000mAh at 3.7V), with 5V/5A max output or 12V/5A max output using USB-PD per port, and batteries integral to a self-contained camera (e.g. GoPro style camera) may be used provided they are: A. connected only using unmodified COTS cables, B. charged according to manufacturer recommendations, C. securely fastened to the ROBOT, D. not supplement power to any of the ROBOT actuators, and E. not used by any devices receiving control signals from the ROBOT control system (i.e. COTS USB battery packs must remain electrically isolated from the ROBOT power systems.) Exceptions to part E of this rule are: 1. powered USB Hubs, and 2. ROBOT CONTROLLER smartphones For example, a REV Blinkin powered by a COTS USB battery pack cannot be controlled by signals from a REV Control or Expansion Hub. Any device receiving signals from a REV Control or Expansion Hub must be powered by the main ROBOT battery. R603 *Charge batteries with safe connectors. Any battery charger used to charge a ROBOT battery must have a corresponding polarized connector installed. Batteries must never be charged using alligator clips or similar. R604 *Charge batteries at a safe rate. Any battery charger used to charge a ROBOT battery may not be used such that it exceeds a 3-amp average charge current. Follow all manufacturer recommendations when charging batteries. R605 *Batteries are not ballast. No batteries other than those allowed per R601 and R602 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. Section 12 ROBOT Construction Rules (R) V0 52 of 75 R606 *Batteries should be securely mounted. 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. Batteries must be mounted such that they are protected from direct contact with other ROBOTs or any sharp edges. R607 *Electrical connections should be robust and must be insulated. All electrical paths may include intermediate elements such as COTS connectors (Anderson Powerpole, XT30, and similar crimp or quick-connect style connectors), splices, COTS flexible/rolling/sliding contacts, and COTS slip rings, as long as the entire electrical pathway is via appropriately gauged/rated elements and all connections are protected from accidental electrical shorts Teams are strongly encouraged to insulate all exposed electrical terminations or provide physical barricades to protect from accidental electrical shorts. R608 *Limit non-battery energy. 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. a change in the altitude of the ROBOT center of gravity, or B. storage achieved by deformation of ROBOT parts including, but not limited to, springs, rubber bands, surgical tubing, etc. R609 *Connect the ROBOT battery safely though the Main Power Switch. Exactly one main power switch must control all power provided by the ROBOT battery pack to all power regulating devices on the ROBOT such that all the following conditions are met: A. must be one of the following approved power switches: Table 12-5 Legal Power Switches Power Switch Part Number AndyMark FTC Power Switch w/ Bracket am-4969 REV Switch Cable and Bracket REV-31-1387 TETRIX R/C Switch Kit W39129 B. must be mounted or located where it’s accessible to the team and FIELD STAFF C. a “Main Power Switch” label no smaller than 1” x 2.5” must be placed near the switch on a flat surface. D. secondary power switches can be used on the 12V line downstream of the main power switch provided they are clearly labeled as “secondary switch” and must still be one of the approved switches. There are no specific location requirements for the main power switch, but it should be located clear of any moving parts and other obstructions that would block its access during normal ROBOT operations. Examples considered not “quickly and safely accessible” include main power switches covered by an access panel or door, or mounted on, underneath or immediately adjacent to moving COMPONENTS. Section 12 ROBOT Construction Rules (R) V0 53 of 75 The main power switch should be mounted on the ROBOT so it is protected from ROBOT-to-ROBOT contact to avoid inadvertent actuation or damage. R610 *Fuse ratings should not be altered. Fuses must not be replaced with fuses of higher rating than originally installed or according to manufacturer's specifications; fuses may not be shorted out. Fuses must not exceed the rating of those closer to the battery. If necessary, a fuse may be replaced with a smaller rating. Replaceable fuses must be single use only; self-resetting fuses (breakers) are not allowed. R611 *The ROBOT frame is not a wire. All wiring and electrical devices shall be electrically isolated from the ROBOT frame. The ROBOT frame must not be used to carry electrical current. Electrically grounding the control system electronics to the frame of the ROBOT is only permitted such that all of the following conditions are met A. must use one of the following approved parts: Table 12-6: Legal ROBOT Grounding Straps Grounding Strap Part Number AndyMark Resistive Grounding Strap am-4648 REV Resistive Grounding Strap REV-31-1269 B. the strap must directly connect to a fully COTS COMPONENT with an XT30 connector, and also must connect directly to the frame of the ROBOT. C. no ROBOT COMPONENTS or MECHANISMS are designed to electrically ground the ROBOT frame to the FIELD Compliance with this rule can be checked by observing a >120Ω resistance between both the (+) or (-) terminal of the ROBOT main power switch in the “ON” position and any point on the ROBOT. Most aluminum has a clear anodizing layer or oxidation layer on it that acts as an insulator. In order to make a good electrical connection with the grounding strap to the frame, it may be necessary to scratch/file/remove the anodize/oxidation layer from the area of contact with the metal first. 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 this rule. Examples of devices with COTS XT30 connectors include but are not limited to the REV Control Hub (REV-31-1595), a COTS XT30 power distribution block (such as a REV-31-1293), or a COTS Anderson Powerpole to XT30 Adapter (such as REV-31-1385). For additional details on installation of the grounding strap, please see the ROBOT Wiring Guide. Section 12 ROBOT Construction Rules (R) V0 54 of 75 R612 *Electrical system must be inspectable. All power regulating devices (per R505), associated wiring, and all fuses must be visible for inspection. “Visible for inspection” does not require that the items be visible when the ROBOT is in STARTING CONFIGURATION, provided the team can make the items viewable during the inspection process. R613 *No high voltage allowed. Any active electrical item that is not an actuator (specified in R501) or power regulation device (specified in R505) is considered a CUSTOM CIRCUIT. CUSTOM CIRCUITS shall not provide regulated output voltages exceeding 5V, but may pass through unregulated battery voltage. R614 *Energize Power Regulating Devices as specified. All power regulating devices (R505) must be powered per the manufacturer’s instructions and the following table must be true: Table 12-7 Power Regulation Device Power Requirements Power Regulating Device Part Number Method of Powering REV Control Hub / REV-31-1153 / Only powered using one of the XT30 connectors on the device by REV Expansion Hub REV-31-1595 the ROBOT main battery Only powered using the screw terminals and must always be REV Servo Power Module REV-11-1144 powered by the ROBOT main battery Only powered by the Power input REV SPARKmini REV-31-1230 and must always be powered by the ROBOT main battery Only powered by JST-VH power connector, and must always be Studica Servo Power Block 75005 powered by the ROBOT main battery VEX Motor Controller 29 276-2193 Only powered via servo connector Section 12 ROBOT Construction Rules (R) V0 55 of 75 R615 *Use appropriately sized wire. All circuits shall be wired with appropriately sized insulated copper wire (SIGNAL LEVEL cables don’t have to be copper): Table 12-8 Wire sizing requirements Application Minimum Wire Size 12V Main Battery Power 18 AWG Motor Power (unless otherwise listed)

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