2022 FIRST® Robotics Competition

Game Manual
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 ..........................................................................................................11
2 FIRST Season Overview ............................................................................................................................13
3 Game Sponsor Recognition ......................................................................................................................15
4 Game Overview ..........................................................................................................................................17
5 ARENA ........................................................................................................................................................19
5.1 FIELD ..................................................................................................................................................19
5.2 Zones and Markings .........................................................................................................................22
5.3 HUB ....................................................................................................................................................25
5.3.1 UPPER HUB and LOWER HUB ..................................................................................................26
5.3.2 Fenders ......................................................................................................................................27
5.4 HANGARS ..........................................................................................................................................28
5.4.1 Truss Structure .........................................................................................................................29
5.4.2 Rungs .........................................................................................................................................29
5.4.3 Floor Protection ........................................................................................................................30
5.4.4 LAUNCH PADS ..........................................................................................................................31
5.5 TERMINALS .......................................................................................................................................32
5.6 ALLIANCE WALLS .............................................................................................................................34
5.6.1 DRIVER STATIONS ....................................................................................................................35
5.6.2 HANGAR WALLS .......................................................................................................................37
5.7 CARGO ...............................................................................................................................................38
5.8 Vision Targets ...................................................................................................................................38
5.9 The FIELD Management System ......................................................................................................39

Contents ii
6 MATCH Play ...............................................................................................................................................41
6.1 Setup ..................................................................................................................................................41
6.1.1 CARGO .......................................................................................................................................41
6.1.2 ROBOTS .....................................................................................................................................42
6.1.3 Humans .....................................................................................................................................42
6.2 Autonomous Period ..........................................................................................................................43
6.3 Teleoperated Period..........................................................................................................................43
6.4 Scoring ...............................................................................................................................................43
6.4.1 Point Values ..............................................................................................................................43
6.5 Rule Violations ..................................................................................................................................44
6.5.1 Violation Details ........................................................................................................................45
6.6 DRIVE TEAM ......................................................................................................................................46
6.7 Other Logistics ..................................................................................................................................47
7 Game Rules: ROBOTS ...............................................................................................................................49
7.1 ROBOT Restrictions ..........................................................................................................................49
7.2 ROBOT to ROBOT Interaction ...........................................................................................................51
7.3 FIELD Interaction ...............................................................................................................................53
7.4 CARGO ...............................................................................................................................................54
8 Game Rules: Humans ................................................................................................................................57
8.1 General ...............................................................................................................................................57
8.2 REFEREE Interaction .........................................................................................................................60
8.3 Before/After the MATCH ..................................................................................................................60
8.4 During the MATCH: AUTO.................................................................................................................64
8.5 During the MATCH ............................................................................................................................65
9 ROBOT Construction Rules .......................................................................................................................67
9.1 General ROBOT Design .....................................................................................................................69
9.2 ROBOT Safety & Damage Prevention ...............................................................................................71
9.3 Budget Constraints & Fabrication Schedule ....................................................................................72
9.4 BUMPER Rules ..................................................................................................................................76
9.5 Motors & Actuators ...........................................................................................................................83
9.6 Power Distribution.............................................................................................................................86
9.7 Control, Command & Signals System ..............................................................................................94
9.8 Pneumatic System ............................................................................................................................98
9.9 OPERATOR CONSOLE .....................................................................................................................102

Contents iii
10 Inspection & Eligibility Rules ...................................................................................................................105
10.1 Rules ................................................................................................................................................105
11 Tournaments ...........................................................................................................................................109
11.1 MATCH Schedules ..........................................................................................................................109
11.2 REFEREE Interaction .......................................................................................................................109
11.2.1 YELLOW and RED CARDS .......................................................................................................110
11.3 MATCH Replays ..............................................................................................................................111
11.4 Measurement ..................................................................................................................................112
11.5 Practice MATCHES .........................................................................................................................112
11.5.1 Filler Line .................................................................................................................................112
11.6 Qualification MATCHES ..................................................................................................................113
11.6.1 Schedule ..................................................................................................................................113
11.6.2 MATCH Assignment ...............................................................................................................113
11.6.3 Qualification Ranking .............................................................................................................113
11.7 Playoff MATCHES ...........................................................................................................................114
11.7.1 ALLIANCE Selection Process .................................................................................................115
11.7.2 Playoff MATCH Bracket .........................................................................................................115
11.7.3 Pit Crews .................................................................................................................................117
11.7.4 TIMEOUTS ...............................................................................................................................117
11.7.5 BACKUP TEAMS .....................................................................................................................118
11.7.6 Small Event Exceptions ..........................................................................................................119
11.7.7 Single-Day Event Exceptions ..................................................................................................120
11.8 Advancement Through the District Model .....................................................................................121
11.8.1 District Events .........................................................................................................................121
11.8.2 District Championship Eligibility ............................................................................................125
11.8.3 District Championships with Multiple Divisions ...................................................................126
11.9 FIRST Championship: Additions and Exceptions ..........................................................................127
11.9.1 Advancement to the FIRST Championship ...........................................................................128
11.9.2 4 ROBOT ALLIANCES .............................................................................................................128
11.9.3 FIRST Championship Pit Crews .............................................................................................129
11.9.4 FIRST Championship Playoffs ...............................................................................................129
11.9.5 FIRST Championship TIMEOUTS ...........................................................................................130
12 Glossary ...................................................................................................................................................131

Contents iv
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.

1 Introduction V0 5 of 136
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 2022, FIRST Robotics Competition is projected to reach between 55,000 and 81,000 high-school
students representing approximately 3,200 teams. Teams come from nearly every state in the United
States, as well as many other countries.

FIRST Robotics Competition teams will participate in 59 Regional Competitions, 106 District
Competitions, and 11 District Championships. In addition, approximately 450 teams will qualify to attend
the FIRST Championship in April 2022.

This year’s game, and this manual, were presented at the 2022 FIRST Robotics Competition Kickoff on
Saturday, January 8, 2022.

At the Kickoff, all teams:

• saw the 2022 game, RAPID REACTSM presented by The Boeing Company, for the first time,
• learned about the 2022 game rules and regulations, and

Safety is always paramount, and many rules are intended to establish norms at
each event that will mitigate injury risk to all participants.
Event staff have the final decision authority for all safety-related issues within a
venue.
Please refer to FIRST Robotics Competition District and Regional Event web page
for safety, conduct, etc. rules not specific to RAPID REACT or limited to MATCH
play. As with all violations in this document, any event rules also carry the
potential consequence of a YELLOW or RED CARD.

• received a Kickoff Kit that provides a starting point for ROBOT build.

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:

1 Introduction V0 6 of 136
 • 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.

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.

1 Introduction V0 7 of 136
 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 Paul Copioli (3310, Lane Matheson (932)
217)
Liz Calef (88) Mark Lawrence
Rob Mainieri (812, 64, (1816)
Mike Bastoni (23)
498, 2735, 6833)
Eric Stokely (258, 360,
Ken Patton (51, 65)
Dan Green (111) 2557, & 5295)
Kyle Hughes (27)
Mark Breadner (188) Glenn Lee (359)
Bill Beatty (71)
John Novak (16, 323) Gail Drake (1885)
Dave Verbrugge
Chris Fultz (234) Allen Gregory (3847)
(5110, 67)
John Larock (365) Lucien Junkin (118)
Andy Baker (3940, 45)
Earl Scime (2614) Matt Fagen (4253)
Dave Kelso (131)
Fredi Lajvardi (842)

1.6 Spirit of Volunteering

2022 Season Spirit of Volunteering: A Message from the Chief Volunteers to the FIRST
Community
We know 2020 didn’t go as planned and 2021 was a year unlike any other for the FIRST Community.
The 2022 season is shaping up to be another non-traditional year. With that in mind, we think it’s
more important than ever to recognize the two phrases which drive and motivate the individuals
that volunteer their time for FIRST: “Giving Back” and “Pay It Forward”. This year will be a year
where you can help create the best-ever experience for our mentors, coaches, students, and fellow
volunteers.
Volunteering has enormous, lifelong impacts for everyone involved. Every student, teacher, event
volunteer, mentor, coach, and family member learns and grows throughout the season as they
interact with each other – via both in-person as well as virtual interactions. There are tremendous
growth opportunities for all!
To our team members and mentors: Whether you are attending events remotely or hopefully in-
person, remember that the volunteers you interact with are giving up 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 encourage
you to remember that Gracious Professionalism is part of the ethos of FIRST. It's a way of doing
things that encourages high-quality work, emphasizes the value of others, and respects individuals
and the community.
To our loyal volunteers – and everyone else that is considering volunteering - we want to encourage
you to join us in whatever capacity that you can for the 2022 season. There’s a lot to gain from
volunteering and part of what makes it so much fun is:
• Seeing capable students learning and growing
• Making new friends with other awesome volunteers
• Being a part of the magic that makes an event happen
• Sharing FIRST with folks who didn’t know about it

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 • Taking event experiences back to your team
• Learning how to communicate with people outside of your normal circle
Just as with so many other circumstances and situations in our lives these last couple of years,
volunteering for FIRST Robotics Competition in 2022 will probably look a little different. We know a
day will come when we will put this virus behind us. And we know that together, we will adapt, stay
connected, engage our teams, and continue to move #FIRSTFORWARD.
To our FIRST alumni – We need you! You know the impact of FIRST in your life and the opportunity
you’ve been given. We’re asking you to pay it forward and help the next generation have the same
opportunity. The FIRST website has great resources for finding out how you can get involved by
giving a few hours or more!
We look forward to welcoming you!
Chief Referees – Aidan Browne & Jon Zawislak
Chief Judge Advisors – Cindy Stong & Allen Bancroft
Chief Volunteer Coordinators – Laurie Shimizu & Sarah Plemmons
Chief Robot Inspectors - Al Skierkiewicz & Chuck Dickerson
Chief Field Supervisors – Scott Goering & Ayla DeLaat

1.7 This Document & Its Conventions

The 2022 Game Manual is a resource for all FIRST Robotics Competition teams for information specific to
the 2022 season and the RAPID REACT game. Its audience will find the following detail:

• a general overview of the RAPID REACT game,

• detail about the RAPID REACT playing FIELD,
• a description of how to play the RAPID REACT game,
• game rules (related to safety, conduct, game play, inspection, etc.), and
• a description of how teams advance at 2022 tournaments and throughout the season
All participants should also study the Event Rules Manual as it details event rules and expectations that
perpetuate from season to season. That content complements, and carries the same weight as, this
document.

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

Specific methods are used throughout this 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 and external articles appear in blue underlined text. All rule
references are also hyperlinks to the rule even though they do not appear as blue underlined text.

Key words that have a particular meaning within the context of the FIRST Robotics Competition and
RAPID REACT are defined in the Section 12 Glossary section 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.

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 • G for Section 7 Game Rules: ROBOTS
• H for Section 8 Game Rules: Humans
• R for Section 9 ROBOT Construction Rules
• I for Section 10 Inspection and Eligibility Rules
• T for Section 11 Tournaments
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 1-2 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, weight, 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 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 intent 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 CARGO 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
firstroboticscompetition@firstinspires.org 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.

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1.8 Translations & Other Versions

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

A text-based English version can be provided only for use with assistive devices and not for redistribution.
For more information, please contact the FIRST Robotics Competition Team Experience Specialist at
frcteamadvocate@firstinspires.org.

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 RAPID REACT - 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 of the final District Championship
events.
Team Updates are posted on the RAPID REACT - 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.

1.10 Question and Answer System

The Question and Answer System (Q&A) is a resource for clarifying the 2022 RAPID REACT 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 12, 2022, 12:00 PM Eastern. Details on the Q&A can be found on the RAPID
REACT - 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 Section 1.9 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 10 Inspection & Eligibility Rules and Section 11.2 REFEREE
Interaction, REFEREES and INSPECTORS are the ultimate authority on rules. If you have concerns about
enforcement trends by volunteer authorities, please notify FIRST at
firstroboticscompetition@firstinspires.org.

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:

1 Introduction V0 11 of 136
 • 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.

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2 FIRST SEASON OVERVIEW

In the 2022 season, FIRST® FORWARDSM presented by Qualcomm, FIRST teams will explore the future of
transportation. From the shipment of packages in rural and urban areas, to disaster relief delivery and
high-tech air transit, teams will re-imagine faster, more reliable, inclusive, and sustainable transportation
innovations that better connect and grow communities and economies around the world.

This year, FIRST teams will address today’s global challenges related to United Nations Sustainable
Development Goal #9, focused on building resilient infrastructure, promoting inclusive and sustainable
industrialization, and fostering innovation. By encouraging FIRST participants to think about future
transportation sustainability, we’re also empowering them to be the next generation of leaders and
innovators, tackling the world’s toughest challenges.

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3 GAME SPONSOR RECOGNITION

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4 GAME OVERVIEW
Figure 4-1 RAPID REACT field and key elements

In RAPID REACTSM presented by The Boeing Company, two competing alliances are invited to process
cargo for transportation. Each alliance is assigned a cargo color (red or blue, based on alliance affiliation)
to process by retrieving their assigned cargo and scoring it into the hub. Human players assist the cargo
retrieval and scoring efforts from within their terminals. In the final moments of each match, alliance
robots race to engage with their hangar to prepare for transport!

Each match begins with a 15-second autonomous period, during which time alliance robots operate only
on pre-programmed instructions to score points by:

• taxiing from their tarmac and

• retrieving and scoring their assigned cargo into the hub.
In the final 2 minutes and 15 seconds of the match, drivers take control of the robots and score points by:

• continuing to retrieve and score their assigned cargo into the hub and
• engaging with their hangar.
The alliance with the highest score at the end of the match wins!

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5 ARENA
The ARENA includes all elements of the game infrastructure that are required to play RAPID REACTSM: the
FIELD, CARGO, and all equipment needed for FIELD and ROBOT management.

The ARENA is modular and assembled, used, disassembled, and shipped many times during the
competition season. It will undergo wear and tear. The ARENA is designed to withstand rigorous play and
frequent shipping. Every effort is made to ensure that ARENAS are consistent from event to event.
However, ARENAS are assembled in different venues by different event staff and some small variations
occur. For details regarding assembly tolerances, please refer to the 2022 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 RAPID REACT 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 RAPID REACT FIELD are posted on the RAPID REACT -
Season Materials web page on the FIRST website.

5.1 FIELD
Figure 5-1: RAPID REACT

Each FIELD for RAPID REACT is a 27 ft. (~823 cm) by 54 ft. (~1646 cm) carpeted area bound by and
including the inward- and upward-facing surfaces of the guardrails, inward-facing surfaces of the
ALLIANCE WALLS, and the front vertical faces of the TERMINALS.

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 Figure 5-2 RAPID REACT FIELD boundary

The FIELD is populated with the following elements:

• 1 HUB (including 1 UPPER HUB and 1 LOWER HUB),

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

Guardrails form the long edges of the FIELD. 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.

5 ARENA V3 20 of 136
 Figure 5-3 Gate locations

There are 2 versions of guardrails and DRIVER STATIONS used for competitions. 1 design is reflected in
the 2022 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. Detailed drawings for the AndyMark design are posted on the AndyMark
website. All illustrations in this manual show the traditional FIELD design.

A run of black HDPE cable protectors extends from the guardrail on the scoring table side of the FIELD to
the nearest LOWER EXIT of the HUB, straddling the CENTER LINE. A cable protector run is made up of
multiple floor segments and an exit segment. The total length of the cable protector run is 10 ft. 10⅝ in.
(~332 cm). The floor segments are ⅞ in. (~2 cm) tall, 7 in. (~18 cm) wide, with ~45° lead in ramps on
each leading edge. It is secured to the carpet using hook fastener which increases the height to
approximately ⅞ in. (~2 cm). Exit segments are attached to the guardrail with hook fastener and are 7 in.
(~18 cm) tall, 6⅛ in. (~15 cm) wide and 1¾ in. (~4 cm) deep.

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 Figure 5-4 Cable protector segment

5.2 Zones and Markings

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

Figure 5-5 Zones and Markings

• ALLIANCE AREA: a 30 ft. (~914 cm) wide by 8 ft. 10 in. (~269 cm) deep infinitely tall volume
formed by, and including the ALLIANCE WALL, the edge of the carpet, and ALLIANCE colored
tape. It includes neither the TERMINAL AREA nor the TERMINAL.
• CARGO LINE: a 3 ft. (~91 cm) black line that starts 1 ft. (~30 cm) from the intersection of the
TERMINAL and the ALLIANCE WALL and runs parallel to and 1 ft. (~30 cm) from the
ALLIANCE WALL.
• CARGO RING: 1 of 14 small rings used to keep the CARGO in place prior to the start of the
MATCH. Rings are ⅛ in. (~3mm) thick, 1¾ in. (~4 cm) diameter O-rings (McMaster Item#:
9452K63). 12 rings are placed around the HUB, and 1 ring is in front of each TERMINAL. They
are secured to FIELD carpet with red or blue tape to indicate the color CARGO to be placed on
it.

5 ARENA V3 22 of 136
 • CENTER LINE: a white line that bisects the length of the FIELD at a ~66° angle to the guardrail
• HANGAR ZONE: a 9 ft. 8 in. (~295 cm) wide, 10 ft. 8¾ in. (327 cm) deep, and infinitely tall
volume defined by the ALLIANCE WALL, guardrail, and ALLIANCE colored tape. The HANGAR
ZONE includes the tape.
Figure 5-6 HANGAR ZONE

• SHADOW LINE: a black line that lies directly below the MID RUNG
Figure 5-7 SHADOW LINE

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

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 • TARMAC: 1 of 4 (2 per ALLIANCE) 12 ft. 9 in. (~389 cm) wide by 7 ft. ¾ in. (~215 cm) deep
infinitely tall volumes bounded by and including the ALLIANCE colored tape.
Figure 5-8 TARMACS

• TERMINAL AREA: 1 of 2 7 ft. 8½ in, (~235 cm) wide by 6 ft. 9 in. (~206 cm) deep and infinitely
tall volumes bounded by and including purple tape.
Figure 5-9 TERMINAL AREA

• TERMINAL STARTING LINE: a white line spanning the width of the TERMINAL AREA and
located 2 ft. (~61 cm) from the back of the TERMINAL AREA.

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5.3 HUB
Figure 5-10 HUB (click image to see field tour video)

The HUB is centered on the FIELD and shared between ALLIANCES. It consists of 2 funnel-shaped goals
(an UPPER HUB and a LOWER HUB), UPPER and LOWER EXITS, and 4 fenders. The HUB is 8 ft. 11 in.
(~272 cm) wide by 8 ft. 11 in. (~272 cm) deep by 8 ft. 8 in. (~264 cm) tall.

An agitator extends up the center of each HUB and rotates throughout the MATCH. Generally, the agitator
causes a single CARGO dropped into the UPPER HUB to reenter play in approximately 7 seconds and a
CARGO dropped in the LOWER HUB to reenter play in approximately 5 seconds.

An UPPER EXIT is 1 of the 4 extensions on which CARGO leaves the UPPER HUB, and a LOWER EXIT is
one of the 4 tunnels from which CARGO leaves the LOWER HUB.

4 legs, each centered under an UPPER EXIT, support the UPPER HUB. The maximum ROBOT height
defined in G106 is marked with black tape on each leg (i.e. the bottom edge of the tape is 4 ft. 4 in. (~132
cm) above FIELD carpet). A fender is located in between each of the LOWER EXITS.

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5.3.1 UPPER HUB and LOWER HUB
Figure 5-11 HUB with nominal dimensions

The opening of the LOWER HUB is 3 ft. 5 in. (~104 cm) above FIELD carpet, and the opening of the UPPER
HUB is 8 ft. 8 in. (~264 cm) above the FIELD carpet. A web of #2 black plastic chain is hung 7½ in. (~19
cm) below the rim of the LOWER HUB opening.

Figure 5-12 HUB with nominal dimensions

The UPPER HUB opening has a 4-ft. (~122-cm) diameter, and the LOWER HUB opening has a 5-ft. ⅛ in.
(~153 cm) diameter.

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5.3.2 Fenders
Fenders are 3 ft. 10⅛ in. (~117 cm) wide by 1 ft. 10½ in. (~57 cm) tall, are positioned between each
LOWER EXIT, and are perpendicular to the carpet. Fenders extend past the footprint of the LOWER HUB by
1 in. (~3 cm). The shortest horizontal distance between the outward face of a fender and the opening of
the LOWER HUB is 3⅞ in. (~10 cm). The shortest horizontal distance between the outward face of a
fender and center of the LOWER HUB is 2 ft. 9⅞ in. (~86 cm).
Figure 5-13 Fender geometry

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5.4 HANGARS
Figure 5-14 Blue HANGAR (click image to see field tour video)

A HANGAR is located in front of each HANGAR WALL and DRIVER STATION 1. A HANGAR assembly
consists of truss structure, bases, 4 RUNGS, RUNG mounting brackets, floor protection, and 2 LAUNCH
PADS. The maximum ROBOT height limit described in G106 is marked on the center of each horizontal
truss assembly in black tape (i.e. the bottom edge of the tape is 5 ft. 6 in. (~168 cm) above FIELD carpet).

5 ARENA V3 28 of 136
5.4.1 Truss Structure
Figure 5-15 HANGAR nominal dimension

HANGAR truss is 1 ft. x 1 ft. (~30 cm x ~30 cm) square truss. The truss structure is 9 ft. ¼ in. (~275 cm)
wide, 10 ft. ¾ in. (~307 cm) deep, and 6 ft. 2 in. (~188 cm) tall when measured from the FIELD carpet.
Each of the 4 legs is attached to a baseplate (baseplates are not part of the truss structure). Each
baseplate extends 6 in. (~15 cm) out from each leg face and is ⅛ in. (~3 mm) thick.

5.4.2 Rungs
Figure 5-16 Blue HANGAR

Each HANGAR has 4 RUNGS highlighted in Figure 5-16: LOW, MID, HIGH, and TRAVERSAL. RUNGS are 1¼
in. Schedule 40 steel pipes, with a 1.66 in. (~4 cm) outer diameter, and are powder coated to reflect the

5 ARENA V3 29 of 136
ALLIANCE color. RUNGS are 7 ft. (~213 cm) wide and bound by the truss and brackets (note that pipe
that overlaps the truss structure and brackets is not considered part of the RUNG).

Figure 5-17 illustrates spacing between RUNGS. The top of the LOW RUNG is 4 ft. ¾ in. (~124 cm) above
FIELD carpet. The top of the MID RUNG is 5 ft. ¼ in. (~153 cm) above floor protection carpet, and its
center is 3 ft. 6 in. (~107 cm) from the center of the LOW RUNG. The top of the HIGH RUNG is 6 ft. 3⅝ in.
(~192 cm) above floor protection carpet, and the top of the TRAVERSAL RUNG is 7 ft. 7 in. (~231 cm)
above floor protection carpet. MID, HIGH, and TRAVERSAL RUNGS are spaced such that their centers are
2 ft. (~61 cm) apart. The horizontal distance between the center of the TRAVERSAL RUNG and the
ALLIANCE WALL is 3 ft. 3 in. (~99 cm).

Figure 5-17 RUNG spacing

5.4.3 Floor Protection

A layer of ⅛ in. (~3 mm) thick hardboard is installed on top of the FIELD carpet in the space bounded by
the truss bases to protect venue flooring. The hardboard is covered with a layer of carpet and adds
approximately ⅜ in. (~1 cm) of height to the area.

Figure 5-18 Floor protection cross section

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5.4.4 LAUNCH PADS
Figure 5-19 LAUNCH PAD locations

LAUNCH PADS are mounted to the 2 truss legs closest to the HUB such that they are flush to the top of
the truss base. Each LAUNCH PAD is a piece of ¼ in. (~6 mm) thick, 1 ft. 5¼ in. (~44 cm) tall, and 10 in.
(~25 cm) wide HDPE of the corresponding ALLIANCE color.

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5.5 TERMINALS
Figure 5-20 TERMINAL (click image to see field tour video)

One TERMINAL is in each of the 2 FIELD corners opposite the HANGARS. Each TERMINAL is shared
between ALLIANCES. A TERMINAL consists of 1 ramp, 1 GUARD, 1 PURPLE PLANE, 1 CHUTE, and other
structure elements shown in Figure 5-20. Each TERMINAL has 5 CARGO delivery openings through which
ROBOTS may transfer CARGO to HUMAN PLAYERS. The space between the PURPLE PLANE and the
retention chain can hold approximately 10 CARGO.

Figure 5-21 TERMINAL details

Each TERMINAL is 4 ft. (~122 cm) deep, 8 ft. 1⅛ in. (~247 cm) wide (excluding the ends of the ramp) and
is a maximum of 5 ft. 1¾ in. (~157 cm) tall.

A 2¾ in. (~7 cm) tall ramp leads to the 1 ft. 5¼ in. (~44 cm) wide, 1 ft. (~30 cm) tall openings.

The CHUTE is a plastic sheet with 1⅛ in. (~3 cm) tall aluminum angles spaced 6½ in. (~17 cm) from each
other to form channels. The CHUTE is angled such that the top of the plastic is 3 ft. 7 in. (~109 cm) above

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carpet on the FIELD side and 4 ft. 2 in. (~127 cm) on the HUMAN PLAYER side. The high edge of the
CHUTE is padded with black foam cushion.

Figure 5-22 PURPLE PLANE

The TERMINAL has exterior HPDE and interior polycarbonate ramps which each run the width of the
TERMINAL and meet at a height of 2¾ in. (~7 cm). The exterior ramp is 10 in. (~25 cm) deep. Once
pushed through any opening, a CARGO rolls down the interior ramp into the TERMINAL AREA.

A PURPLE PLANE is a virtual boundary which extends the width of the TERMINAL and is defined by the
FIELD side edge of the GUARD and the purple tape which runs parallel to the interior ramp. It is 1 ft. (~30
cm) from the HUMAN PLAYER side of the TERMINAL.

The GUARD is the framing formed by all TERMINAL structure above the CHUTE, and it is used by HUMAN
PLAYERS to feed CARGO to the FIELD. The top of the GUARD is above and parallel to the CHUTE. The
GUARD creates a 9¾ in. tall opening (~25 cm) which is 4 ft. 2 in. (~127 cm) above the carpet.

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5.6 ALLIANCE WALLS
Figure 5-23 ALLIANCE WALL (click image to see field tour video)

An ALLIANCE WALL consists of 3 DRIVER STATIONS and a HANGAR WALL.

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5.6.1 DRIVER STATIONS
Figure 5-24 DRIVER STATION dimensions

A DRIVER STATION is 1 of 3 assigned positions in an ALLIANCE WALL from where 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 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.

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 team sign: displays the team number and located at the top of each DRIVER STATION

• 1 team LED stack: indicates ALLIANCE color, ROBOT status, E-Stop status, and is centered at the
top of each DRIVER STATION.

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 The stack includes 2 identical ALLIANCE-colored ROBOT status LEDs above a third amber 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 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.

▪ Off: the ROBOT is not DISABLED by the FIELD.

• 1 string of LED nodes described in Section 5.6.1.1 DRIVER STATION LED Strings.
• 1 timer (in DRIVER STATION 2 only): displays the official time remaining in the MATCH and
TIMEOUTS. It is marked with white tape along the bottom edge.

• FMS hardware and wiring: mostly located below the DRIVER STATION 2 shelf
5.6.1.1 DRIVER STATION LED Strings
A string of LED nodes is mounted to the bottom of each DRIVER STATION window frame. The string is
used to communicate FIELD safety information, MATCH state, and CARGO BONUS progress.

If the light string is all green, the FIELD is safe for humans.

Figure 5-25 FIELD is safe for humans

During a MATCH, nodes 1 through 4 and 15-17 are yellow if the MATCH is in AUTO (as shown in Figure
5-26) and white if in TELEOP (as shown in Figure 5-27 and Figure 5-28). Additionally, the center 10 nodes
of each string, 5 through 14, indicate the ALLIANCE’S CARGO BONUS progress in the ALLIANCE’S color.
The first scored CARGO causes node 5 to turn on. The second CARGO causes node 5 to dim. The third
CARGO causes the node 6 to turn on; the fourth CARGO causes node 6 to dim, and so on (see Figure 5-27,
Figure 5-28, and Figure 5-29).

If an ALLIANCE achieves a QUINTET (as described in Table 6-1), node 14 turns on (see Figure 5-27)
indicating the lowered threshold to achieve the CARGO BONUS.

Figure 5-26 MATCH is in AUTO, red ALLIANCE has scored 3 CARGO

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 Figure 5-27 MATCH is in TELEOP, red ALLIANCE achieved a QUINTET

Figure 5-28 MATCH is in TELEOP, red ALLIANCE has scored 7 CARGO, but without a QUINTET

If the CARGO BONUS is achieved, all 3 DRIVER STATION strings display an animated light sequence, blink
twice, and then all nodes remain dim in the ALLIANCE color for the remainder of the MATCH.

Figure 5-29 Red ALLIANCE has earned the CARGO BONUS

DRIVER STATION light strings remain active after TELEOP ends and turn off 5 seconds later (to indicate
that the time frame described in Section 6.4, item C is complete).

5.6.2 HANGAR WALLS

A HANGAR WALL is a 2 ft. 9 ⅝ in. (~85 cm) wide by 6 ft. 5¾ in. (~197 cm) tall structure located between
DRIVER STATION 1 and the guardrail. The aluminum frame is covered with clear polycarbonate on the
FIELD side.

Figure 5-30 HANGAR WALL frame

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5.7 CARGO
Figure 5-31: CARGO

RAPID REACT is played with oversized tennis balls called CARGO, custom modified for FIRST by
Flaghouse. CARGO is 9½ in. (~24 cm) in diameter, weighs 9½ oz. (~270 g), and has a fuzz surface.
CARGO is inflated to 3½ psi. (checked using this gauge at official events). Typically, if a CARGO is
dropped on FIELD carpet from a height of 3 ft., it bounces back to a height between 2 ft. 1 in. (~64 cm)
and 2 ft. 6 in. (~76 cm) (as measured from the bottom of the ball). CARGO is available for purchase at
AndyMark, part numbers am-4600_blue and am-4600_red. The oversized tennis balls used as CARGO are
not manufactured with any tight tolerance. Wall thickness, surface pilling, and shedding may vary. An off-
the-shelf ball may perform differently from the official CARGO.

5.8 Vision Targets

The UPPER HUB is marked with a single 360° vision target consisting of 5 in. (~13 cm) long strips of 2 in.
(~5 cm) wide 3M 8830 Scotchlite™ Reflective Material. A sample of the material is included in each
Rookie Kickoff Kit and FIRST Choice. The target is a 4 ft. 5⅜ in. (~136 cm) diameter ring of plastic with 16
strips adhered to it with 5½ in. (~14 cm) gaps between them. The ring is aligned such that 1 of the gaps is
centered over each UPPER EXIT. The distance from FIELD carpet to the top of the target assembly is 8 ft.
8 in. (~264 cm); the distance from FIELD carpet to the bottom of the vision tape is 8 ft. 5⅝ in. (~258 cm).

Figure 5-32: Vision target

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5.9 The FIELD Management System

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

When a DRIVE TEAM connects the Ethernet cable from their assigned DRIVER STATION to their
OPERATOR CONSOLE, the Driver Station Software on the OPERATOR CONSOLE computer will
communicate with FMS. Once connected, the open ports available are described in Table 9-5.

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”

HANGAR ZONE protection engaged 0:30 “Train Whistle”

MATCH end 0:00 “Buzzer”

MATCH stopped n/a “Foghorn”

TIMEOUT warning 1:00 “Trumpet Fanfare”

TIMEOUT end 0:00 “Buzzer”

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6 MATCH PLAY
During RAPID REACT, 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 Setup
Figure 6-1 MATCH setup

6.1.1 CARGO
22 CARGO, 11 red and 11 blue, are staged for each MATCH as follows:

A. Each DRIVE TEAM may pre-load 1 of their CARGO in their ROBOT such that the CARGO is fully
supported by their ROBOT.
a. Any of the 3 CARGO not pre-loaded in the ALLIANCE’S ROBOTS are staged between the
opponent’s ALLIANCE WALL and the adjacent CARGO LINE.
B. 1 ALLIANCE colored CARGO is staged in the TERMINAL closest to its ALLIANCE AREA.
C. 1 ALLIANCE colored CARGO is centered in front of the TERMINAL closest to its ALLIANCE AREA
and placed on a CARGO RING whose center is 1½ in. (~4 cm) from the edge of the ramp.
D. 12 CARGO, 6 red and 6 blue, are staged on CARGO RINGS beyond the TARMACS as shown in
Figure 6-2. CARGO is placed as shown on a 25 ft. 6 in. (~777 cm) diameter circle centered around
the HUB. Please refer to the 2022 ARENA Layout and Marking Diagram for a fully dimensioned
drawing of the placement locations. CARGO centers are 40⅜ in. from the outside edges of the
TARMACS.

6 MATCH Play V2 41 of 136

 Figure 6-2 CARGO staging just outside TARMACS

6.1.2 ROBOTS
Each DRIVE TEAM stages their ROBOT such that its BUMPERS are fully contained within 1 of its
TARMACS.

If order of placement matters to either or both ALLIANCES, the ALLIANCE must notify the Head REFEREE
during setup for that MATCH. Upon notification, the Head REFEREE will require ALLIANCES to alternate
placement of all ROBOTS. In a Qualification MATCH, ROBOTS are placed in the following order:

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 a Playoff MATCH, the same pattern is applied, but instead of blue ALLIANCE placing last, the higher
seeded ALLIANCE (regardless of color) places last.

6.1.3 Humans
Humans stage for the MATCH as follows:

A. exactly 1 HUMAN PLAYER per ALLIANCE stages in each TERMINAL AREA

a. the HUMAN PLAYER in the TERMINAL AREA furthest from their ALLIANCE AREA stages
behind the TERMINAL STARTING LINE,
B. DRIVERS, COACHES, and any additional HUMAN PLAYERS stage inside their ALLIANCE AREA and
behind the STARTING LINE, and

6 MATCH Play V2 42 of 136

 C. TECHNICIANS stage in the event-designated area near the FIELD.

6.2 Autonomous Period

The first phase of each MATCH is called Autonomous (AUTO) and consists of the first 15 seconds.
During AUTO, ROBOTS operate without any DRIVE TEAM control or input. ROBOTS attempt to TAXI from
the TARMAC, score CARGO in the HUB, and retrieve additional CARGO from around the FIELD. HUMAN
PLAYERS attempt to score their CARGO in the HUB.

6.3 Teleoperated Period

The second phase of each MATCH is called the Teleoperated Period (TELEOP) and consists of the
remaining 2 minutes and 15 seconds (2:15). During this phase, DRIVERS remotely operate ROBOTS to
retrieve and score their CARGO in the HUB and engage with their HANGAR.

6.4 Scoring

ALLIANCES are rewarded for accomplishing various actions through the course of a MATCH, including
TAXIING, scoring CARGO in the HUB, engaging with their HANGAR, and winning or tying MATCHES.

Rewards are granted either via MATCH points (which contribute to the ALLIANCE’S MATCH score) or
Ranking Points (sometimes abbreviated to RP, which increase the measure used to rank teams in the
Qualification Tournament). Such actions, their criteria for completion, and their point values are listed in
Table 6-1.

All scores are assessed and updated throughout the MATCH, except as follows:

A. assessment of CARGO scored in the HUB continues for up to 5 seconds after the ARENA timer
displays 0 following AUTO.
B. assessment of CARGO scored in the HUB continues for up to 10 seconds after the ARENA timer
displays 0 following TELEOP.
C. assessment of HANGAR points is made 5 seconds after the ARENA timer displays 0, or when all
ROBOTS have come to rest following the conclusion of the MATCH, whichever happens first.

TAXI and HANGAR points are both evaluated and scored by human REFEREES.
Teams are encouraged to make sure that it is obvious and unambiguous that a
ROBOT has met the criteria.

6.4.1 Point Values

Point values for tasks in RAPID REACT are detailed in Table 6-1.

A CARGO is scored in an UPPER or LOWER HUB if it passes through the top horizontal opening of the
UPPER or LOWER HUB and passes through the sensor array, and the points awarded for that CARGO are
assigned based on when the CARGO passed through the sensor array.

A ROBOT may only earn points for a single RUNG. To qualify for HANGAR points from a given RUNG, a
ROBOT may only be contacting:

• RUNG(S) at that level or higher (i.e. the level is determined by the lowest RUNG with which a
ROBOT is in contact),
• truss structure,

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 • LAUNCH PADS,
• the ALLIANCE WALL,
• CARGO,
• guardrails, and/or
• another ROBOT qualified for any HANGAR points.
Table 6-1: RAPID REACT point values

MATCH Points Ranking

Award Awarded for…
AUTO TELEOP Points

each ROBOT whose BUMPERS have completely left the

TAXI 2
TARMAC from which it started at any point during AUTO

each ALLIANCE color CARGO scored in the LOWER HUB 2 1

CARGO
each ALLIANCE color CARGO scored in the UPPER HUB 4 2

LOW RUNG 4
HANGAR MID RUNG 6
(per
ROBOT) HIGH RUNG 10

TRAVERSAL RUNG 15

20 or more ALLIANCE colored CARGO scored in the HUB.

CARGO
If at least 5 ALLIANCE colored CARGO are scored in 1
BONUS
AUTO, called a QUINTET, this threshold drops to 18.

HANGAR
ALLIANCE is credited with at least 16 HANGAR points 1
BONUS

completing a MATCH with the same number of MATCH

Tie 1
points as your opponent

completing a MATCH with more MATCH points than your

Win 2
opponent

An ALLIANCE can earn up to 4 Ranking Points per Qualification MATCH as described in Table 6-1. There
are no Ranking Points or comparable points for the CARGO BONUS or HANGAR BONUS in Playoff
MATCHES.

6.5 Rule Violations

Upon a rule violation, 1 or more of the penalties listed in Table 6-2 are assessed.

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 Table 6-2 Rule violations

Penalty Description

FOUL a credit of 4 points towards the opponent’s MATCH score

a credit of 8 points toward the opponent’s MATCH score

TECH FOUL

a warning issued by the Head REFEREE for egregious ROBOT or team

YELLOW CARD member behavior or rule violations. A subsequent YELLOW CARD
within the same tournament phase results in a RED CARD.

a penalty assessed for egregious ROBOT or team member behavior or

RED CARD 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

FIRST Robotics Competition uses 3 words in the context of how rules and violations are assessed in
deliberate ways. These words provide general guidance to describe benchmarks to be used across the
program. It is not the intent for REFEREES to provide a count during the time periods.

• MOMENTARY describes rule violations that happen for fewer than approximately 3 seconds.
• CONTINUOUS describes rule violations that happen for more than approximately 10 seconds.
• REPEATED describes rule violations that happen more than once within a MATCH.
See Section 11.2.1 YELLOW and RED CARDS for additional details.

6.5.1 Violation Details

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

Table 6-3 Violation examples

Example Violation Expanded Interpretation

FOUL Upon violation, a FOUL is assessed against the violating ALLIANCE.

TECH FOUL and Upon violation, a TECH FOUL is assessed against the violating ALLIANCE. After the
YELLOW CARD MATCH, the Head REFEREE presents the violating team with a YELLOW CARD.

FOUL per Upon violation, a number of FOULS are assessed against the violating ALLIANCE
additional CARGO. equal to the number of additional CARGO beyond the permitted quantity.
If egregious, Additionally, if the REFEREES determine that the action was egregious, the Head
YELLOW CARD REFEREE presents the violating team with a YELLOW CARD after the MATCH.

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Example Violation Expanded Interpretation

TECH FOUL, plus Upon violation, a TECH FOUL is assessed against the violating ALLIANCE and the
an additional TECH REFEREE begins to count. Their count continues until the criteria to discontinue the
FOUL for every 5 count are met, and for each 5 seconds within that time, an additional TECH FOUL
seconds in which is assessed against the violating ALLIANCE. A ROBOT in violation of this type of
the situation is not rule for 15 seconds would receive a total of 4 TECH FOULS (assuming no other
corrected rules were simultaneously being violated).

After the MATCH, the Head REFEREE presents the violating ALLIANCE with a RED
CARD in the following fashion:
RED CARD for the
ALLIANCE a) In a PLAYOFF MATCH, a single RED CARD is assessed to the ALLIANCE.
b) In all other scenarios, each team on the ALLIANCE is issued a RED CARD.

6.6 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 RAPID REACT. Only 1 of the 5 DRIVE TEAM members is permitted to be an
adult mentor.

The intent of the definition of DRIVE TEAM and DRIVE TEAM related rules is that,
barring extenuating circumstances, the DRIVE TEAM consists of people who
arrived at the event affiliated with that team and are responsible for their team’s
and ROBOT’S performance at the event (this means a person may be affiliated
with more than 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 6-4 DRIVE TEAM roles

Max./
Role Description Criteria
DRIVE TEAM
STUDENT or adult mentor,
COACH a guide or advisor 1
must wear “COACH” button

an operator and controller of the

DRIVER
ROBOT STUDENT, must wear a
3
“DRIVE TEAM” button
HUMAN
a CARGO manager
PLAYER

6 MATCH Play V2 46 of 136

 Max./
Role Description Criteria
DRIVE TEAM
STUDENT or adult mentor,
a resource for ROBOT
TECHNICIAN troubleshooting, setup, and 1 must wear “TECHNICIAN”
removal from the FIELD button

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
circuit breaker, connecting and resetting joysticks or gamepads from the
OPERATOR CONSOLE, and removing the ROBOT from the FIELD.

If an ALLIANCE does not have at least 2 HUMAN PLAYERS, 1 of the ALLIANCE’S teams must substitute a
STUDENT TECHNICIAN as a HUMAN PLAYER to be compliant with H310 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.

6.7 Other Logistics

CARGO that leaves the FIELD, other than via the TERMINAL, are placed back into the FIELD approximately
at the point of exit by FIELD STAFF (REFEREES, FIRST Technical Advisors (FTAs), or other staff working
around the FIELD) at the earliest safe opportunity.

Note that, except via the TERMINAL, ROBOTS may not deliberately cause CARGO
to leave the FIELD (see G401).

An ARENA FAULT is not called for MATCHES that accidentally begin with damaged CARGO. Damaged
CARGO is not replaced until the next ARENA reset period. DRIVE TEAMS should alert the FIELD STAFF to
any missing or damaged CARGO prior to the start of the MATCH.

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

6 MATCH Play V2 47 of 136

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

6 MATCH Play V2 48 of 136

7 GAME RULES: ROBOTS
The 2022 FRC Game Manual implements updated methods for identifying rule
numbers and recurring rules. See Section 1.7 This Document & Its Conventions
for details.

7.1 ROBOT Restrictions

G101 *Dangerous ROBOTS: not allowed. ROBOTS whose operation or design is dangerous or unsafe
are not permitted.
Violation: If before the MATCH, the offending ROBOT will not be allowed to participate in the
MATCH. If during the MATCH, the offending ROBOT will be DISABLED.

Examples include, but are not limited to:

a. uncontrolled motion that cannot be stopped by the DRIVE TEAM,
b. ROBOT parts “flailing” outside of the FIELD,
c. ROBOTS dragging their battery, and
d. ROBOTS that consistently extend beyond the FIELD.

G102 *ROBOTS, stay on the FIELD during the MATCH. ROBOTS and anything they control, e.g. CARGO,
may not contact anything outside the FIELD except for MOMENTARY incursions into the
TERMINAL and MOMENTARY contact with the CHUTE.
Violation: DISABLED.

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

G103 *Keep your BUMPERS low. BUMPERS must be in the BUMPER ZONE (see R402) during the
MATCH.
Violation: FOUL. If REPEATED or greater than MOMENTARY, DISABLED.

G104 *Keep your BUMPERS together. BUMPERS may not fail such that a segment completely
detaches, any side of a ROBOT’S FRAME PERIMETER is exposed, or the team number or
ALLIANCE color are indeterminate.
Violation: DISABLED.

G105 *Keep it together. ROBOTS may not intentionally detach or leave parts on the FIELD.
Violation: RED CARD.

G106 Tall ROBOTS in HANGAR ZONE only. ROBOT height, as measured when it’s resting normally on a
flat floor, may not exceed the maximum STARTING CONFIGURATION height (4 ft. 4 in. (~132
cm)) unless any part of the ROBOT’S BUMPERS is in its HANGAR ZONE, in which case its height
may not exceed 5 ft. 6 in. (~167 cm).
Violation: FOUL. TECH FOUL if the over-extension blocks an opponent’s shot, scores a CARGO, or is
the first thing that contacts CARGO exiting from an UPPER EXIT. If the over-extension enables
HANGAR points, the ROBOT is no longer eligible for HANGAR points.

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

floor, not relative to the height of the ROBOT from the FIELD carpet.

7 Game Rules: ROBOTS V2 49 of 136

 For example, a ROBOT that is at an angle while driving over something may
actually exceed the height limit when compared to the carpet of the FIELD.
Figure 7-1 ROBOT height example

G107 Don’t overextend yourself. ROBOTS may not extend more than 16 in. (~40 cm) beyond their
FRAME PERIMETER.
Violation: FOUL. TECH FOUL if the over-extension blocks an opponent’s shot, scores a CARGO, or is
the first thing that contacts CARGO exiting from an UPPER EXIT. If the over-extension enables
HANGAR points, the ROBOT is no longer eligible for HANGAR points.

Examples of compliance and non-compliance of this rule are shown in Figure 7-2.
Yellow bars represent the limits of the FRAME PERIMETER and are drawn in the
same orientation of the ROBOT’S FRAME PERIMETER. Green bars represent a
measured extension from the FRAME PERIMETER that does not exceed the limit
defined in this rule. Red bars represent a measured extension from the FRAME
PERIMETER that exceeds the limit in this rule. ROBOTS A and C violate this rule,
whereas ROBOT B does not.
Figure 7-2 Examples of compliance and non-compliance of this rule

G108 Not too high. A ROBOT may not position itself such that any part of its BUMPERS is higher than
the HIGH RUNG.
Violation: ROBOT is ineligible for any HANGAR points.

G109 Avoid the PURPLE PLANE. ROBOTS may never extend beyond the PURPLE PLANE.
Violation: DISABLED.

7 Game Rules: ROBOTS V2 50 of 136

7.2 ROBOT to ROBOT Interaction

G201 *Don’t expect to gain by doing others harm. Strategies clearly aimed at forcing the opponent
ALLIANCE to violate a rule are not in the spirit of FIRST Robotics Competition and not allowed.
Rule violations forced in this manner will not result in an assignment of a penalty to the targeted
ALLIANCE.
Violation: FOUL. If REPEATED, TECH FOUL.

G201 does not apply for strategies consistent with standard gameplay, for
example a red ALLIANCE ROBOT in their HANGAR ZONE in the final 30 seconds
of the MATCH contacts a blue ALLIANCE ROBOT.
G201 requires an intentional act with limited or no opportunity for the team being
acted on to avoid the penalty, such as:
a. forcing the opposing ROBOT to have greater-than-MOMENTARY CONTROL of
3 CARGO or
b. a ROBOT raising an extension to touch their MID RUNG as an opponent is
about hit them with no intention to actually climb

G202 *There’s a 5-count on PINS. ROBOTS may not PIN an opponent’s ROBOT for more than 5
seconds. A ROBOT is PINNING if it is preventing the movement of an opponent ROBOT by
contact, either direct or transitive (such as against a FIELD element). A ROBOT is considered
PINNED until the ROBOTS have separated by at least 6 ft. (~183 cm) from each other or either
ROBOT has moved 6 ft. from where the PIN initiated, whichever comes first. The PINNING
ROBOT(S) must then wait for at least 3 seconds before attempting to PIN the same ROBOT again.
Violation: FOUL, plus an additional TECH FOUL for every 5 seconds in which the situation is not
corrected.

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

ROBOT is PINNED.

G203 *Don’t collude with your partners to shut down major parts of game play. 2 or more ROBOTS that
appear to a REFEREE to be working together may not isolate or close off any major element of
MATCH play.
Violation: TECH FOUL, plus an additional TECH FOUL for every 5 seconds in which the situation is
not corrected.

Examples of violations of this rule include, but are not limited to:
a. fully blocking all access to either TERMINAL,
b. shutting down access to all opponents’ CARGO,
c. quarantining all opponents to a small area of the FIELD, and
d. blocking all access to the opponents’ HANGAR.
A single ROBOT blocking access to a particular area of the FIELD is not a
violation of this rule.
2 ROBOTS independently playing defense on 2 opponent ROBOTS is not a
violation of this rule.

Note, G204, G205, and G206 are mutually exclusive. A single ROBOT to ROBOT interaction which violates
more than 1 of these rules results in the most punitive penalty, and only the most punitive penalty, being
assessed.

7 Game Rules: ROBOTS V2 51 of 136

G204 *Stay out of other ROBOTS. A ROBOT may not use a COMPONENT outside its FRAME
PERIMETER (except its BUMPERS) to initiate contact with an opponent ROBOT inside the vertical
projection of that opponent ROBOT’S FRAME PERIMETER. Contact with an opponent in an
opening of their BUMPERS is an exception to this rule.
Violation: FOUL.

For the purposes of G204, “initiate contact” requires movement towards an

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

G205 *This isn’t combat robotics. A ROBOT may not damage or functionally impair an opponent
ROBOT in either of the following ways:
A. deliberately, as perceived by a REFEREE.
B. regardless of intent, by initiating contact inside the vertical projection of an opponent
ROBOT’S FRAME PERIMETER. Contact between the ROBOT’S BUMPERS or COMPONENTS
inside the ROBOT’S FRAME PERIMETER and COMPONENTS inside an opening of an
opponent’s BUMPERS is an exception to this rule.
Violation: TECH FOUL and YELLOW CARD. If opponent ROBOT is unable to drive, TECH FOUL and
RED CARD

FIRST Robotics Competition can be a full-contact competition and may include

rigorous game play. While this rule aims to limit severe damage to ROBOTS,
teams should design their ROBOTS to be robust.
The exception in G205-B effectively means that ROBOTS with BUMPER gaps are
at their own risk regarding damaging contact in these areas.
Examples of violations of this rule include, but are not limited to:
a. A ROBOT leaves an arm extended, spins around to change course, and
unintentionally hits and damages a COMPONENT inside the FRAME
PERIMETER of a nearby opponent ROBOT.
b. A ROBOT, in the process of trying to quickly reverse direction, tips up on a
single pair of wheels, lands atop an opponent ROBOT, and damages a
COMPONENT inside that opponent’s FRAME PERIMETER.
c. A ROBOT high-speed rams and/or repeatedly smashes an opponent ROBOT
and causes damage. The REFEREE infers that the ROBOT was deliberately
trying to the damage the opponent’s ROBOT.
Examples of functionally impairing another ROBOT include, but are not limited to:
d. opening an opponent’s relief valve such that the opponent’s air pressure
drops and
e. powering off an opponent’s ROBOT (this example also clearly results in a
RED CARD because the ROBOT is no longer able to drive).
At the conclusion of the MATCH, the Head REFEREE may elect to visually inspect
a ROBOT to confirm violations of G205 made during a MATCH and remove the
violation if the damage cannot be verified.
For the purposes of G205, “initiating contact” requires movement towards an
opponent ROBOT.
In a collision, it’s possible for both ROBOTS to initiate contact.

7 Game Rules: ROBOTS V2 52 of 136

G206 *Don’t tip or entangle. A ROBOT may not deliberately, as perceived by a REFEREE, attach to, tip, or
entangle with an opponent ROBOT.
Violation: TECH FOUL and YELLOW CARD. If CONTINUOUS or opponent ROBOT is unable to drive,
TECH FOUL and RED CARD.

Examples of violations of this rule include, but are not limited to:
a. using a wedge-like MECHANISM to tip over opponent ROBOTS,
b. making BUMPER-to-BUMPER contact with an opponent ROBOT that is
attempting to right itself after previously falling over and causing them to fall
over again, and
c. causing an opponent ROBOT to tip over by contacting the ROBOT after it
starts to tip if, in the judgement of the REFEREE, that contact could have
been avoided.
Tipping as an unintended consequence of normal ROBOT to ROBOT interaction,
as perceived by the REFEREE, is not a violation of G206.

G207 Let them shoot. A ROBOT may not contact (either directly or transitively through CARGO and
regardless of who initiates contact) an opponent ROBOT whose BUMPERS are contacting their
LAUNCH PAD.
Violation: FOUL.

G208 Let them climb. A ROBOT may not contact (either directly or transitively through CARGO and
regardless of who initiates contact)
A. an opponent ROBOT contacting their MID, HIGH, and/or TRAVERSAL RUNGS or
B. an opponent ROBOT whose BUMPERS are at least partially in their HANGAR ZONE during
the final 30 seconds of the MATCH.
Violation: The contacted opponent ROBOT is awarded TRAVERSAL RUNG HANGAR points at the
end of the MATCH.

G209 Don’t climb on each other. A ROBOT may not be fully supported by a partner ROBOT.
Violation: TECH FOUL. If violation occurs while either ROBOT is in contact with their HANGAR,
neither ROBOT is eligible for HANGAR points.

G210 During AUTO, no defense. During AUTO, a ROBOT with any part of its BUMPERS on the opposite
side of the FIELD (i.e. on the other side of the CENTER LINE from its ALLIANCE'S TARMACS) may
contact neither CARGO still in its staged location on the opposite side of the FIELD nor an
opponent ROBOT.
Violation: TECH FOUL

7.3 FIELD Interaction

G301 Be careful what you interact with. ROBOTS and OPERATOR CONSOLES are prohibited from the
following actions with regards to interaction with ARENA elements. Items A-C exclude CARGO.
Items A-E exclude RUNGS.
A. grabbing,
B. grasping,

7 Game Rules: ROBOTS V2 53 of 136

 C. attaching to (including the use of a vacuum or hook fastener to anchor to the FIELD carpet
and excluding use of the DRIVER STATION hook-and-loop tape, plugging in to the provided
power outlet, and plugging the provided Ethernet cable into the OPERATOR CONSOLE),
D. becoming entangled with,
E. suspending from, and
F. damaging.
Violation: MATCH won’t start until the situation is corrected. If during a MATCH, TECH FOUL. If
during a MATCH and REPEATED or longer than MOMENTARY, YELLOW CARD. If offense is via a
ROBOT and the Head REFEREE determines that further damage is likely to occur, offending ROBOT
will be DISABLED. Corrective action (such as eliminating sharp edges, removing the damaging
MECHANISM, and/or re-inspection) may be required before the ROBOT will be allowed to compete
in subsequent MATCHES.

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

G302 LOWER EXITS are off limits. ROBOTS may not reach into or straddle the LOWER EXIT.
MOMENTARY reaching into and/or MOMENTARY straddling of the LOWER EXIT are exceptions to
this rule.
Violation: TECH FOUL. If CONTINUOUS or REPEATED, YELLOW CARD.

7.4 CARGO

G401 *Keep CARGO in bounds. ROBOTS may not eject opponent CARGO from the FIELD other than
through the TERMINAL (either directly or by bouncing off a FIELD element or other ROBOT).
Violation: FOUL per CARGO.

G402 *CARGO: use as directed. ROBOTS may neither deliberately use CARGO in an attempt to ease or
amplify the challenge associated with FIELD elements nor deliberately strand opponent CARGO
on top of a HANGAR or HUB.
Violation: TECH FOUL per CARGO.

Examples include, but are not limited to:

a. shooting CARGO at ROBOTS and
b. corralling CARGO in the opponents’ HANGAR ZONE to clog/congest it.

G403 2 CARGO max. ROBOTS may not have greater-than-MOMENTARY CONTROL of more than 2
CARGO at a time, either directly or transitively through other objects.
A ROBOT is in CONTROL of CARGO if:

A. the CARGO is fully supported by the ROBOT,

B. the CARGO travels across the FIELD such that when the ROBOT changes direction, the
CARGO travels with the ROBOT,
C. the ROBOT is holding CARGO against a FIELD element in attempt to guard or shield it, or
D. the ROBOT is preventing a CARGO from leaving a LOWER EXIT.
Violation: FOUL per additional CARGO. If egregious, YELLOW CARD.

Egregious examples include but are not limited to the following:

7 Game Rules: ROBOTS V2 54 of 136

 a. simultaneous CONTROL of 5 CARGO
b. CONTINUOUS CONTROL of 3 or more CARGO
c. frequent CONTROL of 3 or more CARGO (an approximate count for frequent
in this context is if this rule is violated more than 3 times in a MATCH)

G404 Don’t hoard opposing CARGO. A ROBOT may not restrict access to more than 3 opposing
ALLIANCE CARGO except during the final 30 seconds of the MATCH.
Violation: FOUL, plus an additional TECH FOUL for every 5 seconds in which the situation is not
corrected.

Examples of restricting access to CARGO includes, but are not limited to,
a. holding 2 opposing ALLIANCE CARGO within your ROBOT and blocking an
opponent from getting to 2 more opposing ALLIANCE CARGO cornered
behind your ROBOT, or
b. using HANGAR contact protection afforded per G208-A to prevent an
opponent from legally reaching 4 opposing ALLIANCE CARGO cornered in
the back of your HANGAR.
In a scenario where a ROBOT is PINNING (per G202), REFEREES are instructed to
disregard this rule so they can focus on the PINNING.

G405 Don’t catch CARGO. A ROBOT may not REPEATEDLY score or gain greater-than-MOMENTARY
CONTROL of CARGO released by an UPPER EXIT until and unless that CARGO contacts anything
else besides that ROBOT or CARGO controlled by that ROBOT.
Violation: FOUL per CARGO.

It is important to design your ROBOT to mitigate the chance your ROBOT could
inadvertently or unintentionally catch CARGO as it leaves an UPPER EXIT.

7 Game Rules: ROBOTS V2 55 of 136

8 GAME RULES: HUMANS
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 talk to a volunteer at the event or contact local leadership before the
event so they can help ensure the accommodation is provided. Accommodations are determined
reasonable given they do not create an undue hardship or cause safety concerns.

8.1 General

H101 *Be a good person. All teams must be civil toward their team members, other team members,
competition personnel, FIELD STAFF, and event attendees while at a FIRST Robotics Competition
event.
Violation: Behavior will be discussed with team or individual. Violations of this rule are likely to
escalate to YELLOW or RED CARDS rapidly (i.e. the threshold for egregious violations is relatively
low.)

Examples of inappropriate behavior include, but are not limited to:

a. use of offensive language or other uncivil conduct, and
b. more than MOMENTARY blockage of an opponent HUMAN PLAYER from the
TERMINAL or their CARGO.
Examples of particularly contemptible behavior that is likely to result in ARENA
ejection include, but are not limited to, the following:
c. assault, e.g. throwing something that hits another person (even if
unintended),
d. threat, e.g. saying something like “if you don’t reverse that call, I’ll make you
regret it,”
e. harassment, e.g. badgering someone with no new information after a
decision’s been made or a question’s been answered,
f. bullying, e.g. using body or verbal language to cause another person to feel
inadequate,
g. insulting, e.g. telling someone they don’t deserve to be on a DRIVE TEAM,
h. swearing at another person (versus swearing under one’s breath or at
oneself), and
i. yelling at another person(s) in anger or frustration.

H102 *Enter only 1 ROBOT. Each registered FIRST Robotics Competition team may enter only 1 ROBOT
(or “robot,” a ROBOT -like assembly equipped with most of its drive base, i.e. its MAJOR
MECHANISM that enables it to move around a FIELD) into a 2022 FIRST Robotics Competition
Event.

“Entering” a ROBOT (or robot) into a FIRST Robotics Competition means bringing
it to or using it at the event such that it’s an aid to your team (e.g. for spare parts,
judging material, or for practice).
While “most of its drive base” is a subjective assessment, for the purposes of
this rule, an assembly whose drive base is missing all wheels/treads, gearboxes,
and belts/chains is not considered a “robot.” If any of those COMPONENTS are
incorporated, the assembly is now considered a “robot.”
This rule does not prohibit teams from bringing in robots from other FIRST
programs for the purposes of awards presentations or pit displays.

8 Game Rules: Humans V2 57 of 136

 Violation: Verbal warning. Egregious or subsequent violations at any point during the event will be
addressed by the Head REFEREE, the Lead ROBOT INSPECTOR (LRI), and/or Event Management.

H103 *Humans, stay off the FIELD until green. Team members may only enter the FIELD if the DRIVER
STATION LED strings are green, unless explicitly instructed by a REFEREE or an FTA.
Violation: Verbal warning. If subsequent violations at any point during the event, YELLOW CARD.

Egregious violations of this rule to which H201 may apply include, but are not
limited to:
a. pushing past the FIELD reset person blocking an open gate to get on the
FIELD,
b. ignoring a warning to not go on the FIELD,
c. walking on to the FIELD during a MATCH, and
d. reaching into the FIELD and grabbing a ROBOT during a MATCH.
Violations of this rule apply to the entire team, not specifically to any 1 individual.
For example, a member of Team 9999 enters the FIELD prior to lights going
green after MATCH 3, and a different member enters the FIELD prior to lights
going green after MATCH 25. The team receives a verbal warning for the first
violation and a YELLOW CARD for the second.

H104 *Never step over the guardrail. Team members may only enter or exit the FIELD through open
gates.
Violation: Verbal warning. If subsequent violations at any point during the event, YELLOW CARD.

Teams are encouraged to ensure that all members of their DRIVE TEAM are
aware of this rule. It’s easy to violate, particularly when teams are doing their best
to move on and off the FIELD quickly. The violations of this rule are intended to
avoid nuisance penalties, but still enforce safety requirements around the FIELD.
There is the potential for injury when stepping over the guardrail.
Violations of this rule apply to the entire team, not specifically to any 1 individual.
For example, a member of Team 9999 steps over the guardrail prior to MATCH 3,
and a different member steps over the guardrail prior to MATCH 25. The team
receives a verbal warning for the first violation and a YELLOW CARD for the
second.

H105 *Asking other teams to throw a MATCH – not cool. A team may not encourage an ALLIANCE, of
which it is not a member, to play beneath its ability.
NOTE: This rule is not intended to prevent an ALLIANCE from planning and/or executing its own
strategy in a specific MATCH in which all the teams are members of the ALLIANCE.

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

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

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

8 Game Rules: Humans V2 58 of 136

 Example 2: A MATCH is being played by Teams A, B, and C, in which Team A is
assigned to participate as a SURROGATE. Team D encourages Team A to not
participate in the MATCH so that Team D gains ranking position over Teams B
and C. Team D has violated this rule.
FIRST considers the action of a team influencing another team to throw a
MATCH, to deliberately miss Ranking Points, etc. incompatible with FIRST values
and not a strategy any team should employ.

H106 *Letting someone coerce you in to throwing a MATCH – also not cool. A team, as the result of
encouragement by a team not on their ALLIANCE, may not play beneath its ability.
NOTE: This rule is not intended to prevent an ALLIANCE from planning and/or executing its own
strategy in a specific MATCH in which all the ALLIANCE members are participants.

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

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

Team C ignore the HANGAR at the end of the MATCH, resulting in Teams A, B,
and C not being able to earn HANGAR BONUS. Team C accepts this request from
Team D. Team D’s motivation for this behavior is to prevent Team A from rising
in the Tournament rankings negatively affecting Team D’s ranking. Team C has
violated this rule.
Example 2: A MATCH is being played by Teams A, B, and C, in which Team A is
assigned to participate as a SURROGATE. Team A accepts Team D’s request to
not participate in the MATCH so that Team D gains ranking position over Teams
B and C. Team A has violated this rule.
FIRST considers the action of a team influencing another team to throw a
MATCH, to deliberately miss Ranking Points, etc. incompatible with FIRST values
and not a strategy any team should employ.

H107 *Don’t abuse ARENA access. Team members (except DRIVERS, HUMAN PLAYERS, and
COACHES) granted access to restricted areas in and around the ARENA (e.g. via TECHNICIAN
button, event issued Media badges, etc.) may not assist or use signaling devices during the
MATCH. Exceptions will be granted for inconsequential infractions and in cases concerning
safety.
Violation: YELLOW CARD.

The TECHNICIAN’S role is to help the team prepare the ROBOT so it can perform
at its full potential during a MATCH. The TECHNICIAN, except as described at the
end of Section 6.6 DRIVE TEAM, is not an additional COACH, DRIVER, or HUMAN
PLAYER.
Team members in open-access spectator seating areas are not considered to be
in a restricted area and are not prevented from assisting or using signaling
devices. See E102 for related details.

H108 *Be careful what you interact with. Team members are prohibited from the following actions with
regards to interaction with ARENA elements.
A. climbing on or inside,
B. hanging from,
C. deforming, and

8 Game Rules: Humans V2 59 of 136

 D. damaging.
Violation: Verbal warning. If subsequent violations at any point during the event, YELLOW CARD.

8.2 REFEREE Interaction

H201 *Egregious or exceptional violations. Egregious behavior beyond what is listed in the rules or
subsequent violations of any rule or procedure during the event is prohibited.
In addition to rule violations explicitly listed in this manual and witnessed by a REFEREE, the Head
REFEREE may assign a YELLOW or RED CARD for egregious ROBOT actions or team member
behavior at any time during the event. This includes violations of the event rules found on the
FIRST® Robotics Competition District & Regional Events page.

Please see Section 11.2.1 YELLOW and RED CARDS for additional detail.

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

The intent of this rule is to provide the Head REFEREES the flexibility necessary
to keep the event running smoothly, as well as keep the safety of all the
participants as the highest priority. There are certain behaviors that automatically
result in a YELLOW or RED CARD because we believe this behavior puts our
community at risk. Those behaviors include, but are not limited to the list below:
a. inappropriate behavior as outlined in the blue box of H101,
b. jumping over the guardrail,
c. behaviors listed in the blue box in H103,
d. PINNING in excess of 15 seconds, and
e. climbing on the HUB.
The Head REFEREE may assign a YELLOW or RED CARD for a single instance of
a rule violation such as the examples given in items a-e above, or for multiple
instances of any single rule violation. Teams should be aware that any rule in this
manual could escalate to a YELLOW or RED CARD. The Head REFEREE has final
authority on all rules and violations at an event.

H202 *1 STUDENT, 1 Head Referee. A team may only send 1 STUDENT from its DRIVE TEAM to
address the Head REFEREE.
Violation: The Head REFEREE will not address additional, non-compliant team members or
peripheral conversations.

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

8.3 Before/After the MATCH

H301 *Be prompt/safe when coming to and going from the FIELD. DRIVE TEAMS may not cause
significant or multiple delays during the event to the start of a MATCH, the FIELD reset after a
MATCH, or continuation of MATCHES after a TIMEOUT.
Violation: If prior to the MATCH, the offending DRIVE TEAM’S ROBOT will be DISABLED. If after the
MATCH, YELLOW CARD.

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 DRIVE TEAMS are expected to stage their ROBOTS for a MATCH, and remove it
from the FIELD afterwards, safely and swiftly. Examples of violations include, but
are not limited to:
a. late arrival to the FIELD (including across different MATCHES and after a
FIELD or ALLIANCE TIMEOUT),
b. failing to exit the FIELD once a MATCH is ready to begin (indicated by the
green LEDs having turned off),
c. installing BUMPERS, charging pneumatic systems, or any other ROBOT
maintenance once on the FIELD,
d. use of alignment devices that are external to the ROBOT (e.g. a DRIVE TEAM
could bring and use a measuring tape, as long as there is no delay to the
MATCH by doing so), and
e. failing to remove OPERATOR CONSOLES from the DRIVER STATIONS in a
timely manner.
At the conclusion of a TIMEOUT, ROBOTS are expected to be staged on the
FIELD prior to the timer displaying 0 and ready for the MATCH to start.
There are no rules that prohibit use of hand tools (including battery operated
tools) while setting up and/or removing ROBOTS from the FIELD provided they do
not cause significant delay or cause safety concerns.

H302 *Teams may not enable their ROBOTS on the FIELD. Teams may not tether to the ROBOT while
on the FIELD except in special circumstances (e.g. during TIMEOUTS, after Opening Ceremonies,
before an immediate MATCH replay, etc.) and with the express permission from the FTA or a
REFEREE.
Violation: YELLOW CARD

Teams are encouraged to consider this rule when developing their ROBOTS.
FMS will not enable ROBOTS after the conclusion of the MATCH.
Tethering includes any wired or wireless connection used to electrically energize
and/or control elements on the ROBOT. The safety of teams and volunteers in
close proximity to ROBOTS and ARENA elements on the FIELD is of the utmost
importance, therefore ROBOTS or ROBOT COMPONENTS may not be enabled in
any way on the FIELD once the MATCH has concluded.
ROBOTS need to be safely transported off the FIELD and back to the pits after the
MATCH, and there may be bystanders, doorways, or height restrictions along the
route.

H303 *You can’t bring/use anything you want. The only equipment that may be brought to the ARENA
and used by DRIVE TEAMS during a MATCH is listed below. Regardless of if equipment fits
criteria below, it may not be employed in a way that breaks any other rules, introduces a safety
hazard, blocks visibility for FIELD STAFF or audience members, or jams or interferes with the
remote sensing capabilities of another team or the FIELD.
A. the OPERATOR CONSOLE,
B. non-powered signaling devices,
C. reasonable decorative items,
D. special clothing and/or equipment required due to a disability,
E. devices used solely for planning or tracking strategy,
F. devices used solely to record gameplay, and

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 G. non-powered Personal Protective Equipment (examples include, but aren’t limited to,
gloves, eye protection, and hearing protection)
Items brought to the ARENA under allowances B-G must meet all following conditions:

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

II. do not connect or attach to another ALLIANCE member (other than items in category
G),
III. do not communicate with anything or anyone outside of the ARENA,
IV. do not communicate with the TECHNICIAN,
V. do not include any form of enabled wireless electronic communication, and
VI. do not in any way affect the outcome of a MATCH, other than by allowing the drive
team to
a. plan or track strategy for the purposes of communication of that strategy to
other ALLIANCE members or
b. use items allowed per B to communicate with the ROBOT.
Violation: MATCH will not start until situation remedied. If discovered or used inappropriately
during a MATCH, YELLOW CARD.

Examples of equipment that may be considered a safety hazard in the confined

space of the ALLIANCE AREA include, but are not limited to, a step stool or a
large signaling device.
Examples of remote sensing capabilities include, but are not limited to, vision
systems, acoustic range finders, sonars, and infrared proximity sensors.
Use of imagery that, to a reasonably astute observer, mimics the Vision Targets
employed on the FIELD is a violation of this rule.
Examples of wireless communication include, but are not limited to, radios,
walkie-talkies, cell phones, Bluetooth communications, and Wi-Fi.

H304 *By invitation only. Only DRIVE TEAMS for the current MATCH are allowed in their respective
ALLIANCE AREAS or TERMINAL AREAS.
Violation: MATCH won’t start until the situation is corrected.

H305 *Show up to your MATCHES. Upon each team’s ROBOT passing initial, complete inspection, the
team must send at least 1 member of its DRIVE TEAM to the ARENA and participate in each of
the team’s assigned Qualification and Playoff MATCHES.
Violation: RED CARD.

8 Game Rules: Humans V2 62 of 136

 Figure 8-1 MATCH participation flowchart

The team should inform the lead team queuer if the team’s ROBOT is not able to
participate.

H306 *Identify yourself. DRIVE TEAMS must wear proper identification while in the ARENA. Proper
identification consists of:
A. all DRIVE TEAM members wearing their designated buttons above the waist in a clear
visible location at all times while in the ARENA
B. the COACH wearing the “COACH” button
C. the DRIVERS and HUMAN PLAYERS each wearing a “DRIVE TEAM” button
D. the TECHNICIAN wearing the “TECHNICIAN” button
E. each HUMAN PLAYER in a TERMINAL AREA wearing their ALLIANCE color apron around
their waist

Teams are invited to customize the aprons included in their Kickoff Kit, provided
the pocket and bottom 2 in. aren’t modified. A team may borrow a FIELD apron if
they don’t have theirs or a REFEREE determines the apron unfit for a MATCH.

F. during a Playoff MATCH, the ALLIANCE CAPTAIN clearly displaying the designated
ALLIANCE CAPTAIN identifier (e.g. hat or armband)
Violation: MATCH won’t start until the situation is corrected. Those not displaying identification
must leave the ARENA.

H307 *Plug in to/be in your DRIVER STATION. The OPERATOR CONSOLE must be used in the DRIVER
STATION to which the team is assigned, as indicated on the team sign.
Violation: MATCH won’t start until the situation is corrected. If during a MATCH, DISABLED.

An intent of this rule is to prevent unsafe situations where long tethers to

OPERATOR CONSOLE devices increase tripping hazards as the operator moves
about the ALLIANCE AREA. In the interest of avoiding nuisance penalties

8 Game Rules: Humans V2 63 of 136

 associated with a DRIVE TEAM member stepping outside of a prescribed area,
we prefer to offer a general guideline as to what it means to use the OPERATOR
CONSOLE in the ALLIANCE AREA. Provided the DRIVE TEAM member is within
close proximity of their DRIVER STATION, there will be no repercussions.
However, a DRIVE TEAM member located more than approximately half a
DRIVER STATION width away from their own DRIVER STATION while using their
OPERATOR CONSOLE is likely violating this rule.

H308 *Don’t bang on the glass. Team members may never strike or hit the DRIVER STATION plastic
windows.
Violation: Verbal warning. If subsequent violations in more than 1 MATCH, YELLOW CARD.

H309 Know your ROBOT setup. When placed on the FIELD for a MATCH, each ROBOT must be:
A. in compliance with all ROBOT rules, i.e. has passed inspection (for exceptions regarding
Practice MATCHES, see Section 10 Inspection & Eligibility Rules),
B. the only team-provided item left on the FIELD by the DRIVE TEAM,
C. confined to its STARTING CONFIGURATION (reference R102 and R104),
D. positioned such that it is fully contained in 1 of the ALLIANCE’S 2 TARMACS, and
E. fully and solely supporting not more than 1 CARGO (as described in Section 6.1 Setup).
Violation: If fix is a quick remedy, the MATCH won’t start until all requirements are met. If it is not a
quick remedy, the offending ROBOT will be DISABLED and, at the discretion of the Head REFEREE,
must be re-inspected.

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

H310 Know your DRIVE TEAM positions. Prior to the start of the MATCH, DRIVE TEAM members must
be positioned as follows:
A. DRIVERS: inside their ALLIANCE AREA and behind the STARTING LINE,
B. COACHES: inside their ALLIANCE AREA and behind the STARTING LINE, and
C. HUMAN PLAYERS:
a. 1 HUMAN PLAYER per ALLIANCE deployed to each TERMINAL AREA, and the
HUMAN PLAYER in the TERMINAL AREA furthest from their ALLIANCE AREA behind
the TERMINAL STARTING LINE,
b. any remaining HUMAN PLAYERS: inside their ALLIANCE AREA and behind the
STARTING LINE, and
D. TECHNICIANS: in the event-designated area near the FIELD.
Violation: MATCH won’t start until the situation is corrected.

H311 Leave the CARGO alone. Prior to the start of the MATCH, HUMAN PLAYERS may not remove the
CARGO from the TERMINAL.
Violation: MATCH won’t start until the situation is corrected.

8.4 During the MATCH: AUTO

H401 *Behind the lines. During AUTO, DRIVE TEAM members staged behind a STARTING LINE or
TERMINAL STARTING LINE may not contact anything in front of those lines, unless for personal
or equipment safety or granted permission by a Head REFEREE or FTA.

8 Game Rules: Humans V2 64 of 136

 Violation: FOUL per item contacted.

Pointing, gesturing, or otherwise extending across the STARTING LINE such that
contact is not made with carpet or other ARENA elements is not a violation of
this rule.
An example of an exception for equipment safety is if an OPERATOR CONSOLE
starts to fall from, or has already fallen off of, the DRIVER STATION shelf. In that
circumstance, DRIVE TEAM members may step forward to catch it or pick it up
off the ground and return it to the shelf.

H402 *Disconnect or set down controllers. Prior to the start of the MATCH, any control devices worn or
held by HUMAN PLAYERS and/or DRIVERS must be disconnected from the OPERATOR
CONSOLE.
Violation: MATCH won’t start until the situation is corrected.

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

H403 *Let the ROBOT do its thing. During AUTO, DRIVE TEAMS may not directly or indirectly interact
with ROBOTS or OPERATOR CONSOLES unless for personal safety, OPERATOR CONSOLE safety,
or pressing an E-Stop. A HUMAN PLAYER feeding CARGO to their ROBOT is an exception to this
rule.
Violation: FOUL and YELLOW CARD

H404 AUTO CARGO delivery. During AUTO, CARGO may only be introduced to the FIELD by a HUMAN
PLAYER in a TERMINAL AREA.
Violation: FOUL per CARGO.

8.5 During the MATCH

H501 *COACHES and other teams: hands off the controls. A ROBOT shall be operated only by the
DRIVERS and/or HUMAN PLAYERS of that team.
Violation: DISABLED.

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

H502 No wandering. DRIVERS, COACHES, and HUMAN PLAYERS may not contact anything outside the
area in which they started the MATCH (i.e. the ALLIANCE AREA or the TERMINAL AREA).
TECHNICIANS may not contact anything outside their designated area. Exceptions are granted in
cases concerning safety and for actions that are inadvertent, MOMENTARY, and inconsequential.
Violation: FOUL.

H503 *COACHES, CARGO is off limits. COACHES may not touch CARGO, unless for safety purposes.
Violation: FOUL per CARGO.

8 Game Rules: Humans V2 65 of 136

H504 TELEOP CARGO delivery. During TELEOP, CARGO may only be introduced to the FIELD
A. by a HUMAN PLAYER and
B. through the GUARD.
Violation: FOUL per CARGO.

H505 Opponent CARGO is off limits. During a MATCH, HUMAN PLAYERS may not contact opponent
CARGO. Inconsequential and MOMENTARY contact, and/or contact that, as perceived by a
REFEREE, is intended to be helpful, are exceptions to this rule.
Violation: FOUL per CARGO.

Inconsequential touching, such as shifting an opponent CARGO out of the way

within the TERMINAL to retrieve your own, is not a violation of this rule.

H506 Only feed your ALLIANCE ROBOTS. HUMAN PLAYERS may not deliver their CARGO to opponent
ROBOTS.
Violation: FOUL per CARGO.

H507 HUMAN PLAYERS, watch your reach. HUMAN PLAYERS may not reach beyond the PURPLE
PLANE.
Violation: FOUL.

8 Game Rules: Humans V2 66 of 136

9 ROBOT CONSTRUCTION RULES
The rules listed below explicitly address legal parts and materials and how those parts and materials may
be used on a RAPID REACT ROBOT. A ROBOT is an electromechanical assembly built by the FIRST
Robotics Competition team to play the current season’s game and includes all the basic systems required
to be an active participant in the game –power, communications, control, BUMPERS, and movement
about the FIELD. A BUMPER is a protective assembly designed to attach to the exterior of the ROBOT and
constructed as specified in BUMPER Rules.

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

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

ROBOTS are made up of COMPONENTS and MECHANISMS. A COMPONENT is any part in its most basic
configuration, which cannot be disassembled without damaging or destroying the part or altering its
fundamental function. A MECHANISM is 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 grippers from RoboHands 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 gripper is still classified as
a COTS item, but the second gripper is now a FABRICATED ITEM, as it has been
modified.
Example 2: A team obtains openly available blueprints of a drive module
commonly available from Wheels-R-Us Inc. and has local machine shop “We-
Make-It, Inc.” manufacture a copy of the part for them. The produced part is not a
COTS item, because it is not commonly carried as part of the standard stock of
We-Make-It, Inc.
Example 3: A team obtains openly available design drawings from a professional
publication during the pre-season and uses them to fabricate a gearbox for their
ROBOT during the build period following Kickoff. The design drawings are
considered a COTS item and may be used as “raw material” to fabricate the
gearbox. The finished gearbox itself would be a FABRICATED ITEM, and not a
COTS item.
Example 4: A COTS part that has non-functional label markings added would still
be considered a COTS part, but a COTS part that has device-specific mounting
holes added is a FABRICATED ITEM.

9 ROBOT Construction Rules V2 67 of 136

 Example 5: A team has a COTS single-board processor version 1.0, which can no
longer be purchased. Only the COTS single-board processor version 2.0 may be
purchased. If the COTS single-board processor version 1.0 is functionally
equivalent to its original condition, it may be used.
Example 6: A team has a COTS gearbox which has been discontinued. If the
COTS gearbox is functionally equivalent to its original condition, it may be used.

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

A. has a Federal Tax Identification number. In cases where the VENDOR is outside of the
United States, they must possess an equivalent form of registration or license with the
government of their home nation that establishes and validates their status as a legitimate
business licensed to operate within that country.
B. is not a “wholly owned subsidiary” of a FIRST Robotics Competition team or collection of
teams. While there may be some individuals affiliated with both a team and the VENDOR,
the business and activities of the team and VENDOR must be completely separable.
C. must be able to ship any general (i.e., non-FIRST unique) product within 5 business days of
receiving a valid purchase request. It is recognized that certain unusual circumstances
(such as 1,000 FIRST teams all ordering the same part at once from the same VENDOR)
may cause atypical delays in shipping due to backorders for even the largest VENDORS.
Such delays due to higher-than-normal order rates are excused.
D. should maintain sufficient stock or production capability to fill teams’ orders within a
reasonable period during the season (less than 1 week). 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.

E. makes their products available to all FIRST Robotics Competition teams. A VENDOR must
not limit supply or make a product available to just a limited number of FIRST Robotics
Competition teams.

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

all legitimate sources, while preventing ad hoc organizations from providing
special-purpose products to a limited subset of teams in an attempt to
circumvent the cost accounting rules.
FIRST desires to permit teams to have the broadest choice of legitimate sources
possible, and to obtain COTS items from the sources that provide them with the
best prices and level of service available. Teams also need to protect against
long delays in availability of parts that will impact their ability to complete their
ROBOT. The build season is brief, so the VENDOR must be able to get their
product, particularly FIRST unique items, to a team in a timely manner.
Ideally, chosen VENDORS should have national distributors (e.g. Home Depot,
Lowes, MSC, McMaster-Carr, etc.). Remember, FIRST Robotics Competition

9 ROBOT Construction Rules V2 68 of 136

 events are not always near home – when parts fail, local access to replacement
materials is often critical.

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

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

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

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

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

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

9.1 General ROBOT Design

R101 *FRAME PERIMETER must be fixed. The ROBOT (excluding BUMPERS) must have a FRAME
PERIMETER, contained within the BUMPER ZONE and established while in the ROBOT’S
STARTING CONFIGURATION, that is comprised of fixed, non-articulated structural elements of
the ROBOT. Minor protrusions no greater than ¼ in. (~6 mm) such as bolt heads, fastener ends,
weld beads, and rivets are not considered part of the FRAME PERIMETER.

To determine the FRAME PERIMETER, wrap a piece of string around the ROBOT
(excluding BUMPERS) at the BUMPER ZONE described in R402 and pull it taut.
The string outlines the FRAME PERIMETER.
Example: A ROBOT’S chassis is shaped like the letter ‘V’, with a large gap
between chassis elements on the front of the ROBOT. When wrapping a taut
string around this chassis, the string extends across the gap and the resulting
FRAME PERIMETER is a triangle with 3 sides.

9 ROBOT Construction Rules V2 69 of 136

 Figure 9-1 FRAME PERIMETER example

R102 *STARTING CONFIGURATION – no overhang. In the STARTING CONFIGURATION (the physical

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

If a ROBOT is designed as intended and each side is pushed up against a vertical

wall (in STARTING CONFIGURATION and with BUMPERS removed), only the
FRAME PERIMETER (or minor protrusions) will be in contact with the wall.
The allowance for minor protrusions in this rule is intended to allow protrusions
that are both minor in extension from the FRAME PERIMETER and cross-
sectional area.
If a ROBOT uses interchangeable MECHANISMS per I103, Teams should be
prepared to show compliance with this rule and R105 in all configurations.

R103 *ROBOT weight limit. The ROBOT weight must not exceed 125 lbs. (~56 kg). When determining
weight, the basic ROBOT structure and all elements of all additional MECHANISMS that might be
used in a single configuration of the ROBOT shall be weighed together (see I103).
For the purposes of determining compliance with the weight limitations, the following items are
excluded:

A. ROBOT BUMPERS,
B. ROBOT battery and its associated half of the Anderson cable quick connect/disconnect
pair (including no more than 12 in. (~30 cm) of cable per leg, the associated cable lugs,
connecting bolts, and insulation), and
C. tags used for location detection systems if provided by the event.
R104 STARTING CONFIGURATION – max size. A ROBOT’S STARTING CONFIGURATION may not have
a FRAME PERIMETER greater than 120 in. (~304 cm) and may not be more than 4 ft. 4 in. (~132
cm) tall.

Be sure to consider the size of the ROBOT on its cart to make sure it will fit
through doors. Also consider the size of the ROBOT to ensure that it will fit into a
shipping crate, vehicle, etc.
Note that rules contained in Section 9.4 BUMPER Rules may impose additional
restrictions on ROBOT design.

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R105 ROBOT extension limit. ROBOTS may not extend more than 16 in. (~40 cm) beyond their FRAME
PERIMETER.
Figure 9-2 FRAME PERIMETER extension

Teams should expect to have to demonstrate a ROBOT’S ability to constrain

itself per above during inspection. Constraints may be implemented with either
hardware or software.
See Section 7 Game Rules: ROBOTS for height and extension restrictions for
various areas of the FIELD.

9.2 ROBOT Safety & Damage Prevention

R201 *No digging into carpet. Traction devices must not have surface features that could damage the
ARENA (e.g. metal, sandpaper, hard plastic studs, cleats, hook-loop fasteners or similar
attachments). Traction devices include all parts of the ROBOT that are designed to transmit any
propulsive and/or braking forces between the ROBOT and FIELD carpet.
R202 *No sharp edges. Protrusions from the ROBOT and exposed surfaces on the ROBOT shall not
pose hazards to the ARENA elements (including CARGO) or people.
R203 *General safety. ROBOT parts shall not be made from hazardous materials, be unsafe, cause an
unsafe condition, or interfere with the operation of other ROBOTS.

Examples of items that will violate 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,

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 acoustic range finders, sonars, infrared proximity detectors, etc. (e.g.
including imagery on your ROBOT that, to a reasonably astute observer,
mimics the retro-reflective features of vision targets described in Vision
Targets),
d. exposed lasers other than Class I,
e. flammable gasses,
f. any device intended to produce flames or pyrotechnics,
g. hydraulic fluids or hydraulic items,
h. switches or contacts containing liquid mercury,
i. circuitry used to create voltages in excess of 24 Volts,
j. any ballast not secured sufficiently, including loose ballast e.g. sand, ball
bearings, etc., such that it may become loose during a MATCH,
k. 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.
l. tire sealant, and
m. high intensity light sources used on the ROBOT (e.g. super bright LED
sources marketed as ‘military grade’ or ‘self-defense’) may only be
illuminated for a brief time while targeting and may need to be shrouded to
prevent any exposure to participants. Complaints about the use of such light
sources will be followed by re-inspection and possible disablement of the
device.

R204 *CARGO stays with the FIELD. ROBOTS must allow removal of CARGO from the ROBOT and the
ROBOT from FIELD elements while DISABLED and powered off.

ROBOTS will not be re-enabled after the MATCH, so teams must be sure that
CARGO and ROBOTS can be quickly, simply, and safely removed.
Teams are encouraged to consider H301 when developing their ROBOTS.

R205 *Don’t contaminate the FIELD. Lubricants may be used only to reduce friction within the ROBOT.
Lubricants must not contaminate the FIELD or other ROBOTS.

9.3 Budget Constraints & Fabrication Schedule

R301 *Individual item cost limit. No individual, non-KOP item or software shall have a Fair Market
Value (FMV) that exceeds $600 USD. The total cost of COMPONENTS purchased in bulk may
exceed $600 USD as long as the cost of an individual COMPONENT does not exceed $600 USD.

Teams should be ready to show INSPECTORS documentation of FMV for any

COMPONENTS that appear to be in the range of the $600 USD limit.
The Analog Devices IMU MXP Breakout Board, P/N ADIS16448, does not have a
published FMV. This device is considered to comply with this rule regardless of
its true FMV.
The FMV of a COTS item is its price defined by a VENDOR for the part or an
identical functional replacement. This price must be generally available to all
FIRST Robotics Competition teams throughout the build and competition season
(i.e. short-term sale prices or coupons do not reflect FMV), however teams are
only expected to make a good faith effort at determining the item price and are
not expected to monitor prices of ROBOT items throughout the season. The FMV
is the cost of the item itself and does not include any duties, taxes, tariffs,
shipping, or other costs that may vary by locality.

9 ROBOT Construction Rules V2 72 of 136

 The FMV of COTS software is the price, set by the VENDOR, to license the
software (or piece of the software) that runs on the ROBOT for the period from
Kickoff to the end of the FIRST Championship. The FMV of software licensed
free-of-cost, including through the Virtual KOP, for use on the ROBOT is $0.
The FMV of FABRICATED parts is the value of the material and/or labor, except
for labor provided by team members (including sponsor employees who are
members of the team), members of other teams, and/or event provided machine
shops. Material costs are accounted for as the cost of any purchasable quantity
that can be used to make the individual part (i.e. the purchasable raw material is
larger than the FABRICATED part).
Example 1: A team orders a custom bracket made by a company to the team's
specification. The company’s material cost and normally charged labor rate
apply.
Example 2: A team receives a donated sensor. The company would normally sell
this item for $450 USD, which is therefore its FMV.
Example 3: A team purchases titanium tube stock for $400 USD and has it
machined by a local machine shop. The machine shop is not considered a team
sponsor but donates 2 hours of expended labor anyway. The team must include
the estimated normal cost of the labor as if it were paid to the machine shop and
add it to the $400 USD.
Example 4: A team purchases titanium tube stock for $400 USD and has it
machined by a local machine shop that is a recognized sponsor of the team. If
the machinists are considered members of the team, their labor costs do not
apply. The total applicable cost for the part would be $400 USD.
It is in the best interests of the teams and FIRST to form relationships with as
many organizations as possible. Recognizing supporting companies as sponsors
of, and members in, the team is encouraged, even if the involvement of the
sponsor is solely through the donation of fabrication labor.
Example 5: A team purchases titanium tube stock for $400 USD and has it
machined by another team. The total applicable cost for the part would be $400
USD.
Example 6: A team purchases a widget at a garage sale or online auction for
$300, but it’s available for sale from a VENDOR for $700. The FMV is $700.
If a COTS item is part of a modular system that can be assembled in several
possible configurations, then each individual module must fit within the price
constraints defined in this rule.
If the modules are designed to assemble into a single configuration, and the
assembly is functional in only that configuration, then the total cost of the
complete assembly including all modules must fit within the price constraints
defined in this rule.
In summary, if a VENDOR sells a system or a kit, a team must use the entire
system/kit FMV and not the value of its COMPONENT pieces.
Example 7: VENDOR A sells a gearbox that can be used with a number of
different gear sets, and can mate with 2 different motors they sell. A team
purchases the gearbox, a gear set, and a motor, then assembles them together.
Each part is treated separately for the purpose of determining FMV since the
purchased pieces can each be used in various configurations.

9 ROBOT Construction Rules V2 73 of 136

 Example 8: VENDOR B sells a robotic arm assembly that a team wants to use.
However, it costs $630 USD, so they cannot use it. The VENDOR sells the “hand”,
“wrist”, and “arm” as separate assemblies, for $210 USD each. A team wishes to
purchase the 3 items separately, then reassemble them. This would not be legal,
as they are really buying and using the entire assembly, which has a Fair Market
Value of $630 USD.
Example 9: VENDOR C sells a set of wheels or wheel modules that are often used
in groups of 4. The wheels or modules can be used in other quantities or
configurations. A team purchases 4 and uses them in the most common
configuration. Each part is treated separately for the purpose of determining
FMV, since the purchased pieces can be used in various configurations.

R302 *Custom parts, generally from this year only. FABRICATED ITEMS created before Kickoff are not
permitted. Exceptions are:
A. OPERATOR CONSOLE,
B. BUMPERS,
C. battery assemblies as described in R103-B,
D. FABRICATED ITEMS consisting of 1 COTS electrical device (e.g. a motor or motor
controller) and attached COMPONENTS associated with any of the following
modifications:
a. wires modified to facilitate connection to a ROBOT (including removal of existing
connectors),
b. connectors and any materials to secure and insulate those connectors added (note:
passive PCBs such as those used to adapt motor terminals to connectors are
considered connectors),
c. motor shafts modified and/or gears, pulleys, or sprockets added, and
d. motors modified with a filtering capacitor as described in the blue box below R625.
E. COTS items with any of the following modifications:
a. non-functional decoration or labeling,
b. assembly of COTS items per manufacturer specs, unless the result constitutes a
MAJOR MECHANISM as defined in I101, and
c. work that could be reasonably accomplished in fewer than 30 minutes with the use
of handheld tools (e.g. drilling a small number of holes in a COTS part).

Please note that this means FABRICATED ITEMS from ROBOTS entered in
previous FIRST competitions may not be used on ROBOTS in the RAPID REACT
FIRST Robotics Competition (other than those allowed per R302-B through -E.
Before the formal start of the build season, teams are encouraged to think as
much as they please about their ROBOTS. They may develop prototypes, create
proof-of-concept models, and conduct design exercises. Teams may gather all
the raw stock materials and COTS COMPONENTS they want.
Parts with precision machined (mill, CNC, etc.) features may still meet part E.c of
this rule if functionally equivalent features could reasonably be made within the
restrictions specified.
Example 1: A team designs and builds a 2-speed shifting transmission during the
fall as a training exercise. After Kickoff, they utilize all the design principles they
learned in the fall to design their ROBOT. To optimize the transmission design for
their ROBOT, they change the transmission gear ratios and reduce the size, and
build 2 new transmissions, and place them on the ROBOT. All parts of this
process are permitted activities.

9 ROBOT Construction Rules V2 74 of 136

 Example 2: A team re-uses a RAPID REACT-legal motor from a previous ROBOT
which has had connectors added to the wires. This is permitted, per exception D,
because the motor is a COTS electrical COMPONENT.
Example 3: A team re-uses a piece of aluminum tubing from a previous ROBOT
which has a precision machined bearing hole in it. On the current ROBOT, the
bearing hole is not used. As the only function of the hole on the current ROBOT is
material removal, which does not require precise tolerancing, a functionally
equivalent hole could be made with a hand drill in under 30 minutes and the part
is permitted per part E.c.

R303 *Create new designs and software, unless they’re public. ROBOT software and designs created
before Kickoff are only permitted if the source files (complete information sufficient to produce
the design) are available publicly prior to Kickoff.

Example 1: A team realizes that the transmission designed and built in the fall
perfectly fits their need for a transmission to drive the ROBOT arm. They build an
exact copy of the transmission from the original design plans, and bolt it to the
ROBOT. This would be prohibited, as the transmission – although made during
the competition season – was built from detailed designs developed prior to
Kickoff.
Example 2: A team developed an omni-directional drive system for the 2019
competition. In July 2019 they refined and improved the control software, written
in C++, to add more precision and capabilities. They decided to use a similar
system for the RAPID REACT competition. They copied large sections of
unmodified code over into the control software of the new ROBOT, also written in
C++. This would be a violation of the schedule constraint and is not allowed.
Example 3: The same team decides to use LabVIEW as their software
environment for RAPID REACT. Following Kickoff, they use the previously
developed C++ code as a reference for the algorithms and calculations required
to implement their omni-directional control solution. Because they developed
new LabVIEW code as they ported over their algorithms, this is permitted.
Example 4: A different team develops a similar solution during the fall and plans
to use the developed software on their competition ROBOT. After completing the
software, they post it in a generally accessible public forum and make the code
available to all teams. Because they have made their software publicly available
before Kickoff, they can use it on their ROBOT.
Example 5: A team develops a transmission prior to Kickoff. After completing the
project, they publish the CAD files on a generally accessible public forum and
make them available to all teams. Because they have made the design publicly
available before Kickoff, they can use the design to create an identical
transmission, fabricated after Kickoff, for use on their RAPID REACT ROBOT.

R304 *During an event, only work during pit hours. During an event a team is attending (regardless of
whether the team is physically at the event location), the team may neither work on nor practice
with their ROBOT or ROBOT elements outside of the hours that pits are open, with the following
exceptions:
A. exceptions listed in R302, other than R302-E-c and
B. software development.

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

9 ROBOT Construction Rules V2 75 of 136

 • Regionals, District Championships, and FIRST Championship: at the start of
the first designated load-in period, according to the Public Schedule. If the
Public Schedule is not available or there is no designated load-in period, the
events begin at 4pm on the day prior to pits opening.
• District Events: when pits open
Examples of activity prohibited by this rule include:
a. working on the ROBOT at the team’s shop after load-in for the event has
begun and
b. working on ROBOT parts at night at the team’s hotel.
Note that E108 and E401 impose additional restrictions on work done on the
ROBOT or ROBOT materials while attending an event.
This rule is intended to increase equity between teams with significant travel to
an event and those nearby (close teams would otherwise have an advantage by
being able to work on their ROBOT, in their shop, until it’s time to go to the event).

9.4 BUMPER Rules

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

• minimize variety of BUMPERS so teams can expect consistency,

• minimize the amount of design challenge in creating BUMPERS,
• minimize cost of BUMPER materials, and
• maximize use of relatively ubiquitous materials.
R401 *BUMPERS should protect all corners. ROBOTS are required to use BUMPERS to protect all
outside corners of the FRAME PERIMETER. For adequate protection, at least 6 in. (~16 cm) of
BUMPER must be placed on each side of each outside corner (see Figure 9-3) and must extend to
within ¼ in. (~6 mm) of the FRAME PERIMETER corner. If a FRAME PERIMETER side is shorter
than 12 in. (~31 cm), that entire FRAME PERIMETER side must be protected by a BUMPER (see
Figure 9-4). A round or circular FRAME PERIMETER, or segment of the FRAME PERIMETER, is
considered to have an infinite number of corners, therefore the entire frame or frame segment
must be completely protected by BUMPERS.

The dimension defined in this rule is measured along the FRAME PERIMETER.
The portion of the BUMPER that extends beyond the corner of the FRAME
PERIMETER is not included in the 6 in. (~16 cm) requirement. See Figure 9-3.

9 ROBOT Construction Rules V2 76 of 136

 Figure 9-3 BUMPER corner examples

9 ROBOT Construction Rules V2 77 of 136

 Figure 9-4 BUMPER around full side/corner

R402 *BUMPERS must stay low. BUMPERS must be located entirely within the BUMPER ZONE, which
is the volume contained between the floor and a virtual horizontal plane 7½ in. (~19 cm) above
the floor in reference to the ROBOT standing normally on a flat floor. BUMPERS do not have to be
parallel to the floor.

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

floor (without changing the ROBOT configuration), not relative to the height of the
ROBOT from the FIELD carpet. Examples include:
Example 1: A ROBOT that is at an angle while navigating the FIELD has its
BUMPERS outside the BUMPER ZONE. If this ROBOT were virtually transposed
onto a flat floor, and its BUMPERS are in the BUMPER ZONE, it meets the
requirements of this rule.
Example 2: A ROBOT deploys a MECHANISM which lifts the BUMPERS outside
the BUMPER ZONE (when virtually transposed onto a flat floor). This violates this
rule.

R403 *BUMPERS shouldn’t move. BUMPERS must not be articulated, relative to the FRAME
PERIMETER.
R404 *BUMPERS must come off. BUMPERS must be designed for quick and easy installation and
removal to facilitate inspection and weighing.

As a guideline, BUMPERS should be able to be installed or removed by 2 people

in fewer than 5 minutes.

R405 *BUMPERS indicate your ALLIANCE. Each ROBOT must be able to display red or blue BUMPERS
to reflect their ALLIANCE color, as assigned in the MATCH schedule distributed at the event (as
described in Section 11.1 MATCH Schedules). BUMPER markings visible when installed on the
ROBOT, other than the following, are prohibited:
A. those required per R406,
B. hook-and-loop tape or snap fasteners backed by the hard parts of the BUMPER,

9 ROBOT Construction Rules V2 78 of 136

 C. solid white FIRST logos between 4¾ in. (~12 cm) and 5¼ in. wide (~13 cm) (i.e.
comparable to those available in the RAPID REACT Virtual Kit), and
D. narrow areas of underlying fabric exposed at seams, corners, or folds.

The FRAME PERIMETER facing surfaces of BUMPERS are not “displayed” and
thus R405 does not apply.

R406 *Team number on BUMPERS. Team numbers must be displayed and positioned on the
BUMPERS such that an observer walking around the perimeter of the ROBOT can unambiguously
tell the team’s number from any point of view and meet the following additional criteria:
A. consist of only Arabic numerals at least 4 in. (~11 cm) high, at least ½ in. (~13 mm) in
stroke width, and be either white in color or outlined in white with a minimum 1/16 in. (~2
mm) outline,

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

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

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

BUMPER. The intent is that the team’s number is clearly visible and unambiguous
so that Judges, REFEREES, Announcers, and other teams can easily identify
competing ROBOTS.
This marking is intended to display the team number only, not to intentionally
change the surface characteristics of the BUMPER. Excessive material usage as
part of any team number marking will invite close scrutiny.

R407 *BUMPER weight limit. Each set of BUMPERS (including any fasteners and/or structures that
attach them to the ROBOT) must weigh no more than 15 lbs. (~6 kg).

If a multi-part attachment system is utilized (e.g. interlocking brackets on the

ROBOT and the BUMPER), then the elements permanently attached to the ROBOT
will be considered part of the ROBOT, and the elements attached to the
BUMPERS will be considered part of the BUMPER. Each element must satisfy all
applicable rules for the relevant system.

R408 *BUMPER construction. BUMPERS must be constructed as follows (see Figure 9-7):
A. be backed by ¾ in. thick (nominal, ~19mm) by 5 in. ± ½ in. (~127 mm ± 12.7 mm) tall
plywood, Oriented Strand Board (OSB) or solid wood (with the exception of balsa). Small
clearance pockets and/or access holes in the wood backing are permitted, as long as they
do not significantly affect the structural integrity of the BUMPER.

¾ in. plywood and OSB refer to items sold by VENDORS as that material and
thickness, teams may not fabricate their own plywood or OSB. Other engineered
woods such as Fiberboard or Particle Board are not likely to survive the rigors of
FIRST Robotics Competition gameplay and thus not permitted per A.
Note: ¾ in. plywood is often marked according to the actual dimension (²³⁄₃₂”)
not the nominal size. Plywood sold as ²³⁄₃₂” meets the requirements of A.

B. hard BUMPER parts allowed per A, E, F, and G must not extend more than 1 in. (~25 mm)
beyond the FRAME PERIMETER (measured as shown in Figure 9-5).

9 ROBOT Construction Rules V2 79 of 136

 Figure 9-5 Hard parts of BUMPER corners

C. use a stacked pair of approximately 2½ in. (nominal, ~63mm) round, petal, or hex “pool
noodles” (solid or hollow) as the BUMPER cushion material (see Figure 9-7). All pool
noodles used in a BUMPER set (e.g. red set of BUMPERS) may not be modified (with the
exception of cutting to length or cutting to facilitate mating pool noodles at the corners as
required by R409) or deformed and must be the same diameter, cross section, and density
(e.g. all round hollow or all hex solid). Cushion material may extend up to 2½ in. (~63 mm)
beyond the end of the plywood (see Figure 9-8). To assist in applying the fabric covering,
soft fasteners may be used to attach the pool noodles to the wood backing, so long as the
cross section in Figure 9-7 is not significantly altered (e.g. tape compressing the pool
noodles).

All pool noodles used on a ROBOT must be the same in order to maintain the
desired interaction between ROBOTS in the cases of BUMPER-to-BUMPER
contact. BUMPERS containing pool noodles of vastly different construction may
cause a “ramp” effect when interacting with other BUMPERS.
Minor noodle compression as a result of smoothing BUMPER fabric or rounding
a FRAME PERIMETER corner is not considered deformed. Any compression
beyond that, e.g. for the purposes of flattening the pool noodle, is deformation
and a violation of C.

D. be covered with a rugged, smooth cloth. (multiple layers of cloth and seams are permitted
if needed to accommodate R405 and/or R406, provided the cross section in Figure 9-7 is
not significantly altered).

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

9 ROBOT Construction Rules V2 80 of 136

 It is expected that there may be multiple layers of cloth as fabric is folded to
accommodate the corners and seams of BUMPERS.

The cloth must completely enclose all exterior surfaces of the wood and pool noodle
material when the BUMPER is installed on the ROBOT. The fabric covering the BUMPERS
must be solid in color.

E. optionally use metal angle, as shown in Figure 9-7 or other fasteners (e.g. staples, screws,
adhesives, etc.) to clamp cloth.
F. optionally use metal brackets (i.e. angle or sheet metal) or other fasteners (e.g. staples,
screws, adhesives, etc.) to attach BUMPER segments to each other (see Figure 9-6).
Figure 9-6 Example uses of brackets in BUMPER corners

G. must attach to the FRAME PERIMETER of the ROBOT with a rigid fastening system to form
a tight, robust connection to the main structure/frame (e.g. not attached with hook-and-
loop tape, tape, or cable ties). The attachment system must be designed to withstand
vigorous game play. All removable fasteners (e.g. bolts, locking pins, pip-pins, etc.) will be
considered part of the BUMPERS.
Figure 9-7 BUMPER vertical cross section

R409 *Fill BUMPER corners. Corner joints between BUMPERS must be filled with pool noodle material.
Examples of implementation are shown in Figure 9-8.

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 Figure 9-8 Soft parts of BUMPER corners

R410 *BUMPERS must be supported. BUMPERS must be supported by the structure/frame of the
ROBOT (see Figure 9-9). To be considered supported, a minimum of ½ in. (~13 mm) at each end
of each BUMPER wood segment must be backed by the FRAME PERIMETER (≤¼ in. gap, ~6mm).
“Ends” exclude hard BUMPER parts which extend past the FRAME PERIMETER permitted by
R408-B. Additionally, any gap between the backing material and the frame:
A. must not be greater than ¼ in. (~6 mm) deep or
B. not more than 8 in. (~20 cm) wide
Figure 9-9 BUMPER support examples

The intent of this rule is to make sure the BUMPER wood is properly supported to
minimize the likelihood of breakage on impact. Flexible ROBOT elements, such

9 ROBOT Construction Rules V2 82 of 136

 as thin plastic, do not accomplish this intent and are not considered
“structure/frame” of the ROBOT.

9.5 Motors & Actuators

R501 *Allowable motors. The only motors and actuators permitted include the following (in any
quantity):
Table 9-1 Motor allowances

Motor Name Part Numbers Available

AndyMark 9015 am-0912 AndyMark 9015

AndyMark NeveRest am-3104

AndyMark PG am-2161 (alt. PN am-2765) am-2194 (alt. PN am-2766)

AndyMark RedLine Motor am-3775 am-3775a

AndyMark Snow Blower Motor am-2235 am-2235a

am-3830 M5 – RS550-12
Banebots M7-RS775-18 RS550VC-7527
RS775WC-8514 RS550

FR801-001 PM25R-45F-1004
M4-R0062-12 PM25R-45F-1003
CIM AM802-001A PMR25R-45F-1003
217-2000 PMR25R-44F-1005
PM25R-44F-1005 am-0255

CTR Electronics/VEX Robotics 217-6515 19-708850

Falcon 500 am-6515 am-6515_Short

Denso 262100-3040
Denso AE235100-0160
Current/former KOP automotive Bosch 6 004 RA3 194-06
Denso 5-163800-RC1
motors Johnson Electric JE-PLG-149
Denso 262100-3030
Johnson Electric JE-PLG-410

Nidec Dynamo BLDC Motor am-3740 DM3012-1063

Playing with Fusion Venom BDC-10001

REV Robotics HD Hex REV-41-1291

REV Robotics NEO Brushless REV-21-1650

REV Robotics NEO 550 REV-21-1651

9 ROBOT Construction Rules V2 83 of 136

 Motor Name Part Numbers Available
VEX BAG 217-3351

VEX Mini-CIM 217-3371

West Coast Products RS775 Pro 217-4347

Electrical solenoid actuators, no greater than 1 in. (nominal) stroke and rated electrical input power no
greater than 10 watts (W) continuous duty at 12 volts (VDC)

Fans, no greater than 120mm (nominal) size and rated electrical input power no greater than 10 watts
(W) continuous duty at 12 volts (VDC)

Hard drive motors part of a legal COTS computing device

Factory installed vibration and autofocus motors resident in COTS computing devices (e.g. rumble
motor in a smartphone).

PWM COTS servos with a retail cost < $75.

Motors integral to a COTS sensor (e.g. LIDAR, scanning sonar, etc.), provided the device is not modified
except to facilitate mounting

1 compressor compliant with R806 and used to compress air for the ROBOT’S pneumatic system

For servos, note that the roboRIO is limited to a max current output of 2.2A on the
6V rail (12.4W of electrical input power). Teams should make sure that their total
servo power usage remains below this limit at all times.
Given the extensive amount of motors allowed on the ROBOT, teams are
encouraged to consider the total power available from the ROBOT battery during
the design and build of the ROBOT. Drawing large amounts of current from many
motors at the same time could lead to drops in ROBOT battery voltage that may
result in tripping the main breaker or trigger the brownout protection of the
roboRIO. For more information about the roboRIO brownout protection and
measuring current draw using the PDP/PDH, see roboRIO Brownout and
Understanding Current Draw.
AndyMark PG Gearmotors are sold with labeling based on the entire assembly.
Assemblies labeled am-3651 through am-3656 contain legal motors specified in
the table above. These motors may be used with or without the provided
gearbox.

R502 *Don’t modify motors (mostly). The integral mechanical and electrical system of any motor must
not be modified. Motors, servos, and electric solenoids used on the ROBOT shall not be modified
in any way, except as follows:
A. The mounting brackets and/or output shaft/interface may be modified to facilitate the
physical connection of the motor to the ROBOT and actuated part.
B. The electrical leads may be trimmed to length as necessary and connectors or splices to
additional wiring may be added.
C. The locking pins on the window motors (P/N 262100-3030 and 262100-3040) may be
removed.
D. The connector housings on KOP automotive motors listed in Table 9-1 may be modified to
facilitate lead connections.

9 ROBOT Construction Rules V2 84 of 136

 E. Servos may be modified as specified by the manufacturer (e.g. re-programming or
modification for continuous rotation).
F. The wiring harness of the Nidec Dynamo BLDC Motor may be modified as documented by
FIRST in Nidec Dynamo BLDC Motor with Controller.
G. Minimal labeling may be applied to indicate device purpose, connectivity, functional
performance, etc.
H. Any number of #10-32 plug screws may be removed from the Falcon 500.
I. Insulation may be applied to electrical terminals.

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

R503 *Power (most) actuators off of 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 include:
A. motor controllers,
a. DMC 60/DMC 60c Motor Controller (P/N 410-334-1, 410-334-2),
b. Jaguar Motor Controller (P/N MDL-BDC, MDL-BDC24, and 217-3367) connected to
PWM only,
c. Nidec Dynamo, BLDC Motor with Controller to control integral actuator only (P/N
840205-000, am-3740)
d. SD540 Motor Controller (P/N SD540x1, SD540x2, SD540x4, SD540Bx1, SD540Bx2,
SD540Bx4, SD540C),
e. Spark Motor Controller (P/N REV-11-1200),
f. Spark MAX Motor Controller (P/N REV-11-2158),
g. Talon FX Motor Controller (P/N 217-6515, 19-708850, am-6515, am-6515_Short) for
controlling integral Falcon 500 only,
h. Talon Motor Controller (P/N CTRE_Talon, CTRE_Talon_SR, and am-2195),
i. Talon SRX Motor Controller (P/N 217-8080, am-2854, 14-838288),
j. Venom Motor with Controller (P/N BDC-10001) for controlling integral motor only,
k. Victor 884 Motor Controller (P/N VICTOR-884-12/12),
l. Victor 888 Motor Controller (P/N 217-2769),
m. Victor SP Motor Controller (P/N 217-9090, am-2855, 14-868380), and
n. Victor SPX Motor Controller (P/N 217-9191, 17-868388, am-3748),
B. relay modules,
a. Spike H-Bridge Relay (P/N 217-0220 and SPIKE-RELAY-H),
b. Automation Direct Relay (P/N AD-SSR6M12-DC-200D, AD-SSRM6M25-DC-200D, AD-
SSR6M45-DC-200D), and
c. Power Distribution Hub (PDH) switched channel (P/N REV-11-1850) for controlling
non-actuator CUSTOM CIRCUITS only,
C. pneumatics controllers,
a. Pneumatics Control Module (P/N am-2858, 217-4243) and
b. Pneumatic Hub (P/N REV-11-1852).

Note: The Automation Direct Relays are single directional. Per R504 they may not
be wired together in an attempt to provide bi-directional control.

R504 *Don’t overload controllers. Each power regulating device may control electrical loads per Table
9-2. Unless otherwise noted, each power regulating device shall control 1 and only 1 electrical
load.

9 ROBOT Construction Rules V2 85 of 136

 Table 9-2 Power regulating device allotments

Relay Pneumatics
Electrical Load Motor Controller
Module Controller
AndyMark RedLine Motor
Banebots
CIM
REV Robotics NEO Brushless Yes No No
REV Robotics NEO 550
VEX Mini-CIM
WCP RS775 Pro
AndyMark 9015 Yes
No No
VEXpro BAG (up to 2 per controller)

AndyMark PG
KOP Automotive Motors
Yes
NeveRest Yes No
(up to 2 per controller)
Snow Blower Motor
REV Robotics HD Hex
CTR Electronics/VEX Falcon 500
Yes
Nidec Dynamo BLDC Motor w/
(integrated controller No No
Controller
only)
Playing With Fusion Venom

Compressor No Yes Yes

Yes Yes
Pneumatic Solenoid Valves No
(multiple) (1 per channel)
Yes Yes Yes
Electric Solenoids
(multiple) (multiple) (1 per channel)
Yes Yes Yes
CUSTOM CIRCUITS
(multiple) (multiple) (multiple)

R505 *Control servos safely. Servos must be connected to, and only to, 1 of the following:
A. PWM ports on the roboRIO,
B. PWM ports on a WCP Spartan Sensor Board (P/N WCP-0045), or
C. REV Robotics Servo Power Module (P/N REV-11-1144).

9.6 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 power. The only legal source of electrical energy for the
ROBOT during the competition, the ROBOT battery, must be 1 and only 1 non-spillable sealed lead
acid (SLA) battery with the following specifications:

9 ROBOT Construction Rules V2 86 of 136

 A. Nominal voltage: 12V
B. Nominal capacity at 20-hour discharge rate: minimum 17Ah, maximum 18.2Ah
C. Shape: Rectangular
D. Nominal Dimensions:7.1 in. x 3 in. x 6.6 in., +/- .1 in. for each dimension (~ 180 mm x
76mm x 168 mm, +/- 2.5 mm for each dimension)
E. Nominal weight: 11lbs. to 14.5 lbs. (~5 kg. to 6.5 kg.)
F. Terminals: Nut and bolt style

Examples of batteries which meet these criteria include:

a. Enersys (P/N NP18-12, NP18-12B, NP18-12BFR),
b. MK Battery (P/N ES17-12),
c. Battery Mart (P/N SLA-12V18),
d. Sigma (P/N SP12-18),
e. Universal Battery (P/N UB12180),
f. Power Patrol (P/N SLA1116),
g. Werker Battery (P/N WKA12-18NB),
h. Power Sonic (P/N PS-12180NB),
i. Yuasa (P/N NP18-12B),
j. Panasonic (P/N LC-RD-1217),
k. Interstate Batteries (P/N BSL1116), and
l. Duracell Ultra Battery (P/N DURA12-18NB).
Teams should be aware that they may be asked to provide documentation of the
specifications of any battery not listed above.
Batteries should be charged in accordance with manufacturer’s specification.
(Please see the FIRST Safety Manual for additional information.)

R602 *Other batteries for cameras or computers only. COTS USB battery packs with a capacity of
100Wh or less (20000mAh at 5V) and 5V, 2.5 Amp max output per port, or batteries integral to
and part of a COTS computing device or self-contained camera (e.g. laptop batteries, GoPro style
camera, etc.) may be used to power COTS computing devices and any peripheral COTS input or
output devices connected to the COTS computing device provided they are:
A. securely fastened to the ROBOT,
B. connected only using unmodified COTS cables, and
C. charged according to manufacturer recommendations.
R603 *Charge batteries with safe connectors. Any battery charger used to charge a ROBOT battery
must have the corresponding Anderson SB connector installed.
R604 *Charge batteries at a safe rate. Any battery charger used to charge a ROBOT battery may not be
used such that it exceeds 6-Amp peak charge current.
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.

R606 *Secure the battery. 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.
R607 *Insulate battery connections. Each electrical terminal on the ROBOT battery, main breaker, and
their connections (lugs, stripped wire ends, etc.) to the wire must be fully insulated at all times.

9 ROBOT Construction Rules V2 87 of 136

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. compressed air stored in the pneumatic system that has been charged in compliance with
R806 and R807,
B. a change in the altitude of the ROBOT center of gravity,
C. storage achieved by deformation of ROBOT parts,
D. closed-loop COTS pneumatic (gas) shocks, or
E. air-filled (pneumatic) wheels.
R609 *Connect main power safely. The 1 ROBOT battery, a single pair of Anderson Power Products (or
APP) 2-pole SB type connectors, the 1 main 120-amp (120A) surface mount circuit breaker
(Cooper Bussman P/N CB185-120, CB185F-120, CB285-120 or Optifuse P/N 153120, 253120),
and the 1 power distribution device (CTR Electronics Power Distribution Panel, PDP, P/N am-
2856, 217-4244, 14-806880 or REV Robotics Power Distribution Hub, PDH, P/N REV-11-1850)
shall be connected with 6 AWG (7 SWG or 16 mm2) copper wire or larger, with no additional
devices or modifications (with the exception of monitoring circuitry permitted by R625), as shown
in Figure 9-10.
Figure 9-10 Electrical connection diagram

“SB type” refers to SB type only (e.g. SB-50, SB-120, etc.), not SBS or any other
part type beginning with SB. All batteries supplied by FIRST (such as Spare Parts
and international batteries) will have a red or pink SB50 connector installed which
may not be removed.
The pink connectors included in the RAPID REACT KOP mate with the red SB50
connector.

R610 *1 breaker per circuit. All circuits, with the exceptions of those listed in R615 and R617, must
connect to, and have power sourced solely by, a single protected 12VDC WAGO connector pair
(i.e. the load terminals, as shown in Figure 9-10) of the PDP/PDH, not the M6 cap screws.
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.

9 ROBOT Construction Rules V2 88 of 136

 Compliance with this rule is checked by observing a >3kΩ resistance between
either the (+) or (-) post within the APP connector that is attached to the
PDP/PDH and any point on the ROBOT.
All legal motor controllers with metal cases are electrically isolated. They may be
mounted directly to ROBOT frame COMPONENTS.
Note that some cameras, decorative lights, and sensors (e.g. some encoders,
some IR sensors, etc.) have grounded enclosures or are manufactured with
conductive plastics. These devices must be electrically isolated from the ROBOT
frame to ensure compliance with this rule.

R612 *Must be able to turn ROBOT on and off safely. The 120A circuit breaker must be quickly and
safely accessible from the exterior of the ROBOT. This is the only 120A circuit breaker allowed on
the ROBOT.

Examples considered not “quickly and safely accessible” include breakers

covered by an access panel or door, or mounted on, underneath or immediately
adjacent to moving COMPONENTS.
It is strongly recommended that the 120A circuit breaker location be clearly and
obviously labeled so it can be easily found by FIELD STAFF during a MATCH.

R613 *Electrical system must be inspectable. The PDP/PDH, associated wiring, and all circuit breakers
must be visible for inspection.
R614 *No high voltage allowed. Any active electrical item that is not an actuator (specified in R501) or
core control system item (specified in R710) is considered a CUSTOM CIRCUIT. CUSTOM
CIRCUITS shall not produce voltages exceeding 24V.
R615 *Power roboRIO as specified. The roboRIO power input must be connected to either:
A. the dedicated supply terminals on the PDP shown in Figure 9-11 or
Figure 9-11 roboRIO power source on a PDP

B. the terminals of 1 of the non-switchable fused channels on the PDH (20,21,22) with a 10A
fuse installed in the associated fuse holder.
No other electrical load shall be connected to that channel.

9 ROBOT Construction Rules V2 89 of 136

 Figure 9-12 roboRIO power source on a PDH

R616 *Power radio as specified – Part 1. The wireless bridge (radio) power must be supplied by either:
A. the 12V 2A output of a CTR Electronics Voltage Regulator Module (VRM) (P/N am-2857,
217-4245), as shown in Figure 9-13, and must be the only load connected to those
terminals or
Figure 9-13 Radio power source from a VRM

B. using an Ethernet cable between a REV Radio Power Module (RPM) (P/N REV-11-1856)
and the “18-24v POE” Ethernet port on the wireless bridge.

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

R617 *Power radio as specified – Part 2. The device supplying power to the wireless bridge per R616
must be connected to either:
A. the designated supply terminals at the end of the PDP, as shown in Figure 9-14. With the
exception of a single CTR Electronics Pneumatics Control Module (PCM, P/N am-2858),
no other electrical load shall be connected to these PDP terminals.

9 ROBOT Construction Rules V2 90 of 136

 Figure 9-14 VRM, PCM, and RPM power source on a PDP

B. the terminals of 1 of the non-switchable fused channels on the PDH (20,21,22) with a 10A
fuse installed in the associated fuse holder. No other electrical load shall be connected to
that channel.
Figure 9-15 VRM and RPM power source on a PDH

Please reference How to Wire an FRC Robot for wireless bridge wiring
information.

R618 *Use PDP/PDH terminals as designed. Only 1 wire shall be connected to each terminal on the
PDP/PDH.

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

multiple PCMs and/or VRMs from 1 20A circuit), then all incoming wires may be
appropriately spliced into the main lead (e.g. using an insulated terminal block,
crimped splice or soldered wire splice), and the single main lead inserted into the
terminal to power the circuit.

R619 *Only use specified circuit breakers in PDP/PDH. The only circuit breakers permitted for use in
the PDP/PDH are:
A. Snap Action VB3-A Series, terminal style F57,
B. Snap Action MX5-A or MX5-L Series, 40A rating or lower, and

9 ROBOT Construction Rules V2 91 of 136

 C. REV Robotics ATO auto-resetting breakers 40A rating or lower.
R620 *Only use specified fuses in PDP/PDH. The only fuses permitted for use in the PDP/PDH are mini
automotive blade fuses (ATM style) with the following values:
A. for the PDP, values matching the value printed on the device’s corresponding fuse holder
and
B. for the PDH, 15A or lower.

Note that these fuses must be pressed very firmly to seat properly. Improper
seating can cause a device to reboot upon impact.

R621 *Protect circuits with appropriate circuit breakers. Each branch circuit must be protected by 1
and only 1 circuit breaker on the PDP/PDH per Table 9-3. No other electrical load can be
connected to the breaker supplying this circuit.
Table 9-3 Branch circuit protection requirements

Circuit Quantity Allowed

Branch Circuit
Breaker Value Per Breaker
Motor Controller Up to 40A 1

CUSTOM CIRCUIT Up to 40A No limit

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

Fans permitted per R501 and not already part of

Up to 20A No limit
COTS computing devices

Spike Relay Module Up to 20A 1

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

PCM/PH – with compressor 20A 1

Additional VRM (non-radio)/Additional PCM/PH

20A 3 total
(non-compressor)

Automation Direct Relay 12A (*6M12*) Up to 10A 1

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

R622 *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 9-4 Breaker and wire sizing

Application Minimum Wire Size

12 AWG
31 – 40A breaker protected circuit
(13 SWG or 4 mm2)
14 AWG
21 – 30A breaker protected circuit
(16 SWG or 2.5 mm2)
6 – 20A breaker protected circuit
18 AWG
(19 SWG or 1 mm2)
11-15A fuse protected circuit

9 ROBOT Construction Rules V2 92 of 136

 Application Minimum Wire Size
Between the PDP dedicated terminals and the VRM/RPM or
PCM/PH

Compressor outputs from the PCM/PH

Between the PDP/PDH and the roboRIO

Between the PDH and VRM/RPM

22 AWG
(22 SWG or 0.5 mm2)
≤5A breaker protected circuit

≤10A fuse protected circuit

24 AWG
VRM 2A circuits
(24 SWG or .25 mm2)
26 AWG
roboRIO PWM port outputs
(27 SWG or 0.14 mm2)
SIGNAL LEVEL circuits (i.e. circuits which draw ≤1A
continuous and have a source incapable of delivering >1A,
28 AWG
including but not limited to roboRIO non-PWM outputs, CAN
(29 SWG or .08 mm2)
signals, PCM/PH Solenoid outputs, VRM 500mA outputs, RPM
outputs, and Arduino outputs)

Wires that are recommended by the device manufacturer or originally attached to legal devices
are considered part of the device and by default legal. Such wires are exempt from this rule.

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

R623 *Use only appropriate connectors. Branch circuits may include intermediate elements such as
COTS connectors, splices, COTS flexible/rolling/sliding contacts, and COTS slip rings, as long as
the entire electrical pathway is via appropriately gauged/rated elements.

Slip rings containing mercury are prohibited per R203.

R624 *Use specified wire colors (mostly). All non-SIGNAL LEVEL wiring with a constant polarity (i.e.,
except for outputs of relay modules, motor controllers, or sensors) shall be color-coded along
their entire length from the manufacturer as follows:
A. red, yellow, white, brown, or black-with-stripe on the positive (e.g. +24VDC, +12VDC,
+5VDC, etc.) connections
B. black or blue for the common or negative side (-) of the connections
Exceptions to this rule include:

C. wires that are originally attached to legal devices and any extensions to these wires using
the same color as the manufacturer
D. Ethernet cable used in POE cables
R625 *Don’t modify critical power paths. CUSTOM CIRCUITS shall not directly alter the power
pathways between the ROBOT battery, PDP/PDH, motor controllers, relays (per R503-B), motors
and actuators (per R501), pneumatic solenoid valves, or other elements of the ROBOT control

9 ROBOT Construction Rules V2 93 of 136

 system (items explicitly mentioned in R701). Custom high impedance voltage monitoring or low
impedance current monitoring circuitry connected to the ROBOT’S electrical system is
acceptable, if the effect on the ROBOT outputs is inconsequential.

A noise filter may be wired across motor leads or PWM leads. Such filters will not
be considered CUSTOM CIRCUITS and violate neither this rule nor R717.
Acceptable signal filters must be fully insulated and must be 1 of the following:
• a 1 microfarad (1 µF) or less, non-polarized, capacitor may be applied across
the power leads of any motor on your ROBOT (as close to the actual motor
leads as reasonably possible) or
• a resistor may be used as a shunt load for the PWM control signal feeding a
servo.

9.7 Control, Command & Signals System

R701 *Control the ROBOT with a roboRIO. ROBOTS must be controlled via 1 programmable NI roboRIO
or roboRIO 2.0 (P/N am3000 or am3000a, both versions referred to throughout this manual as
“roboRIO”), with image version 2022_v3.0 or later.

There are no rules that prohibit co-processors, provided commands originate

from the roboRIO to enable and disable all power regulating devices. This
includes motor controllers legally wired to the CAN bus.

R702 *Communicate with the ROBOT with the specified radio. 1 OpenMesh wireless bridge (P/N:
OM5P-AN or OM5P-AC), that has been configured with the appropriate encryption key for your
team number at each event, is the only permitted device for communicating to and from the
ROBOT during the MATCH.
R703 *Use specific Ethernet port for roboRIO. The roboRIO Ethernet port must be connected to the
wireless bridge port labeled “18-24 vPOE” (either directly, via a network switch, via an RPM, or via
a CAT5 Ethernet pigtail).

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

R704 *Only use allowed ports and bandwidth to communicate with the ROBOT. Communication
between the ROBOT and the OPERATOR CONSOLE may not exceed 4 Mbits/second and is
restricted to network ports listed in Table 9-5.
Table 9-5 Open FMS ports

Port Designation Bi-directional?

UDP/TCP Camera data from the roboRIO to dashboard software

Yes
1180-1190 when the camera is connected the roboRIO via USB

TCP 1735 SmartDashboard Yes

UDP 1130 Dashboard-to-ROBOT control data Yes

UDP 1140 ROBOT-to-Dashboard status data Yes

9 ROBOT Construction Rules V2 94 of 136

 Port Designation Bi-directional?

HTTP 80 Camera connected via switch on the ROBOT Yes

HTTP 443 Camera connected via switch on the ROBOT Yes

Real-Time Streaming Protocol for h.264 camera

UDP/TCP 554 Yes
streaming

UDP/TCP 1250 CTRE Diagnostics Server Yes

UDP/TCP
Team use Yes
5800-5810

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

Note that the 4 Mbit limit will be strictly enforced by the wireless bridge.
The FMS Whitepaper has more details on how to check and optimize bandwidth
usage.
While FIRST makes every effort to provide a wireless environment that allows
teams access to a full 4 Mbits/second data rate (with about 100 Kbit used for
ROBOT control and status), at some events wireless conditions may not
accommodate this.

R705 *Configure devices for your team number. The roboRIO, Driver Station Software, and wireless
bridge must be configured to correspond to the correct team number, per the procedures defined
in the FIRST Robotics Competition Control System documentation.
R706 *Don’t bypass the ARENA network. All signals must originate from the OPERATOR CONSOLE and
be transmitted to the ROBOT via the ARENA Ethernet network.
R707 *No other wireless allowed. No form of wireless communication shall be used to communicate
to, from, or within the ROBOT, except those required per R702, R706, and tags used for location
detection systems if provided by the event.

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

R708 *Wireless bridge must be visible. The wireless bridge must be mounted on the ROBOT such that
the diagnostic lights are visible to FIELD STAFF.

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

R709 *ROBOTS must have a signal light. ROBOTS must use at least 1, but no more than 2, diagnostic
ROBOT Signal Light (RSL) (P/N 855PB-B12ME522).
Any RSL must be:

A. mounted on the ROBOT such that it is easily visible while standing 3 ft. (~ 100 cm) in front
of the ROBOT,

9 ROBOT Construction Rules V2 95 of 136

 B. connected to the “RSL” supply terminals on the roboRIO, and
C. wired for solid light operation, by placing a jumper between the “La” and “Lb” terminals on
the light per Figure 9-16.

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

Figure 9-16 RSL jumper wiring

R710 *Only specified modifications to control system devices permitted. The Driver Station Software,
roboRIO, PDP/PDH, PCM(s)/PH(s), VRM(s)/RPM(s), RSL, 120A breaker, motor controllers, relay
modules (per R503-B), wireless bridge, and batteries shall not be tampered with, modified, or
adjusted in any way (tampering includes drilling, cutting, machining, rewiring, disassembling,
painting, etc.), with the following exceptions:

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

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

B. Motor controllers may be calibrated as described in owner's manuals.
C. Fans may be attached to motor controllers and may be powered from the power input
terminals.
D. If powering the compressor, the fuse on a Spike H-Bridge Relay may be replaced with a
VB3A-20A Snap-Action circuit breaker.
E. Wires, cables, and signal lines may be connected via the standard connection points
provided on the devices.
F. Fasteners (including adhesives) may be used to attach the device to the OPERATOR
CONSOLE or ROBOT or to secure cables to the device.
G. Thermal interface material may be used to improve heat conduction.
H. Labeling may be applied to indicate device purpose, connectivity, functional performance,
etc.
I. Jumpers may be changed from their default location.
J. Limit switch jumpers may be removed from a Jaguar motor controller and a custom limit
switch circuit may be substituted.
K. Device firmware may be updated with manufacturer supplied firmware.
L. Integral wires on motor controllers may be cut, stripped, and/or connectorized.
M. Devices may be repaired, provided the performance and specifications of the device after
the repair are identical to those before the repair.
N. The cover may be removed from the Talon SRX data port.
O. Electrical tape may be applied to the aluminum plate inside the wireless bridge.

9 ROBOT Construction Rules V2 96 of 136

 P. The input terminal cover from the PDP may be omitted (no other element may be installed
using the threaded holes to install something in place of the PDP terminal cover).
Q. The roboRIO 2.0 SD card may be replaced with an SD card of any capacity.

Please note that while repairs are permitted, the allowance is independent of any
manufacturer’s warranty. Teams make repairs at their own risk and should
assume that any warranty or return options are forfeited. Be aware that
diagnosing and repairing COMPONENTS such as these can be difficult.
For more information about modification O, please see this OM5P-AC Radio
Modification article.

R711 *Don’t connect motor outputs to roboRIO. Neither 12VDC power nor relay module or motor
controller outputs shall be directly connected to the roboRIO, with the exception of the designated
12VDC input.
R712 *Control PWM controllers from the roboRIO. Every relay module (per R503-B), servo controller,
and PWM motor controller shall be connected to a corresponding port (relays to Relay ports,
servo controllers and PWM controllers to PWM ports) on the roboRIO (either directly or through a
WCP Spartan Sensor Board) or via a legal MXP connection (per R713). They shall not be
controlled by signals from any other source, with the exception of the Nidec Dynamo motor
controller which must also be connected to the roboRIO Digital I/O.
R713 *Only approved MXP devices can control actuators. If a motor is controlled via the MXP, its
power regulating device must be connected by 1 of the following methods:
A. directly to any PWM pins,
B. via a network of PASSIVE CONDUCTORS used to extend the PWM pins, or
C. via 1 approved ACTIVE DEVICE:
a. Kauai Labs navX MXP
b. Kauai Labs navX2 MXP
c. RCAL MXP Daughterboard
d. REV Robotics RIOduino
e. REV Robotics Digit Board
f. West Coast Products Spartan Sensor Board
g. Huskie Robotics HUSKIE 2.0 Board

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

conduction and/or static regulation of the electrical energy applied to it (e.g. wire,
splices, connectors, printed wiring board, etc.).
An ACTIVE DEVICE is any device capable of dynamically controlling and/or
converting a source of electrical energy by the application of external electrical
stimulus.
The “network of PASSIVE CONDUCTORS” only applies to the pins being used for
PWM output to motors or servos. This means that connecting an ACTIVE
DEVICE, such as a sensor to 1 MXP pin does not prevent other MXP pins from
being used in accordance with B.

R714 *Control CAN motor controllers from the roboRIO. Each CAN motor controller must be controlled
with signal inputs sourced from the roboRIO and passed via either a PWM (wired per R713) or
CAN bus (either directly or daisy-chained via another CAN bus device) signal, but both shall not
be wired simultaneously on the same device.

9 ROBOT Construction Rules V2 97 of 136

 As long as the CAN bus is wired legally so that the heartbeat from the roboRIO is
maintained, all closed loop control features of the CAN motor controller may be
used. (That is, commands originating from the roboRIO to configure, enable, and
specify an operating point for all CAN motor controller closed loop modes fit the
intent of R701).

R715 *Control PCM/PH(S) and Servo Hubs from roboRIO. Each PCM/PH must be controlled with
signal inputs sourced from the roboRIO and passed via a CAN bus connection from the built-in
CAN on the roboRIO (either directly or daisy-chained via another CAN bus device).
R716 *Connect the PDP/PDH to the roboRIO CAN bus. The PDP/PDH CAN interface must be
connected to the built-in CAN bus on the roboRIO (either directly or daisy-chained via another
CAN bus device).

For documentation on how to wire the CAN bus connections see How to Wire an
FRC ROBOT.

R717 *Don’t alter the CAN bus. No device that interferes with, alters, or blocks communications among
the roboRIO and the PDP/PDH, PCMs/PHs, and/or CAN motor controllers on the bus will be
permitted.

Only 1 wire should be inserted into each Weidmuller CAN connector terminal. For
documentation on how to wire the CAN bus connections see How to Wire an FRC
ROBOT.

R718 *USB to CAN adapter permitted. Additional CAN bus connections may be added to the roboRIO
using the CTR Electronics CANivoreTM P/N 21-678682 USB-to-CAN adapter.

Any additional CAN bus added in this manner satisfies the requirements of R714
(i.e. you may connect motor controllers to this additional bus).

9.8 Pneumatic System

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

R801 *Only use explicitly permitted pneumatic parts. To satisfy multiple constraints associated with
safety, consistency, inspection, and constructive innovation, no pneumatic parts other than those
explicitly permitted in this section shall be used on the ROBOT.
R802 *No custom pneumatics and meet minimum pressure ratings. All pneumatic items must be
COTS pneumatic devices and either:
A. rated by their manufacturers for pressure of at least 125psi (~862 kPa) or
B. installed downstream of the primary relieving regulator (see R809), and rated for pressure
of at least 70psi (~483 kPa)

Any pressure specification such as “working,” “operating,” “maximum,” etc. may

be used to satisfy the requirements of this rule.
It is recommended that all pneumatic items be rated by their manufacturers for a
working pressure of at least 60 psi (~414 kPa).

R803 *Don’t modify pneumatics. All pneumatic COMPONENTS must be used in their original, unaltered
condition. Exceptions are as follows:
A. tubing may be cut,

9 ROBOT Construction Rules V2 98 of 136

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

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

R804 *Only use specific pneumatic devices. The only pneumatic system items permitted on ROBOTS
include the following items:
A. pneumatic pressure vent plug valves functionally equivalent to those provided in the KOP,

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

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

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

McMaster-Carr 48435K714.
To be considered functionally equivalent the valve must be preset or adjustable
to 125 psi (~862 kPA) and capable of relieving at least 1 scfm (~472 cm 3/s).

C. solenoid valves with a maximum ⅛ in. (nominal, ~3 mm) NPT, BSPP, or BSPT port
diameter or integrated quick connect ¼ in. (nominal, ~6mm) outside diameter tubing
connection,
D. additional pneumatic tubing, with a maximum ¼ in. (nominal, ~6 mm) outside diameter,
E. pressure transducers, pressure gauges, passive flow control valves (specifically “needle
valve”), manifolds, and connecting fittings (including COTS pneumatic U-tubes),
F. check and quick exhaust valves, provided that the requirements of R813 are still met.
G. shutoff valves which relieve downstream pressure to atmosphere when closed (may also
be known as 3-way or 3-way exhausting valves),
H. pressure regulators with the maximum outlet pressure adjusted to no more than 60 psi
(~413 kPa),
I. pneumatic cylinders, pneumatic linear actuators, and rotary actuators,
J. pneumatic storage tanks (with the exception of white Clippard tanks P/N AVT-PP-41),
K. 1 compressor that is compliant with R806,
L. debris or coalescing (water) filters, and
M. Venturi valves (note: the high-pressure side of a Venturi valve is considered a pneumatic
device and must follow all pneumatic rules. The vacuum side of a Venturi valve is exempt
from the pneumatic rules per “a” in the blue box below).

The following devices are not considered pneumatic devices and are not subject
to pneumatic rules (though they must satisfy all other rules):
a. a device that creates a vacuum,
b. closed-loop COTS pneumatic (gas) shocks,
c. air-filled (pneumatic) wheels, and
d. pneumatic devices not used as part of a pneumatic system (i.e. used in a
way that does not allow them to contain pressurized air)

9 ROBOT Construction Rules V2 99 of 136

R805 *If using pneumatics, these parts are required. If pneumatic COMPONENTS are used, the
following items are required as part of the pneumatic circuit and must be used in accordance
with this section, as illustrated in Figure 9-17.
A. 1 FIRST Robotics Competition legal compressor (per R806),
B. a pressure relief valve (per R804-B) connected and calibrated (per R811),
C. a Nason pressure switch (P/N SM-2B-115R/443) or REV Robotics Analog Pressure Sensor
(P/N REV-11-1107) connected and wired per R812,
D. at least 1 pressure vent plug plumbed (per R813),
E. stored pressure gauge and working pressure gauge (per R810), and
F. 1 primary working pressure regulator (per R808).
Figure 9-17 Pneumatic circuitry

R806 *Compressed air from ROBOT compressor only. Throughout an event, compressed air on the
ROBOT must be provided by its 1 onboard compressor only. Compressor specifications must not
exceed nominal 1.1 cfm (~519 cm3/s) flow rate @ 12VDC at any pressure.

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

may only have 1 designated compressor at a time, and all compressed air on the
ROBOT must be sourced from a single compressor.
Note: Viair C-series compressors, which have a max working pressure of 120 PSI,
are rated for intermittent pressures greater than 125 PSI and therefore meet the
requirements of this rule.

R807 *Air storage pressure limit. Stored air pressure on the ROBOT must be no greater than 120 psi
(~827 kPa). No stored air pressure intended for the ROBOT may be located off-board the ROBOT.
R808 *Working air pressure limit. Working air pressure (air pressure used to actuate devices) on the
ROBOT must be no greater than 60 psi (~413 kPa) and must be provided through a single primary
adjustable, relieving, pressure regulator.

9 ROBOT Construction Rules V2 100 of 136

 Examples of acceptable valves include Norgren regulator P/N R07-100-RNEA and
Monnier P/N 101-3002-1.

R809 *Limited devices at high pressure. Only the compressor, relief valve, pressure switch, pressure
vent plug, pressure gauge, storage tanks, tubing, pressure transducers, filters, and connecting
fittings may be in the high-pressure pneumatic circuit upstream from the regulator.

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

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

R810 *Pressure gauges must be visible. Pressure gauges must be placed in easily visible locations
upstream and downstream of the regulator to display the stored and working pressures,
respectively. Pressure gauges must show pressure in psi or kPa.
R811 *Relief valve requirements. The relief valve must be attached directly to the compressor or
attached by legal hard fittings (e.g. brass, nylon, etc.) connected to the compressor output port.
Teams are required to check and/or adjust the relief valve to release air at 125 psi (~861 kPa).
The valve may or may not have been calibrated prior to being supplied to teams.

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

R812 *Pressure switch requirements. The pressure switch must be connected to the high-pressure
side of the pneumatic circuit (i.e. prior to the pressure regulator) to sense the stored pressure of
the circuit.
It must be either:

A. Nason P/N SM-2B-115R/443 or

The 2 wires from the pressure switch must be connected directly to the pressure switch
input of the PCM/PH controlling the compressor or, if controlled using the roboRIO and a
relay, to the roboRIO. If connected to the roboRIO, the roboRIO must be programmed to
sense the state of the switch and operate the relay module that powers the compressor to
prevent over-pressuring the system.

B. REV Robotics P/N REV-11-1107

The analog output of the sensor must be connected directly to analog input 0 of the PH
controlling the compressor.

The REV Robotics Analog Pressure Sensor may only be used with PH
compressor control and may not be used with roboRIO or PCM compressor
control.

R813 *Vent plug requirements. Any pressure vent plug must be:
A. connected to the pneumatic circuit such that, when manually operated, it will vent to the
atmosphere to relieve all stored pressure in a reasonable amount of time and
B. placed on the ROBOT so that it is visible and easily accessible.
R814 *Don’t connect solenoid outputs together. The outputs from multiple solenoid valves must not be
plumbed together.

9 ROBOT Construction Rules V2 101 of 136

9.9 OPERATOR CONSOLE

R901 *Use the specified Driver Station Software. The Driver Station Software provided by National
Instruments (install instructions found here) is the only application permitted to specify and
communicate the operating mode (i.e. AUTO/TELEOP) and operating state (Enable/Disable) to
the ROBOT. The Driver Station Software must be version 22.0 or newer.

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

R902 *The OPERATOR CONSOLE must have a visible display. The OPERATOR CONSOLE, the set of
COMPONENTS and MECHANISMS used by the DRIVERS and/or HUMAN PLAYERS to relay
commands to the ROBOT, must include a graphic display to present the Driver Station Software
diagnostic information. It must be positioned within the OPERATOR CONSOLE so that the screen
display can be clearly seen during inspection and in a MATCH.
R903 *Connect FMS Ethernet directly to the OPERATOR CONSOLE. Devices hosting the Driver Station
Software must only interface with the FMS via the Ethernet cable provided at the DRIVER
STATION (e.g. not through a switch). Teams may connect the FMS Ethernet cable to the device
running the Driver Station Software directly via an Ethernet pigtail, or with a single-port Ethernet
converter (e.g. docking station, USB-Ethernet converter, Thunderbolt-Ethernet converter, etc.). The
Ethernet port on the OPERATOR CONSOLE must be easily and quickly accessible.

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

R904 *OPERATOR CONSOLE physical requirements. The OPERATOR CONSOLE must not
A. be longer than 5 ft. (~152 cm),
B. be deeper than 1 ft. 2 in. (~35 cm) (excluding any items that are held or worn by the
DRIVERS during the MATCH),
C. extend more than 6 ft. 6 in. (~198 cm) above the floor, or
D. attach to the FIELD (except as permitted by G301).

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 DRIVER STATION support shelf that
should be used to secure the OPERATOR CONSOLE to the shelf, per G301. See
DRIVER STATION for details.
Please note that while there is no hard weight limit, OPERATOR CONSOLES that
weigh more than 30 lbs. (~13 kg.) will invite extra scrutiny as they are likely to
present unsafe circumstances.

R905 *FIELD wireless only. Other than the system provided by the FIELD, no other form of wireless
communications shall be used to communicate to, from, or within the OPERATOR CONSOLE.

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

9 ROBOT Construction Rules V2 102 of 136

R906 *No unsafe OPERATOR CONSOLES. OPERATOR CONSOLES shall not be made using hazardous
materials, be unsafe, cause an unsafe condition, or interfere with other DRIVE TEAMS or the
operation of other ROBOTS.

9 ROBOT Construction Rules V2 103 of 136

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

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

While there is no specific defined procedure in place for teams to be re-inspected prior to Playoff
MATCHES, it is typical for INSPECTORS to use the re-inspection discretion described above to do a
limited re-inspection on all ROBOTS near the end of QUALIFICATIONS or beginning of Playoff MATCHES
to help identify any modifications that should be re-inspected per I104.

ROBOTS are permitted to participate in scheduled Practice MATCHES prior to passing inspection.
However, the FTA, LRI, or Head REFEREE may determine at any time that the ROBOT is unsafe and may
prohibit further participation in Practice MATCHES until the condition is corrected and/or the ROBOT
passes inspection.

Prior to the start of a MATCH, any ROBOT which is unable or ineligible to participate in that MATCH, as
determined by the FTA, LRI, or Head REFEREE, is declared to be BYPASSED and is DISABLED. A team
whose ROBOT is BYPASSED remains eligible to receive Qualification Ranking Points or Playoff MATCH
points provided that its ROBOT has passed inspection, per I102.

An Inspection Checklist is available to help teams self-inspect their ROBOT

before their event. Teams are strongly encouraged to self-inspect prior to their
event.
Teams attending Single-Day Events are strongly encouraged to use the
Inspection Checklist before their event. They are required to self-inspect using
the Inspection Checklist before an INSPECTOR will do their official inspection
using the Abbreviated Inspection Checklist.

10.1 Rules

I101 *It’s your team’s ROBOT. The ROBOT and its MAJOR MECHANISMS must be built by the FIRST
Robotics Competition team.
A MAJOR MECHANISM is a group of COMPONENTS and/or MECHANISMS assembled together
to address at least 1 game challenge: ROBOT movement, CARGO manipulation, FIELD element
manipulation, or performance of a scorable task without the assistance of another ROBOT.

This rule requires that the ROBOT and its MAJOR MECHANISMS were built by its
team, but isn’t intended to prohibit or discourage assistance from other teams
(e.g. fabricating elements, supporting construction, writing software, developing
game strategy, contributing COMPONENTS and/or MECHANISMS, etc.)
Examples of MAJOR MECHANISMS include, but are not limited to, assemblies
used to:
a. manipulate CARGO,
b. position a ROBOT to engage with the HANGAR,
c. manipulate a FIELD element, and

10 Inspection & Eligibility Rules V0 105 of 136

 d. move the ROBOT around the FIELD.
Examples that would generally not be considered MAJOR MECHANISMS, and
thus probably aren’t subject to this rule include, but are not limited to, the
following:
a. a gearbox assembly,
b. a COMPONENT or MECHANISM that’s part of a MAJOR MECHANISM, and
c. COTS items.
Neither this rule nor the language in this blue box define specific thresholds for
how much of a MAJOR MECHANISM must be the result of the team’s effort. This
rule expects and requires the team’s honest assessment of whether they built the
MAJOR MECHANISMS of their ROBOT.
Attempts to exploit loopholes in the definition of MAJOR MECHANISM in order to
bypass this requirement are in the spirit of neither this rule nor the FIRST
Robotics Competition. Examples of exploitation include:
a. assembling pieces of a MAJOR MECHANISM provided by another team,
except COTS kits and
b. receiving a mostly complete MAJOR MECHANISM from another team and
providing a small piece.

I102 *Get inspected before playing a Qualification/Playoff MATCH. A team is only permitted to
participate in a Qualification or Playoff MATCH and receive Ranking or MATCH Points if their
ROBOT has passed an initial, complete inspection.
Violation: If prior to the start of the MATCH, the team is DISQUALIFIED and not eligible to
participate in the MATCH. If after the start of the MATCH, the entire ALLIANCE receives a RED
CARD for that MATCH.

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

I103 *Bring it all to inspection. At the time of inspection, the OPERATOR CONSOLE and the ROBOT
must be presented with all MECHANISMS (including all COMPONENTS of each MECHANISM),
configurations, and decorations that will be used on the ROBOT in MATCHES without re-
inspection (per I104) and may not exceed 150 lbs. (~68 kg) (note that while up to 150 lbs. (~68
kg) of ROBOT MECHANISMS may be inspected together, the ROBOT configuration used in a
MATCH may not violate R103). The OPERATOR CONSOLE and exceptions listed in R103 are not
included in this weight.
I104 *Unless the change is listed below, any change to a ROBOT must get re-inspected. A ROBOT
may play MATCHES with a subset of the MECHANISMS that were present during inspection
provided the reconfigured ROBOT still complies with all ROBOT Construction Rules. Only
MECHANISMS that were present during the inspection may be added, removed, or reconfigured
between MATCHES without re-inspection per this rule. If a ROBOT is modified after its most
recent passed inspection, it must be re-inspected before it is eligible to participate in a MATCH. A
ROBOT that plays in a MATCH with an un-inspected modification may be retro-actively
DISQUALIFIED at the discretion of the LRI and Head REFEREE.
Exceptions are listed in A through F (unless they result in a significant change to the ROBOT’S
size, weight, legality, or safety).

10 Inspection & Eligibility Rules V0 106 of 136

 A. addition, relocation, or removal of fasteners (e.g. cable ties, tape, and rivets),
B. addition, relocation, or removal of labeling or marking,
C. revision of ROBOT code,
D. replacement of a COTS COMPONENT with an identical COTS COMPONENT,
E. replacement of a MECHANISM with an identical MECHANISM (size, weight, material), and
F. additions, removals, or reconfiguration of ROBOT with a subset of MECHANISMS already
inspected per I103.
I105 *Don’t exploit re-inspection. Teams may not use the re-inspection process in I104 to circumvent
the weight limit in I103.

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

configuration (e.g. due to an unsuccessful upgrade or failure of a new
COMPONENT). If a team is believed to be violating this rule, the LRI will discuss
the situation with the team to understand the changes and, if appropriate, the LRI
in conjunction with the team will select a single configuration with which the
team will compete for the duration of the event.
Example 1: A ROBOT passes initial inspection (which includes MECHANISM A).
Its team then decides they want to use MECHANISM B, which was not inspected.
The weight of the ROBOT, A, and B is less than the weight limit in I103, but more
than that in R103. I104 requires the ROBOT be re-inspected, and this rule allows
the ROBOT, A, and B to be inspected collectively. If passed, the ROBOT may then
compete in subsequent MATCHES with A or B.
Example 2: A ROBOT passes initial inspection (which includes MECHANISM A).
Its team then decides they want to use MECHANISM B, which was not inspected.
The weight of the ROBOT, A, and B is greater than the weight limit in I103. This
requires re-inspection per I104 and A is excluded to satisfy I103. B breaks, and
the team decides to switch back to A. The ROBOT must be re-inspected per I104,
and the team is not violating this rule.
Example 3: A team arrives at an event with a ROBOT, MECHANISM A, and
MECHANISM B, which collectively weigh 175 lbs. The ROBOT passes initial
inspection with A and plays a MATCH. The team switches to B, gets re-inspected,
and plays again. The team switches back to A, gets re-inspected, and plays
again. The team switches back to B and asks to be re-inspected. At this point, the
LRI suspects the team may be violating this rule and has a discussion with the
team to understand the changes being made. The team reveals that this rule has
been violated, and the LRI works with them to select A or B for use for the
remainder of the event.

I106 *ROBOTS are off for inspection (mostly). For the safety of all those involved, ROBOTS, must be
presented for inspection with the ROBOT powered off, pneumatics unpressurized, and springs or
other stored energy devices in their lowest potential energy states (e.g. battery removed).
Power and air pressure should only be enabled on the ROBOT during those portions of the
inspection process where it is absolutely required to validate certain system functionality and
compliance with specific rules (firmware check, etc.). INSPECTORS may allow the ROBOT to be
powered beyond the parameters above if both criteria below are met:

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

10 Inspection & Eligibility Rules V0 107 of 136

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

I107 *No STUDENT, no inspection. At least 1 STUDENT team member must accompany the ROBOT
for any inspection efforts.

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

10 Inspection & Eligibility Rules V0 108 of 136

11 TOURNAMENTS
Each 2022 FIRST® Robotics Competition event is played in a tournament format. Each tournament
consists of 3 sets of MATCHES called Practice MATCHES (not played at Single-Day Events and not
necessarily played at all District Events), Qualification MATCHES, and Playoff MATCHES.

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

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

Playoff MATCHES determine the event Champions.

11.1 MATCH Schedules

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

Figure 11-1 Sample MATCH schedule

11.2 REFEREE Interaction

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

If a DRIVE TEAM needs clarification on a ruling or score, per H202, 1 STUDENT from that DRIVE TEAM
should address the Head REFEREE after the ARENA Reset Signal (e.g. FIELD lights turn green). A DRIVE
TEAM member signals their desire to speak with the Head REFEREE by standing in the corresponding red
or blue Question Box, which are located on the floor near each end of the scoring table. Depending on
timing, the Head REFEREE may postpone any requested discussion until the end of the subsequent
MATCH as necessary.

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

Any reasonable question is fair game in the Question Box, and Head REFEREES
will make good faith efforts to provide helpful feedback (e.g. how/why certain

11 Tournaments V2 109 of 136

 FOULS are being called, why a particular ROBOT may be susceptible to certain
FOULS based on its design or game play, how specific rules are being called or
interpreted), but please know that they will likely not be able to supply specific
details.

11.2.1 YELLOW and RED CARDS

In addition to rule violations explicitly listed throughout the 2022 Game Manual, YELLOW CARDS and RED
CARDS are used in FIRST Robotics Competition to address team and ROBOT behavior that does not align
with the mission, values, and culture of FIRST.

As noted in Section 6.5 Rule Violations and H201, the Head REFEREE may assign a YELLOW CARD as a
warning, or a RED CARD for DISQUALIFICATION in MATCH for egregious behavior inappropriate at a
FIRST Robotics Competition event.

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

Per Section 6.5 Rule Violations, YELLOW CARDS are additive, meaning that a second YELLOW CARD is
automatically converted to a RED CARD. A team is issued a RED CARD for any subsequent incident in
which they receive an additional YELLOW CARD, including earning a second YELLOW CARD during a
single MATCH. A second YELLOW CARD is indicated by the Head REFEREE standing in front of the team’s
DRIVER STATION and holding a YELLOW CARD and RED CARD in the air simultaneously after the
completion of the MATCH. A team that has received either a YELLOW CARD or a RED CARD carries a
YELLOW CARD into subsequent MATCHES, except as noted below.

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

Figure 11-2 Example audience screen graphic showing YELLOW CARD indicators

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

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

YELLOW and RED CARDS are applied based on the following:

11 Tournaments V2 110 of 136

 Table 11-1 YELLOW and RED CARD application

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

prior to the start of Qualification MATCHES Team’s first Qualification MATCH

Team’s current (or just-completed) MATCH. In

the case where the team participated as a
SURROGATE in the current (or just completed)
during the Qualification MATCHES
MATCH, the card is applied to the team’s
previous MATCH (i.e. the team’s second
Qualification MATCH)

between the end of Qualification MATCHES

ALLIANCE’S first Playoff MATCH
and the start of Playoff MATCHES

ALLIANCE’S current (or just-completed)

during the Playoff MATCHES
MATCH

Please see examples of the application of YELLOW and RED CARDS as shown in
Section 6.5.1 Violation Details.

11.3 MATCH Replays

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

A. broken FIELD elements due to

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

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

B. power failure to a portion of the FIELD (tripping the circuit breaker in the DRIVER STATION
is not considered a power failure),
C. improper activation by the FMS, and
D. errors by FIELD STAFF (except those listed in Section 6.7 Other Logistics).
If, in the judgment of the Head REFEREE, an ARENA FAULT occurs that affects the outcome of the
MATCH and any team on the affected ALLIANCE desires a replay, the MATCH will be replayed.

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

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

11 Tournaments V2 111 of 136

 Note that an ARENA FAULT that does not affect MATCH outcome, in the
judgement of the Head REFEREE, does not lead to a MATCH replay. Examples
include, but are not limited to:
a. a piece of FIELD plastic falls into the FIELD, far away from any human or
ROBOT activity, and in such a way that it does not affect MATCH outcome,
b. delay in the playing of an ARENA sound,
c. mismatch between the timer on the audience screen and the ARENA timer,
and
d. any adjustment or delay in assignment of a penalty (including those made
after the MATCH).

11.4 Measurement

At each event, the ARENA will be open for at least 30 minutes prior to the start of Qualification MATCHES,
during which time teams may survey and/or measure the ARENA and bring ROBOTS on the FIELD to
perform sensor calibration. The specific time that the FIELD is open will be communicated to teams at
the event. Teams may bring specific questions or comments to the FTA.

T401 *Freeze, ROBOT. During the period when the ARENA is open for measurement, ROBOTS can be
enabled, but may neither drive, extend outside their frame perimeter, nor interact with (e.g. score,
push, pickup, etc.) CARGO, the HUB, the HANGAR, or other FIELD elements.
Violation: Verbal warning. If subsequent violations at any point during the event or egregious
YELLOW CARD.

11.5 Practice MATCHES

Practice MATCHES are played before Qualification MATCHES. The Practice MATCH schedule is available
as soon as possible, but no later than the start of Practice MATCHES. For Regional events, it will also be
published and available online at the FIRST Robotics Event Results site, except during exceptional
circumstances. Practice MATCHES are randomly assigned, and teams may not switch scheduled
Practice MATCHES. Each team is assigned an equal number of Practice MATCHES unless the number of
teams multiplied by number of Practice MATCHES is not divisible by 6. In this case, the FMS randomly
selects some teams to play an extra Practice MATCH.

Practice MATCHES are not part of Single-Day Events and are not guaranteed at District Events due to
event schedule constraints.

11.5.1 Filler Line

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

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

A. ROBOTS in the Filler Line must have passed inspection (this requirement may be waived
for events with open Practice MATCH schedules),
B. DRIVE TEAMS must join the Filler Line with their ROBOT,
C. teams may not work on their ROBOT while in the Filler Line,
D. teams may not occupy more than 1 spot in the Filler Line, and

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 E. if a team is queued for their Practice MATCH, they may not also join the Filler Line.

11.6 Qualification MATCHES

11.6.1 Schedule
The Qualification MATCH schedule is made available as soon as possible, but no later than 1 hour before
Qualification MATCHES are scheduled to begin (for Single-Day Events, the schedule is provided no later
than 30 minutes before Qualification MATCHES are scheduled to begin). Teams receive 1 hard copy and
it is also available at the FIRST Robotics Competition Event Results site, except during exceptional
circumstances. Each Qualification schedule consists of a series of rounds in which each team plays 1
MATCH per round.

11.6.2 MATCH Assignment

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

1. maximize time between each MATCH played for all teams

2. minimize the number of times a team plays opposite any team
3. minimize the number of times a team is allied with any team
4. minimize the use of SURROGATES (teams randomly assigned by the FMS to play an extra
Qualification MATCH)
5. provide even distribution of MATCHES played on blue and red ALLIANCE
6. provide even distribution of MATCHES played in each DRIVER STATION number
At events with fewer than 24 participating teams, the criteria are similar, however criterion 5 is changed to
minimize the number of times a team swaps between the blue and red ALLIANCE rather than an even
distribution.

All teams are assigned the same number of Qualification MATCHES, equal to the number of rounds,
unless the number of teams multiplied by number of MATCHES is not divisible by 6. In this case, the FMS
randomly selects some teams to play an extra MATCH. For the purpose of seeding calculations, those
teams are designated as SURROGATES for the extra MATCH. If a team plays a MATCH as a SURROGATE,
it is indicated on the MATCH schedule, it is always their third Qualification MATCH, and the outcome of
the MATCH has no effect on the team’s ranking. YELLOW and RED CARDS assigned to SURROGATES,
however, do carry forward to subsequent MATCHES.

11.6.3 Qualification Ranking

Ranking Points are units credited to a team based on their ALLIANCE’S performance in Qualification
MATCHES. Ranking Points are awarded to each eligible team at the completion of each Qualification
MATCH per Table 6-1.

Exceptions to Ranking Point assignment are as follows:

A. A SURROGATE receives 0 Ranking Points.

B. A DISQUALIFIED team, as determined by the Head REFEREE, receives 0 Ranking Points in
a Qualification MATCH or causes their ALLIANCE to receive 0 MATCH points in a Playoff
MATCH.

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 C. A “no-show” team is either DISQUALIFIED from or issued a RED CARD for that MATCH
(see H305). A team is declared a no-show if no member of the DRIVE TEAM is in the
ALLIANCE AREA at the start of the MATCH.
The total number of Ranking Points earned by a team throughout their Qualification MATCHES divided by
the number of MATCHES they’ve been scheduled to play (minus any SURROGATE MATCH), then
truncated to 2 decimal places, is their Ranking Score (RS).

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

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

Table 11-2 Qualification MATCH ranking criteria

Order Sort Criteria

1st Ranking Score

2nd Average MATCH points, not including FOULS

3rd Average ALLIANCE HANGAR points

4th Average ALLIANCE TAXI + AUTO CARGO points

5th Random sorting by the FMS

11.7 Playoff MATCHES

In Playoff MATCHES, teams do not earn Ranking Points; they earn a Win, Loss or Tie. Within each series
of the Playoff MATCH Bracket, the first ALLIANCE to win 2 MATCHES advances.

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

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

Order Sort Criteria

1st Cumulative FOUL and TECH FOUL points due to opponent rule violations

2nd ALLIANCE HANGAR points

3rd ALLIANCE TAXI + AUTO CARGO points

4th MATCH is replayed

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11.7.1 ALLIANCE Selection Process
At the end of the Qualification MATCHES, the top 8 seeded teams become the ALLIANCE Leads. The
seeded ALLIANCES are designated, in order, ALLIANCE 1, ALLIANCE 2, etc., down to ALLIANCE 8. Using
the ALLIANCE selection process described in this section, each ALLIANCE Lead chooses 2 other teams to
join their ALLIANCE.

If a team declines the ALLIANCE Lead position or doesn’t send a STUDENT representative for ALLIANCE
selection, they are ineligible to participate in the Playoff Tournament. If the declining/absent team would
have been an ALLIANCE Lead, all lower ranked ALLIANCE Leads are promoted 1 spot. The next highest-
ranked team moves up to become the ALLIANCE 8 Lead.

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

The ALLIANCE selection process consists of 2 rounds during which each ALLIANCE CAPTAIN invites a
team seeded below them in the standings to join their ALLIANCE. The invited team must not already have
declined an invitation.

Round 1: In descending order (ALLIANCE 1 to ALLIANCE 8), each ALLIANCE CAPTAIN invites a single
team. The invited team’s representative steps forward and either accepts or declines the invitation.

If the team accepts, it becomes a member of that ALLIANCE. If an invitation from a top 8 ALLIANCE to
another ALLIANCE Lead is accepted, all lower ALLIANCE Leads are promoted 1 spot. The next highest-
seeded, unselected team moves up to become the ALLIANCE 8 Lead.

If the team declines, that team is not eligible to be picked again or to be a BACKUP TEAM (see Playoff
MATCH Bracket), and the ALLIANCE CAPTAIN extends another invitation to a different team. If an
invitation from a top 8 ALLIANCE to another ALLIANCE Lead is declined, the declining team may still
invite teams to join their ALLIANCE; however, it cannot accept invitations from other ALLIANCES.

The process continues until ALLIANCE 8 makes a successful invitation.

Round 2: The same method is used for each ALLIANCE CAPTAIN’S second choice except the selection
order is reversed, with ALLIANCE 8 picking first and ALLIANCE 1 picking last. This process results in 8
ALLIANCES of 3 teams each.

Of the remaining eligible teams, the highest seeded teams must either accept or decline to be included in
a pool of available teams until there are up to 8 teams that accept to be added into the pool. FIELD STAFF
will coordinate the assembly of this BACKUP pool immediately after the top ranked ALLIANCE has made
their final pick. If a team is not available to accept inclusion in the BACKUP pool, it will be assumed they
have declined the invitation.

11.7.2 Playoff MATCH Bracket

The Playoff MATCHES take place following the completion of the Qualification MATCHES and the
ALLIANCE selection process. Playoff MATCHES are played in a bracket format as shown in Figure 11-3.

ALLIANCE Leads are assigned to DRIVER STATION 2, the first picks are assigned to their left in DRIVER
STATION 1, and second picks are assigned to the ALLIANCE Lead’s right in DRIVER STATION 3. If a
BACKUP TEAM is in play, they will be assigned to the DRIVER STATION that was assigned to the DRIVE
TEAM they’re replacing. Teams cannot change assignments.

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For Quarterfinal MATCHES, the higher seeded ALLIANCE is assigned to the red ALLIANCE. Beyond the
Quarterfinal MATCHES, the ALLIANCE on the top of each MATCH in Figure 11-3 is assigned to the red
ALLIANCE, regardless of whether they are the higher seeded ALLIANCE in that particular MATCH.

Figure 11-3 Playoff MATCH bracket

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In order to allow time between MATCHES for all ALLIANCES, the order of play is as follows:

Table 11-4 Playoff order

Quarterfinal Quarterfinal Quarterfinal

Semifinals Finals
Round 1 Round 2 Round 3

Quarterfinal 1 Quarterfinal 5 Quarterfinal

Semifinal 1 Final 1
(1 vs. 8) (1 vs. 8) Tiebreaker 11

Quarterfinal 2 Quarterfinal 6 Quarterfinal

Semifinal 2 FIELD TIMEOUT
(4 vs. 5) (4 vs. 5) Tiebreaker 21

Quarterfinal 3 Quarterfinal 7 Quarterfinal

Semifinal 3 Final 2
(2 vs. 7) (2 vs. 7) Tiebreaker 31

Quarterfinal 4 Quarterfinal 8 Quarterfinal

Semifinal 4 FIELD TIMEOUT
(3 vs. 6) (3 vs. 6) Tiebreaker 41
Final
FIELD Semifinal
FIELD TIMEOUT1 Tiebreakers
TIMEOUT1 Tiebreaker 11
(Overtime) 1
Any Replays Semifinal Any Replays
due to ties1 Tiebreaker 21 due to ties1

FIELD TIMEOUT1

Any Replays
due to ties1
1
- if required

11.7.3 Pit Crews

During the Playoff MATCHES, extra team members may be needed to maintain the ROBOT between
MATCHES because of the distance between the FIELD and the pit area. Each team is permitted to have 3
additional pit crew members who can also help with needed ROBOT repairs/maintenance.

11.7.4 TIMEOUTS
A TIMEOUT is a period of up to 6 minutes between MATCHES which is used to pause Playoff MATCH
progression.

During a TIMEOUT, the ARENA timer displays the time remaining in the TIMEOUT. Both ALLIANCES enjoy
the complete 6-minute window. If an ALLIANCE completes their repairs before the ARENA timer expires,
the ALLIANCE CAPTAIN is encouraged to inform the Head REFEREE that they are ready to play. If both
ALLIANCES are ready to play before the TIMEOUT expires, the next MATCH will start.

There are no TIMEOUTS for Practice or Qualification MATCHES.

If circumstances require an ALLIANCE to play in back-to-back MATCHES during the Playoff MATCHES,
the Head REFEREE will issue a FIELD TIMEOUT to allow teams to prepare for the next MATCH. FIELD
TIMEOUTS are the same time duration as TIMEOUTS.

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 Figure 11-4 TIMEOUT timeline

Each ALLIANCE in the Playoff tournament is issued 1 TIMEOUT.

Teams are expected to have their ROBOTS staged on the FIELD by the end of the
TIMEOUT. Teams that cause a delay to the start of a MATCH after a TIMEOUT
are at risk of being in violation of H301.

T701 *There’s a window for TIMEOUT coupons. If an ALLIANCE wishes to use their TIMEOUT, the
ALLIANCE CAPTAIN must submit their TIMEOUT coupon to the Head REFEREE within 2 minutes
of the ARENA reset signal preceding their MATCH. If there is no preceding MATCH, the TIMEOUT
coupon must be submitted no later than 2 minutes before the scheduled MATCH time. The
TIMEOUT will begin 2 minutes after the ARENA reset signal (i.e. at the end of the Team TIMEOUT
Coupon Window depicted in Figure 11-4)

A request presented outside the defined parameters in this rule will be denied.

There are no cascading TIMEOUTS. If an ALLIANCE calls a TIMEOUT during a FIELD TIMEOUT, the FIELD
TIMEOUT will expire 2 minutes after the ARENA reset signal and the ALLIANCE’S TIMEOUT will begin.

If an ALLIANCE wishes to call a TIMEOUT during a FIELD TIMEOUT, it must still do so within 2 minutes of
the ARENA reset signal preceding their MATCH, per T701.

TIMEOUTS are not transferrable between ALLIANCES, meaning an ALLIANCE cannot hand their
designated TIMEOUT coupon to another ALLIANCE to use, however an ALLIANCE may use their own
coupon for any purpose they wish.

If a Playoff MATCH is replayed because of an ARENA FAULT which rendered a ROBOT inoperable, the
Head REFEREE has the option of calling a FIELD TIMEOUT.

11.7.5 BACKUP TEAMS

In the Playoff MATCHES, it may be necessary for an ALLIANCE to replace 1 of its members due to a faulty
ROBOT. Examples of ROBOT faults include, but are not limited to, the following:

1. mechanical damage,
2. electrical issues, and
3. software problems.

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In this situation, the ALLIANCE CAPTAIN has the option to bring in only the highest seeded team from the
pool of available teams to join its ALLIANCE. The team whose ROBOT and DRIVE TEAM replaces another
ROBOT and DRIVE TEAM on an ALLIANCE during the Playoff MATCHES is called the BACKUP TEAM.

The resulting ALLIANCE is then composed of 4 teams. The replaced team remains a member of the
ALLIANCE for awards, but cannot return to play, even if their ROBOT is repaired.

Each ALLIANCE is allotted 1 BACKUP TEAM coupon during the Playoff MATCHES. If a second ROBOT
from the ALLIANCE becomes inoperable, then the ALLIANCE must play the following MATCHES with only
2 (or even 1) ROBOTS.

Example: 3 teams, A, B and C, form an ALLIANCE going into the Playoff

MATCHES. The highest seeded team not on 1 of the 8 ALLIANCES is Team D.
During 1 of the Playoff MATCHES, Team C’s ROBOT suffers damage to its
mechanical arm. The ALLIANCE CAPTAIN decides to bring in Team D to replace
Team C. Team C and their ROBOT are not eligible to play in any subsequent
Playoff MATCHES. The new ALLIANCE of Teams A, B, and D are successful in
advancing to the Finals and win the event. Teams A, B, C, and D are all
recognized as members of the Winning ALLIANCE and receive awards.

In the case where a BACKUP TEAM is part of the Winning or Finalist ALLIANCE, there will be a 4-team
Winning or Finalist ALLIANCE.

If during a TIMEOUT an ALLIANCE CAPTAIN determines that they need to call up a BACKUP TEAM, they
must submit their BACKUP TEAM coupon to the Head REFEREE while there are still at least 2 minutes
remaining on the ARENA timer. After that point, they will not be allowed to utilize the BACKUP TEAM.

Alternatively, an ALLIANCE CAPTAIN may choose to call up a BACKUP TEAM without using their
TIMEOUT by informing the Head REFEREE directly within 2 minutes of the Head REFEREE issuing the
ARENA reset signal preceding their MATCH. If there is no preceding MATCH, the BACKUP TEAM coupon
must be submitted no later than 2 minutes before the scheduled MATCH time.

In the case where the ALLIANCE CAPTAIN’S ROBOT is replaced by a BACKUP TEAM, the ALLIANCE
CAPTAIN is allowed as a sixteenth ALLIANCE DRIVE TEAM member. This additional representative may
only serve in an advisory role and is considered a COACH (e.g. can’t be a HUMAN PLAYER)

The Head REFEREE will not accept the BACKUP TEAM coupon unless it lists the number of the team
whose ROBOT is being replaced and is initialed by the ALLIANCE CAPTAIN. Once a BACKUP TEAM
coupon is submitted and accepted by the Head REFEREE, the BACKUP TEAM coupon may not be
withdrawn by the ALLIANCE.

T702 *No coupons if MATCH stopped prematurely. An ALLIANCE may not request a TIMEOUT or a
BACKUP TEAM after a Playoff MATCH is stopped by the Head REFEREE (e.g. due to an ARENA
FAULT or a safety issue). The sole exception is if the replay is due to an ARENA FAULT that
rendered a ROBOT inoperable.
Violation: A request presented outside parameters defined will be denied.

If a Playoff MATCH is replayed per this rule, the Head REFEREE has the option of
calling a FIELD TIMEOUT.

11.7.6 Small Event Exceptions

The scheduling algorithm described in Section 11.6.2 MATCH Assignment works to minimize teams
playing in back-to-back MATCHES. However, at events with fewer than 24 teams, back-to-back plays may

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occur. If any team is scheduled to play in back-to-back MATCHES, the Head REFEREE issues a FIELD
TIMEOUT unless a longer break is already scheduled to occur (e.g. lunch.) See Section 11.7.4 TIMEOUTS
for details.

Multi-day events with 24 teams or fewer employ a modified Playoff MATCH format. Instead of 8
ALLIANCES, these events proceed through ALLIANCE SELECTION and the Playoff Tournament with the
maximum number of complete 3-team ALLIANCES that can be formed while leaving at least 1 BACKUP
TEAM (e.g. a 24-team event creates 7 ALLIANCES, a 20-team event creates 6 ALLIANCES).
𝑇𝑒𝑎𝑚 𝑐𝑜𝑢𝑛𝑡 − 1 𝐵𝐴𝐶𝐾𝑈𝑃 𝑇𝐸𝐴𝑀
𝐴𝐿𝐿𝐼𝐴𝑁𝐶𝐸 𝐶𝑜𝑢𝑛𝑡 = , 𝑟𝑜𝑢𝑛𝑑𝑒𝑑 𝑑𝑜𝑤𝑛
3
The Playoff Bracket remains as shown in Figure 11-3, with any matchup against a non-existent ALLIANCE
resulting in a bye (i.e. automatic advancement to the next round).

District points for Draft Order Acceptance (per Section 11.8.1.2 ALLIANCE Selection Results) are awarded
as if a full set of ALLIANCES was selected (i.e. the second selection of the 3-seed ALLIANCE still receive
3 points regardless of how many ALLIANCES are formed). District points for Playoff performance
consider an ALLIANCE that has a bye to have achieved the typical 2 wins for advancing from that round
(i.e. the ALLIANCE members earn 10 district points).

11.7.7 Single-Day Event Exceptions

Some events are restricted to hosting teams 1 day at a time and are called Single-Day Events. Single-Day
Events have a minimum of 13 and a maximum of 24 teams.

District points are modified as described in Section 11.8.1 District Events.

Single-Day Events employ a 4-ALLIANCE Playoff bracket as shown in Figure 11-5 (and if the event is a
District, points are not awarded for advancement through the Quarterfinal round). These MATCHES follow
the same order as the Semifinal and Final rounds shown in Table 11-4.

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 Figure 11-5 Single-Day Event Playoff bracket

To create the 4 ALLIANCES, ALLIANCE selection proceeds in the same general fashion as described in
Section 11.7.1, however with only 4 ALLIANCE Leads instead of 8.

While each day is independent of the other days with regards to the ROBOT competition, judged awards
span all days included in that event series (i.e. a team participating in the first day competes with teams
participating in the second day for judged awards). All judging is conducted remotely, and full details are
included in the 2022 Single-Day Event Plan.

11.8 Advancement Through the District Model

Teams advance through the season depending on the events at which they compete: Regional or District.
This section details how District teams advance from District qualifying events, to their District
Championship.

11.8.1 District Events

District teams are ranked throughout the season based on the points they earn at their first 2 home
District events they attend, as well as at their District Championship. Points are awarded to teams as
follows:

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 Table 11-5 District Point Assignment

Category Points

𝑸𝒖𝒂𝒍𝒊𝒇𝒊𝒄𝒂𝒕𝒊𝒐𝒏𝑷𝒐𝒊𝒏𝒕𝒔(𝑹, 𝑵, 𝜶) =

𝑵 − 𝟐𝑹 + 𝟐 𝟏𝟎
Qualification ⌈𝑰𝒏𝒗𝑬𝑹𝑭 ( )( ) + 𝟏𝟐⌉
𝜶𝑵 𝟏
Round 𝑰𝒏𝒗𝑬𝑹𝑭 ( )
𝜶
Performance
(For a typically sized District event, this will result in a minimum of 4 points being
awarded for Qualification round performance. For events of all sizes, a maximum
of 22 points will be awarded.)

Equal to 17 minus the ALLIANCE CAPTAIN number (e.g. 14 points for ALLIANCE
ALLIANCE #3 Captain)
CAPTAINS For Single-Day Events, ALLIANCE CAPTAINS #1, 2, 3, and 4 receive 16, 14, 12,
and 10 points respectively.

Equal to 17 minus the Draft Order Acceptance Number (e.g. 12 points for the
Draft Order team that is fifth to accept an invitation)
Acceptance For Single-Day Events, first through eighth picks receive 16, 14, 12, 10, 8, 6, 4, and
2 points respectively.

Playoff Points awarded based on team participation in individual playoff rounds, and
Advancement whether or not the ALLIANCE advances. See Section 11.8.1.3 for details.

10 points for Chairman’s Award

Judged Team
8 points each for Engineering Inspiration and Rookie All Star Awards
Awards
5 points each for all other judged team awards

10 points for 2021 and 2022 rookie teams

Team Age
5 points for 2020 rookie teams

2 points for teams playing 2 Single-Day Events on 1 weekend, provided the 2

Back-to-Back Play
events are the team’s first 2 events

Points earned at District Championships are multiplied by 3 and then added to points earned at District
events, to determine the final season point total for the team.

If there is a tie in the season point total between teams, those items are broken using the following
sorting criteria:

Table 11-6 District team sort criteria

Order Criteria
Sort
1st Total Playoff Round Performance Points

2nd Best Playoff Round Finish at a single event

3rd Total ALLIANCE Selection Results Points

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 Order Criteria
Sort
Highest Qualification Round Seed or Draft Order Acceptance (i.e. Highest ALLIANCE
4th
Selection points at a single event)

5th Total Qualification Round Performance Points

Highest Individual MATCH Score, regardless of whether that score occurred in a

6th
Qualification or Playoff MATCH

Second highest Individual MATCH Score, regardless of whether that score occurred in a
7th
Qualification or Playoff MATCH

Third highest Individual MATCH Score, regardless of whether that score occurred in a
8th
Qualification or Playoff MATCH

9th Random Selection

11.8.1.1 Qualification Round Performance

The calculation of Qualification performance points is done using the equation (an inverse error function)
in Table 11-5. The equation utilizes the following variables:

• R – the qualification rank of the team at the event at the conclusion of Qualification MATCHES
(as reported by FMS)
• N – the number of FIRST Robotics Competition teams participating in the Qualification rounds at
the event
• Alpha (α) – a static value (1.07) used to standardize the distribution of points at events
This formula generates an approximately normal distribution of Qualification Round Performance points
at an event, based on rank, with most teams getting a moderate number of points, and fewer teams
getting the highest or lowest numbers of points available.

Table 11-7 displays sample Qualification Round Performance points for variously ranked teams at a 40-
team event. The system will automatically generate the appropriate points for each team based on their
rank and the number of teams at the event.

Table 11-7 Sample Qualification Round point assignments

Rank 1 2 3 4 … 19 20 21 … 37 38 39 40

Points 22 21 20 19 … 13 13 12 … 6 6 5 4

11.8.1.2 ALLIANCE Selection Results

This attribute measures both individual team qualification round seeding performance and recognition by
peers.

ALLIANCE CAPTAINS are recognized based on their qualification round seeding rank. This rank is a result
of the rules of the game, which typically incorporate several team performance attributes, and are
designed to eliminate ties in rank. Non-ALLIANCE CAPTAINS are rewarded based on peer recognition. To
be invited to join an ALLIANCE, a team’s peers have decided that the team has attributes that are
desirable. Giving points for ALLIANCE selection also supports come-from-behind teams. A team taking
several MATCHES to optimize their performance may be recognized as a late bloomer by a top seeded

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team, even if that performance isn’t reflected in the rankings because of poor performance in early
MATCHES. These points also have the potential to recognize teams employing a minority strategy with
their ROBOT. Teams with unique or divergent ROBOT capabilities that complement the strengths of other
ALLIANCE members may be selected to fill a strategic niche.

Note also that ALLIANCE CAPTAINS are given the same number of points as the team drafted in the
same sequence. For example, the third ALLIANCE CAPTAIN gets the same number of points as the third
draft. Numerical analysis supports the idea that ALLIANCE CAPTAINS are about as strong in ROBOT
performance as equivalently drafted teams. As an additional minor benefit, awarding the same points for
ALLIANCE CAPTAINS and equivalent drafts lubricates the acceptance of draft offers between ALLIANCE
CAPTAINS, which gives teams out of the top 8 (or 4, if a Single-Day Event) the chance to experience being
ALLIANCE CAPTAINS themselves.

11.8.1.3 Playoff Round Performance

This attribute measures team performance as part of an ALLIANCE.

All teams on the ALLIANCE winning a particular playoff series, who participate in MATCHES with their
ROBOTS, receive 5 points per MATCH won. In most cases, teams receive 10 points at each of the
Quarterfinal, Semifinal, and Final levels, unless a BACKUP ROBOT is called in to play. For Single-Day
Events, there is no Quarterfinal level so teams can receive up to 20 points for winning at the Semifinal and
Final levels.

11.8.1.4 Awards
This attribute measures team performance with respect to team awards judged at the event.

The points earned for team awards in this system are not intended to capture the full value of the award
to the team winning the award, or to represent the full value of the award to FIRST. In many ways, the
team’s experience in being selected for awards, especially the Chairman’s Award, the Engineering
Inspiration Award, and the Rookie All Star Award (which is optional for District Championship events), is
beyond measure, and could not be fully captured in its entirety by any points-based system. Points are
being assigned to awards in this system only to help teams recognize that FIRST continues to be “More
than RobotsSM,” with the emphasis on our cultural awards, and to assist in elevating award-winning teams
above non-award-winning teams in the ranking system.

Teams only get points for team awards judged at the event. If an award is not judged (e.g. Rookie Highest
Seed), is not for a team (e.g. the Dean’s List Award) or is not judged at the event (e.g. Safety Animation
Award, sponsored by UL), no points are earned.

11.8.1.5 Team Age

This attribute recognizes the difficulty in being a rookie or relatively new team.

Points are awarded to 2020, 2021, and 2022 rookie teams in recognition of the unique challenges teams
face in those early years, and to increase the chance that they will make it to the District Championship to
compete with their ROBOTS. Like our dedicated Rookie awards, these additional points are intended to
recognize and motivate newer participants in FIRST Robotics Competition. These points are awarded
once at the beginning of the season. Rookie year is calculated based on the year in which FIRST
recognizes the team as a rookie.

The assignment of Team Age points is different in 2022 from previous seasons.
Please see this blog post for additional information.

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11.8.1.6 Regional Participation
District teams do not earn points for their actions at any Regionals they may attend, nor are eligible for
FIRST Championship qualifying judged awards at those events. However, if a District team does earn a
slot at the FIRST Championship while attending a Regional event, that slot does count as part of the total
Championship allocation the District is receiving for the season.

11.8.2 District Championship Eligibility

A team competing in a District qualifies for their District Championship by meeting 1 of the following
criteria:

A. District Chairman’s Award Winner,

B. District Ranking (based on total points earned at their first 2 home District events as
detailed in District Events),

Teams do not earn points at third or subsequent District events, nor at any inter-
district or Regional events at which they compete during the season.
If a team declines an invitation to the District Championship, the next highest
uninvited team on the list is invited, and so on, until the event capacity is filled.

C. District Engineering Inspiration winner (qualifies to compete for the award only), and
D. District Rookie All Star winner (qualifies to compete for the award only).
The capacity of each District Championship is shown in Table 11-8. Each District determines the number
of teams that qualify for their District Championship. These limits are based on factors including but not
limited to the total number of teams in the District, available venue capacity, etc.

Table 11-8 2022 District Championship Capacities

District Championship Capacity

FIRST Chesapeake District Championship 60

FIRST Israel District Championship 36

FIRST Mid-Atlantic District Championship 60

FIRST North Carolina State Championship 32

FIRST Ontario Provincial Championship 80

FIRST in Texas District Championship 80

Indiana State Championship 32

Michigan State Championship 160

New England District Championship 80

Pacific Northwest District Championship 50

Peachtree District State Championship 32

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11.8.3 District Championships with Multiple Divisions
Some District Championships have a sufficient number of teams to justify using more than 1 division.
Teams are assigned divisions by FIRST using a process developed by FIRST in Michigan.

The process employs a “brute force iterative randomizer” and is executed as follows:

1. The district team list is sorted in order of cumulative district points earned as described in District
Events.
2. The list is divided into quartiles based on rank (e.g. the first quartile has the top 25% ranked
teams).
3. Division assignments are randomly generated using equal contribution from each quartile.
4. 3 criteria are calculated for each division:
a. average strength: the arithmetic mean of the district point values of teams in a division
b. distribution of strength: the Signal to Noise Ratio (SNR) of the district point values of
teams in a division. SNR is calculated as follows:
2
𝑥
𝑆𝑁𝑅 = 10 (log )
𝜎2

𝑥 = arithmetic mean of the district points in a division

σ = standard deviation of the district points in a division

c. distribution of strength for “top” teams: The SNR of the district point values of teams in
the first quartile of a division
5. The 3 criteria for each division are compared to the other division(s). If the difference between
the division’s value and any other division’s value exceeds the limits in Table 11-9, the criteria is
not met.
Table 11-9 District Championship division Evaluation Limits

2 divisions 4 divisions

Average strength 1 2

Distribution of strength 1 2.5

Distribution of strength for “top” teams 1.5 2

6. If all 3 criteria met, event organizers publish the assignments. If any of the 3 criteria are not met,
assignments are rejected, and the process returns to Step 3.
In these cases:

• Division winning ALLIANCES play each other in District Championship Playoffs, employing
the bracket below that corresponds to their District, until a winning ALLIANCE for the event is
determined.

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 Figure 11-6 4 division District Championship Playoff Bracket

Figure 11-7 2 division District Championship Playoff Bracket

• Teams participating in District Championship Playoffs earn Playoff round performance

District points as described in Playoff Round Performance.
• If an ALLIANCE in a District Championship Playoff has not yet adopted a BACKUP ROBOT per
BACKUP TEAMS, the ALLIANCE CAPTAIN may bring in only the highest seeded team from
their division’s pool of available teams to join its ALLIANCE.

11.9 FIRST Championship: Additions and Exceptions

At the 2022 FIRST Championship, teams are split into 6 divisions. The process used to assign teams to
their division is as follows:

1. Rookies are assigned randomly, team by team, sequentially to divisions (i.e. a team in Division 1,
a team in Division 2, a team in Division 3, a team in Division 4, a team in Division 5, a team in
Division 6, then back to Division 1 again, until Rookies are all assigned to a division).
2. Step 1 is repeated with veteran teams.

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Each division plays a standard tournament as described in Qualification MATCHES and Playoff MATCHES
to produce the division Champions. Those 6 division Champions proceed to the Championship Playoffs,
on the Einstein FIELDS, to determine the 2022 FIRST Robotics Competition Championship Winners, per
FIRST Championship Playoffs.

11.9.1 Advancement to the FIRST Championship

Details on how teams earn eligibility to attend the FIRST Championship are posted on the FIRST
Championship eligibility webpage.

11.9.2 4 ROBOT ALLIANCES

There is no provision for BACKUP TEAMS at the FIRST Championship.

Instead, before each division Playoff Tournament, ALLIANCES are selected per the process as described
in Section 11.7.1 ALLIANCE Selection Process, however the process continues with a third round of
selection as follows.

Round 3: The same method is used for each ALLIANCE CAPTAIN’S third choice except the selection
order is reversed again, with ALLIANCE 1 picking first and ALLIANCE 8 picking last. This process results
in 8 ALLIANCES of 4 teams each.

ALLIANCES may start with any 3 of the 4 ROBOTS on their ALLIANCE during division Playoff MATCHES
and during the Championship Playoffs. The list of 3 teams participating in the MATCH and their selected
DRIVER STATIONS is called the LINEUP. A single representative from the team not on the LINEUP is
allowed as a sixteenth ALLIANCE member. This additional representative may only serve in an advisory
role and will be considered a COACH (e.g. can’t be a HUMAN PLAYER).

The LINEUP is kept confidential until the FIELD is set for the MATCH, at which point each ALLIANCE’S
LINEUP appears on the Team Signs.

If an ALLIANCE does not submit a LINEUP for their first of the division Playoffs or the Championship
Playoffs within 2 minutes before the scheduled MATCH time, the LINEUP is the ALLIANCE Lead, first
ALLIANCE selection, and second ALLIANCE selection. If any of these 3 ROBOTS are unable to play, the
ALLIANCE must play the MATCH with only 2 (or even 1) ROBOT(S).

If an ALLIANCE would like to change their LINEUP after their first division Playoff or Championship
Playoff MATCH, the ALLIANCE CAPTAIN must report the LINEUP to the Head REFEREE, or their designee,
in writing prior to end of the preceding MATCH (e.g. the LINEUPS for Quarterfinal 2 must be submitted
before the end of Quarterfinal 1). If the Head REFEREE is busy and there is no designee defined, the
ALLIANCE CAPTAIN waits in the question box to report the LINEUP.

Once the LINEUP is declared, it cannot be changed unless there is a team or FIELD TIMEOUT. If there is a
TIMEOUT, the ALLIANCE CAPTAIN may submit a different LINEUP, but must do so while there are still
more than 2 minutes remaining in the TIMEOUT.

Example: 4 teams, A, B, C and D, form an ALLIANCE going into the Playoff

MATCHES on their division FIELD. During 1 of the Playoff MATCHES, Team C’s
ROBOT becomes inoperable. The ALLIANCE decides to bring in Team D to
replace Team C. Team C repairs their ROBOT and may play in any subsequent
Playoff MATCHES replacing Team A, B, or D. All 4 ALLIANCE members are also
eligible to play MATCHES during the Championship Playoffs should the
ALLIANCE win the division Tournament.

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If a MATCH must be replayed due to an ARENA FAULT, the LINEUP for the replayed MATCH is the same
as the original MATCH. The sole exception is if the ARENA FAULT rendered a ROBOT inoperable, in which
case the LINEUP can be changed.

11.9.3 FIRST Championship Pit Crews

FIRST distributes buttons to the ALLIANCE CAPTAINS during the ALLIANCE CAPTAIN meeting, which
takes place on the division FIELDS. These buttons provide the necessary access to the ARENA for pit
crew members.

T901 *Wear your buttons. Only team members wearing proper buttons are allowed on the ARENA floor
during division and Playoff MATCHES.
Violation: MATCH won’t start until the situation is corrected. Those not displaying identification
must leave the ARENA.

Teams should assume they may be chosen for an ALLIANCE and think about the
logistics of button distribution and set a plan prior to the ALLIANCE selection
process. It is each ALLIANCE CAPTAIN’S responsibility to distribute buttons to
their pit crew members.

11.9.4 FIRST Championship Playoffs

The 6 division Champions play a round-robin style tournament to determine the 2022 FIRST Robotics
Competition Champions. In this format, each division Champion plays 1 MATCH against each of the other
division Champions. The order of MATCHES is shown in Table 11-10.

Table 11-10 FIRST Championship MATCH order

Mass Energy
MATCH
Round

Red Blue Red Blue

1 Carver Turing
1 2 Galileo Roebling
3 Hopper Newton
4 Carver Roebling
2 5 Turing Newton
6 Galileo Hopper
7 Carver Newton
3 8 Roebling Hopper
9 Turing Galileo
10 Hopper Carver
4 11 Newton Galileo
12 Roebling Turing
13 Galileo Carver
5 14 Hopper Turing
15 Newton Roebling
In the Championship Playoffs, ALLIANCES do not earn Ranking Points; they earn Championship Points.
Championship Points are units credited to an ALLIANCE based on their performance in each MATCH and
are awarded at the completion of each Round Robin tournament MATCH.

11 Tournaments V2 129 of 136

 A. The winning ALLIANCE receives 2 Championship Points.
B. The losing ALLIANCE receives 0 Championship Points.
C. In the event of a tied score, each ALLIANCE receives 1 Championship Point.
Exceptions to A-C are as follows:

D. A DISQUALIFIED team, as determined by the Head REFEREE, causes their ALLIANCE to

receive 0 Championship points.
The total number of Championship Points earned by a team throughout the round robin MATCHES
divided by the number of round robin MATCHES in which they’ve been scheduled is their Championship
Score (CS).

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

Table 11-11 Einstein Tournament Ranking Criteria

Order Sort Criteria

1st Championship Score

2nd Average ALLIANCE HANGAR points

3rd Average ALLIANCE TAXI + AUTO CARGO points

4th Average ALLIANCE MATCH points, including FOULS

If tie affects which ALLIANCES advance to Playoffs, a tiebreaker

MATCH is played between the affected ALLIANCES.
5th
If tie is between ALLIANCES advancing to Playoffs, FMS
randomly seeds tied ALLIANCES to determine ALLIANCE color.

The 2 ALLIANCES with the highest Championship Scores at the conclusion of the round robin tournament
advance to the Einstein Finals. In the Einstein Finals, ALLIANCES do not earn points, they earn a Win, Loss
or Tie. The first ALLIANCE to win 2 MATCHES is declared the 2022 FIRST Robotics Competition
Champions.

During the Einstein Finals, if the MATCH score of each ALLIANCE is equal, the MATCH is replayed. In this
circumstance, the LINEUP may be changed.

11.9.5 FIRST Championship TIMEOUTS

There are no TIMEOUTS for teams in the Einstein tournament.

11 Tournaments V2 130 of 136

12 GLOSSARY
Term Definition

any device capable of dynamically controlling and/or converting a source of

ACTIVE DEVICE
electrical energy by the application of external electrical stimulus

ALLIANCE a cooperative of up to 4 FIRST Robotics Competition teams

ALLIANCE
The designated student representative from each ALLIANCE in a Playoff MATCH
CAPTAIN

a 30 ft. (~914 cm) wide by 8 ft. 10 in. (~269 cm) deep infinitely tall volume formed
ALLIANCE AREA by, and including the ALLIANCE WALL, the edge of the carpet, and ALLIANCE
colored tape

ALLIANCE WALL an ARENA element that consists of 3 DRIVER STATIONS and a HANGAR WALL

a space which includes all elements of the game infrastructure that are required to
ARENA play RAPID REACTSM: the FIELD, CARGO, and all equipment needed for FIELD and
ROBOT management

ARENA FAULT an error in ARENA operation

The first phase of each MATCH in which ROBOTS operate without any DRIVE
AUTO
TEAM control or input

The team whose ROBOT and DRIVE TEAM replaces another ROBOT and DRIVE
BACKUP TEAM
TEAM on an ALLIANCE during the Playoff MATCHES

a required assembly which attaches to the ROBOT frame. BUMPERS protect

BUMPER
ROBOTS from damaging/being damaged by other ROBOTS and FIELD elements

the volume contained between the floor and a virtual horizontal plane 7½ in. (~19
BUMPER ZONE
cm) above the floor in reference to the ROBOT standing normally on a flat floor

the state assigned to any ROBOT which is unable or ineligible to participate in that
BYPASSED
MATCH, as determined by the FTA, LRI, or Head REFEREE

a red or blue oversized tennis ball, 9½ in. (~24 CM) in diameter, weighs 9½ oz.
CARGO
(~270 g), and has a fuzz surface

a reward granted if 20 or more ALLIANCE colored CARGO scored in the HUB. If at

CARGO BONUS least 5 ALLIANCE colored CARGO are scored in AUTO, called a QUINTET, this
threshold drops to 18

a 3 ft. (~91 cm) black line that starts 1 ft. (~30 cm) from the intersection of the
CARGO LINE TERMINAL and the ALLIANCE WALL and runs parallel to and 1 ft. (~30 cm) from
the ALLIANCE WALL

CENTER LINE a white line that bisects the length of the FIELD at a ~66° angle to the guardrail

a plastic sheet with 1⅛ in. (~3 cm) tall aluminum angles spaced 6½ in. (~17 cm)
CHUTE
from each other to form channels.

12 Glossary V2 131 of 136

 Term Definition
COACH a guide or advisor

any part in its most basic configuration, which cannot be disassembled without
COMPONENT
damaging or destroying the part or altering its fundamental function

CONTINUOUS describes rule violations that happen for more than approximately 10 seconds

the state of a CARGO if any of the following are true:

A. the CARGO is fully supported by the ROBOT,
B. the CARGO travels across the FIELD such that when the ROBOT changes
CONTROL direction, the CARGO travels with the ROBOT,
C. the ROBOT is holding CARGO against a FIELD element in attempt to guard or
shield it, or
D. the ROBOT is preventing a CARGO from leaving a LOWER EXIT.

an adjective that describes a standard (i.e. not custom order) part commonly
COTS
available from a VENDOR for all teams for purchase

CUSTOM Any active electrical item that is not an actuator (specified in R501) or core control
CIRCUIT system item (specified in R710)

the state in which a ROBOT is commanded to deactivate all outputs, rendering the
DISABLED
ROBOT inoperable

the state of a team in which they receive 0 MATCH points and 0 Ranking Points in
DISQUALIFIED a Qualification MATCH or causes their ALLIANCE to receive 0 MATCH points in a
Playoff MATCH

DRIVER an operator and controller of the ROBOT

DRIVER 1 of 3 assigned positions in an ALLIANCE WALL from where a DRIVE TEAM

STATION operates their ROBOT

a set of up to 5 people from the same FIRST Robotics Competition team

DRIVE TEAM
responsible for team performance for a specific MATCH

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

a 27 ft. (~823 cm) by 54 ft. (~1646 cm) carpeted area bound by and including the
FIELD inward- and upward-facing surfaces of the guardrails, inward-facing surfaces of
the ALLIANCE WALLS, and the front vertical faces of the TERMINAL

FIELD STAFF REFEREES, FTAs, or other staff working around the FIELD

FMS Field Management System

FOUL a credit of 4 points towards the opponent’s MATCH score

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 Term Definition
FRAME fixed, non-articulated structural elements of the ROBOT contained within the
PERIMETER BUMPER ZONE

FTA a FIRST Technical Advisor

GUARD framing formed by all TERMINAL structure above the CHUTE

an ARENA assembly which consists of truss structure, bases, 4 RUNGS, RUNG

HANGAR
mounting brackets, floor protection, and 2 LAUNCH PADS

HANGAR BONUS a reward granted if an ALLIANCE is credited with at least 16 HANGAR points

a 2 ft. 9 ⅝ in. (~85 cm) wide by 6 ft. 5¾ in. (~197 cm) tall structure located
HANGAR WALL
between DRIVER STATION 1 and the guardrail

a 9 ft. 8 in. (~295 cm) wide, 10 ft. 8¾ in. (327 cm) deep, and infinitely tall volume
HANGAR ZONE defined by the ALLIANCE WALL, guardrail, and ALLIANCE colored tape. The
HANGAR ZONE includes the tape.

a RUNG installed on the HANGAR and positioned such that its top is 6 ft. 3⅝ in.
HIGH RUNG
(~192 cm) above floor protection carpet

a structure centered on the FIELD and shared between ALLIANCES. It consists of 2

HUB funnel-shaped goals (an UPPER HUB and a LOWER HUB), UPPER and LOWER
EXITS, and 4 fenders

HUMAN PLAYER a CARGO manager

a volunteer employed to accurately and efficiently assess the legality of a given

INSPECTOR
part or ROBOT

Kit of Parts, the collection of items listed on the current season’s Kickoff Kit
Checklists, distributed to the team via FIRST Choice in the current season, or paid
KOP
for completely (except shipping) with a Product Donation Voucher (PDV) from the
current season

a piece of ¼ in. (~6 mm) thick, 1 ft. 5¼ in. (~44 cm) tall, and 10 in. (~25 cm) wide
LAUNCH PAD
HDPE of the corresponding ALLIANCE color

the list of 3 teams participating in the MATCH and their selected DRIVER
LINEUP
STATIONS

LOWER EXIT one of the 4 tunnels from which CARGO leaves the LOWER HUB

LOWER HUB the lower of 2 funnel-shaped goals

a RUNG installed on the HANGAR and positioned such that its top is 4 ft. ¾ in.
LOW RUNG
(~124 cm) above FIELD carpet

LRI a Lead ROBOT INSPECTOR

12 Glossary V2 133 of 136

 Term Definition
a group of COMPONENTS and/or MECHANISMS assembled together to address at
MAJOR least 1 game challenge: ROBOT movement, CARGO manipulation, FIELD element
MECHANISM manipulation, or performance of a scorable task without the assistance of another
ROBOT

a two minute and 30 second period of time in which ALLIANCES play RAPID
MATCH
REACT

MECHANISM an assembly of COMPONENTS that provide specific functionality on the ROBOT

a RUNG installed on the HANGAR and positioned such that its top is 5 ft. ¼ in.
MID RUNG (~153 cm) above floor protection carpet, and its center is 3 ft. 6 in. (~107 cm) from
the center of the Low RUNG

MOMENTARY describes rule violations that happen for fewer than approximately 3 seconds

MXP myRIO Expansion port, the expansion port on the roboRIO

OPERATOR the set of COMPONENTS and MECHANISMS used by the DRIVERS and/or HUMAN
CONSOLE PLAYERS to relay commands to the ROBOT

any device or circuit whose capability is limited to the conduction and/or static
PASSIVE
regulation of the electrical energy applied to it (e.g. wire, splices, connectors,
CONDUCTOR
printed wiring board, etc.)

PH a Pneumatic Hub

PCM a Pneumatic Control Module

PDH a Power Distribution Hub

PDP a Power Distribution Panel

the act in which a ROBOT is preventing the movement of an opponent ROBOT by

PIN
contact, either direct or transitive (such as against a FIELD element)

a virtual boundary which extends the width of the TERMINAL and is defined by the
PURPLE PLANE FIELD side edge of the GUARD and the purple tape which runs parallel to the
interior ramp

QUINTET a scenario in which at least 5 ALLIANCE colored CARGO are scored in AUTO

a penalty assessed for egregious ROBOT or team member behavior or rule

RED CARD
violations which results in a team being DISQUALIFIED for the MATCH

REFEREE an official who is certified by FIRST to enforce the rules of RAPID REACT

REPEATED describes rule violations that happen more than once within a MATCH

an electromechanical assembly built by the FIRST Robotics Competition team to

play the current season’s game and includes all the basic systems required to be
ROBOT
an active participant in the game –power, communications, control, BUMPERS, and
movement about the FIELD

12 Glossary V2 134 of 136

 Term Definition
RP a Ranking Point

RPM a Radio Power Module

RS the Ranking Score

RSL a ROBOT Signal Light

1 of 4 1¼ in. Schedule 40 steel pipes, with a 1.66 in. (~4 cm) outer diameter, and
RUNG
are powder coated to reflect the ALLIANCE color

circuits which draw ≤1A continuous and have a source incapable of delivering >1A,
SIGNAL LEVEL including but not limited to roboRIO non-PWM outputs, CAN signals, PCM/PH
Solenoid outputs, VRM 500mA outputs, RPM outputs, and Arduino outputs)

SHADOW LINE a black line that lies directly below the MID RUNG

STARTING
the physical configuration in which a ROBOT starts a MATCH
CONFIGURATION

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

a person who has not completed high-school, secondary school, or the comparable
STUDENT
level as of September 1 prior to Kickoff

a team randomly assigned by the FIELD Management System to play an extra

SURROGATE
Qualification MATCH

1 of 4 (2 per ALLIANCE) 12 ft. 9 in. (~389 cm) wide by 7 ft. ¾ in. (~215 cm) deep
TARMAC
infinitely tall volumes bounded by and including the ALLIANCE colored tape

the state of a ROBOT whose BUMPERS have completely left the TARMAC from
TAXI
which it started at any point during AUTO

TECH FOUL a credit of 8 points toward the opponent’s MATCH score

TECHNICIAN a resource for ROBOT troubleshooting, setup, and removal from the FIELD

TELEOP The second phase of each MATCH

1 of 2 7 ft. 8½ in, (~235 cm) wide by 6 ft. 9 in. (~206 cm) deep and infinitely tall
TERMINAL AREA
volumes bounded by and including purple tape

TERMINAL a white line spanning the width of the TERMINAL AREA and located 2 ft. (~61 cm)
STARTING LINE from the back of the TERMINAL AREA

a FIELD element which consists of 1 ramp, 1 GUARD, 1 PURPLE PLANE, 1 CHUTE,

TERMINAL
and other structure elements shown in Figure 5-20

TRAVERSAL a RUNG installed on the HANGAR and positioned such that its top is 7 ft. 7 in.
RUNG (~231 cm) above floor protection carpet

12 Glossary V2 135 of 136

 Term Definition
a period of up to 6 minutes between MATCHES which is used to pause Playoff
TIMEOUT
MATCH progression

UPPER EXIT 1 of the 4 extensions on which CARGO leaves the UPPER HUB

UPPER HUB The higher of 2 funnel-shaped goals

a legitimate business source for COTS items that satisfies all criteria listed in
VENDOR
Section 9 ROBOT Construction Rules

VRM a Voltage Regulator Module

a warning issued by the Head REFEREE for egregious ROBOT or team member
YELLOW CARD behavior or rule violations. A subsequent YELLOW CARD within the same
tournament phase results in a RED CARD

FIRST®, the FIRST® logo, FIRST® Robotics Competition, FIRST® Tech Challenge, RAPID REACTSM, FIRST FORWARDSM, Gracious
Professionalism®, and Coopertition® are trademarks of For Inspiration and Recognition of Science and Technology (FIRST). LEGO® is
a trademark of the LEGO Group. FIRST® LEGO® League is a jointly held trademark of FIRST and the LEGO Group. All other
trademarks are the property of their respective owners. ©2022 FIRST. All rights reserved.

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