Forum Answered Questions

2016-2017 FIRST Tech Challenge
Forum Answered Questions
11/10/2016
GeneralRobotRulesAnswerThread
PrintableView
Administrator
09122016,10:58AM
TheanswerstoyourRobotRulesQuestionspertainingtoGeneralRobotRulesareprovidedinthis
thread.
ProfessorProton
09222016,12:13PM
<GS2>ParticleScoringEligibility&GameManualPart1Section5.3.1
Section5.3.1oftheGameManualPart1asksteamstoreflectontheirRobot'sdesignand
thequestion:Ifeverybodydidthis,wouldthegameplaybeimpossible?Iftheanswertothe
questionisyes,thedesigncomponentisprobablynotallowed."
VELOCITYVORTEXisplayedwithParticlesthatareScoredingoalsandrecycledbacktothe
PlayingFieldforcontinuousgameplay.TheGameDesignCommittee'sintentisforopen
recycling,whereScoredParticlesreturntorandomlocationsonthePlayingFieldFloorso
thatbothRobotsonanAlliancehaveanequalopportunitytoaccess,Control,orPossess
theirAlliance'sScoredParticles.Aclosedrecyclinggamestrategythatdeniesareasonable
opportunityforanAlliancePartnerRobottoaccess,Control,orPossessaScoredParticleis
notinthespiritoftheFIRSTTechChallengeandisnotallowed.Gameplaywithclosed
recyclingofParticleswouldbeimpossibleandunfairtoAlliancePartners.Therefore,Robot
designsand/orgamestrategiesthatdenytheirAlliancePartnerequalaccesstoScored
Particles,isconsideredtobeaviolationofrule<GS2>.
Sheldon
09282016,01:34PM
RE12Lenses
Quote:
OriginallyPostedbyFTC8391
Arewideanglelenses(tobeusedwiththephonecamera)legal?
A:Yes,lensesforusewiththephonecameraarelegal.
Sheldon
09282016,01:52PM
RM02TileRunner
Quote:
http://ftcforum.usfirst.org/printthread.php?t=6876&pp=10&page=1
1/3
11/10/2016
AlotofdiscussionisbuzzingaroundtheforumsabouttheAndymarkTileRunners
Drivetrain.
http://www.andymark.com/TileRunnerp/amtilerunner.htm
Question:Isislegal?
A:Yes,theTileRunnerkitbecauseitcomesunassembledandismadeoflegalcomponentsislegal.
Sheldon
09302016,06:11PM
RG03FlipUpPhone
Quote:
Hi,
Myteamhasbeenverykeenonusingthecameraonthephoneforaddressingthe
beacons.However,wehavefoundthatusingtherearcameraisalotmorereliable
thanthefrontfacingone.Sowewerewonderingifitwouldbepossibletomakea
casethatcouldflipopeneasilybyreleasingaquickclip,revealingthescreen.Would
thispassrule<RG03>becauseitisvisible,easilyaccessibleandprotectsthephone.
Thanks.
Team4042
A:TheAndroiddevicescreenneedstobeaccessibleandvisibleatalltimes.Ifthereisacoverover
thescreen,itneedstobetransparentandeasytoopen.Phonesthatareburiedinthebotordifficult
toaccesscouldresultintheinabilityofFTAstoresolveonfieldissueswithoutdelayingthestartof
thematch.
TipfromtheGameDesignCommittee:FieldTechnicalAdvisorsthatarenotfamiliarwithyourRobot
mayneedquickaccesstotheRobotControllerAndroiddevicetouchscreendisplaytoperformRobot
triagewhenthereisaverylimitedamountoftimeforrepairingRobotsbeforethestartofthe
AutonomousorDriverControlledPeriods.Coversthatopenbyquickandintuitiveactionswillsave
theFieldTechnicalAdvisortimethat(s)hecandevotetosolvingtheproblembeforetimerunsout.
Sheldon
10252016,01:44PM
RM01VisionTargets
Quote:
Ourteamisconcernedaboutthepossibilityofotherteamsputtingcopiesofthe
VisionTargetsontheirrobotandconfusingourprogram.Areotherteamsallowedto
putVisionTargetsontheirrobots?
A:No,teamsarenotallowedtoplaceVisionTargetsontheirrobots.Itisagainstthespiritofthe
gameforteamstointerferewiththesensorsofotherrobots.
2/3
11/10/2016
ProfessorProton
10252016,10:16PM
<RG08>LaunchingGameScoringElementsParticleElevationConstraint
Quote:
Question:Isitlegalforthemechanicalcapabilityofaparticlelaunchertoexceed6
ftinelevationiftherobotislimitedbysoftwaretouseareducedpercentageofthe
fullpowerofthelauncher?Thiswouldmeanthattherobotparticlelauncherwillbe
programmedtohaveanupperlimitof5ft11inches.
Answer:Yes.
AlltimesareGMT4.Thetimenowis01:35PM.
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3/3
11/10/2016
CommercialOfftheShelfComponentsAnswerThread
PrintableView
Administrator
09122016,10:56AM
TheanswerstoyourRobotRulesQuestionspertainingtoCOTSareansweredinthisthread.
Sheldon
09252016,07:29PM
RE12Mirrors
Quote:
Canwegetadeterminationontheuseofmirrorstoredirecttheviewofthecamera
intheRCphonetoallowmoreconvenientplacementofthephonewhileusingimage
recognition.Rule<RG03>requires"TheRobotControllerMUSTbeaccessible
andvisiblebycompetitionpersonnel"yetRule<RE12>saysinpartthat"(for
example:lasersandmirrorsarenotallowed)".
Pleaseprovideadefiniteruling.Thankyouforyourattention.
A:Rule<RE12>disallowstheuseofmirrorsfordirectingrobotbasedlightsources.Mirrorsusedto
directanimagetothecameraintheRobotControllerareallowed.
Sheldon
09302016,02:48PM
RM02BanebotsTransmissions
Quote:
IsitlegaltousetheAndyMarkAM3104motorswithBaneBotstransmissionstobuild
therobot?Thanks,andthanksforallyoudo!
A:Yes,youmayuseAM3104(oranyotherlegalmotorperRule<RE09>)withanylegal
transmission.Notethatshiftingtransmissionsarenotlegalsincetheyhavemorethanonedegreeof
freedom.
Sheldon
09302016,03:00PM
RG01
http://ftcforum.usfirst.org/printthread.php?t=6874&pp=40
1/5
11/10/2016
Quote:
<RG01>states"Pneumatics"arenotallowedonanFTCrobot.Canyouclarifythe
definitionofpneumatic?Arepneumaticsystemsdefinedbytheuseofcompressedair
orclosedairsystems?Ourteamisconsideringusingafantopushairand"particles"
throughanopenpipe.Thefanwouldbepoweredbytherobot'sbatteries.The
systemwouldbeopen,consistingofopenpipesandfansnoclosedtubing.All
changesinairpressurearedueonlytopressurechangescausedbymovingairas
opposedtocompressedairtanks.Themovingairwouldbothcreateavacuumto
suckup"particles",aswellasbeabletopropel"particles"intovortexgoals.Would
thisviolaterule<RG01>?
A:Usingafanandalegalmotortocreateanaircurrentisallowed.However,theymustbeproperly
guardedsothatthereisnopossibilityofthesehighspeedbladescomingintocontactwithaperson
(teammember,FTA,Ref,etc.)orthefield.RobotInspectorswillbeinstructedtopayparticular
attentiontofanbaseddevicestoinsuretheycanbeoperatedsafely.
Sheldon
10032016,11:33AM
RM02VacuumPump
Quote:
Myteamwasinterestedinusingavacuumpumpontheirrobot.Thepumpthey
foundrunson12V,butIdonotthinkthemotorattachedtothepumpislistedinthe
rules.Iftheywanttousethepump,dotheyneedtoremovethemotorthatcomes
onthepumpandrewireitwithoneofthemotorslistedintherules?
A:Rule<RM02>prohibitstheuseofCOTSpartswithmorethanonedegreeoffreedomandRule
<RM01>prohibitstheuseofpressurizedfluids(pneumatics).Itisimpossibletomakearuling
withoutknowingmoreaboutthepumpinquestionandwhetheritviolateseitherofthesetworules.
Sheldon
10042016,09:27PM
RE11SensorsRG01GasSpring
Quote:
Iwouldliketoknowifislegaltouseintherobot:
EV3colorsensor?
Gasspring?
Thankyou
A1:PerRule<RE01>anysensorisallowedprovidingitisconnectedtotheCoreDeviceInterface
Module.
A2:Gasspringsareconsideredapneumaticdeviceandperrule<RG01.j>theyarenotallowed.
2/5
11/10/2016
Sheldon
10042016,09:46PM
RG01,RE09VacuumPumpwithmotor
Quote:
MyteamisinterestedinusinganairpoD2028Bvacuumpumpontheirrobot.Ithasa
motoronitthatlookssimilartothemotorsweareusingontherobotandis12Vdc,
butIcannotfindanyotherspecificinformationaboutthemotor.Aretheyallowedto
usethispumpontherobot?Ifnot,wouldtheybeallowedtoremovethemotorand
wireoneoftheallowedmotorstothepump?
A1:TheonlyallowablemotorsarelistedinRule<RE09>.Sincethemotoronthepumpisnotonthe
listitisillegalandmaynotbeused.
A2:Withoutseeingtheinsideofthevacuumpumpitisnotpossibletodetermineifitislegal.
HoweverifitcompressesairinanyformitisillegalperruleRG01j,andifthereismorethanOne
DegreeofFreedomi.e.pistons,valves,etc.thenitisillegalperRule<RM02>.
Sheldon
10132016,01:09PM
RM02P60Gearbox
Quote:
Inpost#3youstate"youmayuseAM3104(oranyotherlegalmotorperRule
<RE09>)withanylegaltransmission.Notethatshiftingtransmissionsarenotlegal
sincetheyhavemorethanonedegreeoffreedom"
CaniassumethattheBanebotsP60256:1Gearboxw/Moto(am2878)islegal.
thanks
A:Yes,theP60gearbox(AM2878)isalegalCOTS.
Sheldon
10132016,01:12PM
RM02LinearActuators
Quote:
Areweallowedtousealinearactuatorwithoutamotor?
A:Therearemanytypesoflinearactuators.Withoutmoreinformationitisnotpossibletodetermine
thelegalityofthepart.Pleasebemorespecificonmakeandmodelofactuator.
Sheldon
10162016,08:05PM
RM02ShiftingTransmissions
Quote:
3/5
11/10/2016
Post#3intheCOTSanswerthreadstatesthat"Notethatshiftingtransmissionsare
notlegalsincetheyhavemorethanonedegreeoffreedom."
Post#4intheGeneralRobotRulesanswerthreadstates"theTileRunnerkitbecause
itcomesunassembledandismadeoflegalcomponentsislegal."
Q:Isashiftingtransmissionthatcomesunassembledandismadeoflegal
components(allofwhichareavailableforindividualpurchase)legal?
A:Yes,teamsmaybuildtheirownshiftingtransmissionsfromlegalmaterials.
Sheldon
10162016,08:12PM
RG01.aHighTractionWheels
Quote:
RuleRG01states:wheels"thatcouldpotentiallydamagePlayingFieldcomponents"
arenotallowed.However,duringtheResQseason,thesewereruledlegaliftheydid
notcomeincontactwiththeplayingfieldsurfacesotheycouldnotdamagethetiles.
ArehightractionwheelssuchasAndyMarkHiGripwheels(
https://www.andymark.com/productp/am2256.htm)allowedtobeusedaslongas
theydonotcomeintocontactwiththeplayingfield?
Thankyou.
A:HighTractionwheelsarelegalprovidedtheydonotcomeintocontactwiththeplayingfield(tile
floor,CornerRampsurface,CenterGoalBase,CenterGoal,etc.).Theymaybeusedincontactwith
theParticles.
Sheldon
10252016,01:53PM
RM02COTSTankTreadsand3Dprintedparts
Quote:
Greetings,
Theteamisconsideringtheuseofthefollowingitemsaspartoftheinternalsoftheir
robots.
1.COTStanktracksfromthelocalhobbystoreforaconveyorbelt
2.3Dprintingtanktracks,sprocketsforaconveyorbelt
3.3Dprintingcustomsizedwheelsforacounterrotatingfiringmechanism.
4.Creatingavariablegeometryparticlefiringmechanismthatpivotsbetweentwo
positions.Mechanismwillbecontainedwithinthebodyoftherobot.
Noneoftheitemsshouldcomeintocontactwiththeplayingsurface.
Thanksinadvance!
4/5
11/10/2016
A:Inthefuturepleaseaskonlyonequestionperpost,itmakesiteasierforthereaderstosortand
findtheanswer.
A1:Yes,tanktreadsarealegalCOTS
A2:3Dprintedpartsarelegalperrule<RM01>
A3:Yes,3Dprintedwheelsarelegalperrule<RM01>
A4:Thereisnorulepreventingteamsfrombuildingamechanismthathasmultiplepositionssolong
asallpossiblelocationsremaininsidethestartingenvelopeatthestartofthematch.
5/5
11/10/2016
RawandPostProcessedMaterialsAnswerThread
PrintableView
Administrator
09122016,10:57AM
TheanswerstoyourRobotRulesQuestionspertainingtoGeneralRobotRulesareansweredinthis
thread.
Sheldon
10022016,05:48PM
RM01VexShafts
Quote:
AretheVexshaftsallowedtobeusedwiththeVEXEDR393
Motor?
A:Yes,VexshaftsarealegalmaterialperRule<RM01>
Sheldon
10022016,05:50PM
RM02SuctionCups
Quote:
Canweusecommercialsuctioncups?
A:Yes,suctioncupsarealegalCOTSpartperrule<RM02>.
Sheldon
10092016,06:07PM
RM01SuctionCupswithVents
Quote:
Wouldasuctioncupwitharubberreleasenippleontheback(thatcouldbe
squeezedorreleasedbyaservo)beconsideredapneumaticpart?There'snoairor
1/2
11/10/2016
vacuumsourceotherthanthatprovidedbythesuctioncupitself?Thanksfromteam
11296!
A:Asuctioncup,withorwithoutavent,isnotconsideredapneumaticdeviceandisallowed.
Sheldon
10262016,03:11PM
RM01AllowedMaterials
Quote:
WearenewtoFTCandhavejustreceivedourkit.Wewerewonderingifweare
requiredtoonlyusemetalpartslikecchannels,andmetalsheetsfromFTCorifyou
hadparts(metal)fromanotherroboticscompetition(VEX)couldweusethem?
A:Rule<RM01>allowsfortheuserawandpostprocessedmaterialsfrommanysources.Teamsare
notrequiredtouseonlyTetrixmetalparts.StructuralmetalpartsfromtheVexbuildingsystemare
allowed.
Sheldon
11012016,01:04PM
RM01RecycledMaterialfromResQ
Quote:
WithregardstoRM01,wouldstructuralcomponentsoftheRESQMountainourteam
purchasedlastseasonqualifyasrawmaterialsorpostprocessedmaterialsthat
couldbedrilled,cutorreshapedandusedintheconstructionofarobotforVelocity
Vortex?
Answer:StructuralmaterialsrecycledfrompreviousgamesareallowedmaterialsperRule<RM01>.
2/2
11/10/2016
MiscellaneousRobotElectricalPartsandMaterialsAnswerThread
MiscellaneousRobotElectricalPartsandMaterialsAnswer
Thread
PrintableView
Administrator
09122016,01:37PM
AnswerstoquestionspostedpertainingtoMiscellaneousRobotElectricalPartsandMaterials.
WilWheaton
09252016,09:44PM
LegalBatteries
Quote:
ThebatteryinthefollowinglinkistheexactsamebatteryastheW39057Tetrix
Battery,accordingtoCustomerService..Isitacceptabletopurchasethisbatteryto
savemoney?
https://www.servocity.com/12v3000ma...atobladefuse
Answer:No.Onlythebatterieslistedin<RE03>arelegalforuseinFTCRobots
Legal,approvedbatteriescanbepurchasedthroughthefollowingvendors:
Pitsco:TheFIRSTTechChallengeStorefront(accessviaFIRSTsTeamRegistrationSystem)click
HowtoOrderExtraPartsontheleftmenuoftheSupportsection.Youwillreceiveyourteams
discountcodetoorderadditionalparts.
ModernRobotics:http://modernroboticsinc.com/12v3000mahnimhbattery
REVRobotics:http://www.revrobotics.com/rev311302/
WilWheaton
09252016,10:14PM
FocusedLightSources
Quote:
Areyouallowedtousesomethinglikehttp://www.andymark.com/TargetingLi...
p/am3428.htmtohelpyouaim?Obviouslylaserswouldbeinappropriatebut...
1/6
11/10/2016
Answer:No.<RE12>disallowslightsourcesthatarefocusedordirectedinanyway
WilWheaton
10102016,11:16AM
LegalBatteries
Quote:
Iknowthequestionwasalreadyasked,buthereisapointtoconsiderregardingthe
batteryat:
https://www.servocity.com/12v3000ma...atobladefuse
NotonlyisthereNOdifferencebetweenthisandthe"official"tetrixbattery,butthe
biggestissueisthatthereisNOwaytotellthemapart.Neitherone,includingthe
Tetrixbattery,actuallyhasamfg.partnumberonit.Ithinktherulesgroupmay
wanttorethinkthisbecausefrankly,MANYteamsarealreadybuyingtheServocity
batterybecauseischeaper,andisactuallyidenticaltotheTetrixbattery.Wehave
oneourselves,andthereisfranklynowaytodeterminewhichoneitis.
Justfoodforthought,andthereisnoreasontopostananswerunlessyouwantto.
Thanks!
Answer:TheonlylegalbatteriesarethoselistedinPart1oftheGameManual.TheServoCity
battery,whilesimilartotheTETRIXbattery,isNOTintheapprovedlist.
WilWheaton
10172016,04:03PM
UseofArduinofordecorativelighting
Quote:
WewerewonderingifwewouldbeallowedtouseanArduinoboardwithitsown
powertocreatedecorativelightingpatternsonourrobot.Thelightswouldserveno
operationalpurpose,andwouldbepurelyfordecoration.
Rule<RE12>states"Lightsources(includingLEDs)areallowedthesemaynotbe
focusedordirectedinanyway(forexample:lasersandmirrorsarenotallowed).
Approvedlightsourcesmayincludeaninternal(assuppliedbythemanufacturer)
batterypackorbatteryholder."And<RE17>states"Electronicdevicesthatarenot
specificallyaddressedintheprecedingrulesarenotallowed.Apartiallistof
electronicsthatarenotallowedincludes:Arduinoboards,RaspberryPi,relays,and
customcircuits."However,wewerewonderingif<RE17>onlyappliedtofunctional
robotelectronics,andnotdecorativelighting.Also,isittheintentoftheGDCwith
<RE12>toallowonlypremanufacturedlightstringsthatprovidetheirownpower,
andnotforteamstobeabletorolltheirownsystems,exceptforusingthemain12V
battery?
2/6
11/10/2016
Answer:No.Allaspectsoftherobot(includingpurelydecorativeaspects)mustabidebytherobot
constructionrules.Arduinoboards(andsimilarsystems)fallintothe"OtherElectronics"classthatis
disallowedby<RE17>.
Sheldon
10202016,08:49AM
RE17SolenoidActuator
Quote:
AreSolenoidActuatorslegalparts?
https://www.amazon.com/a14050600ux03...+actuator+25mm
A:Solenoidsfallunder"otherelectronics"<RE17>andarenotallowed.
WilWheaton
10242016,03:33PM
LimitSwitchInlinew/Motor
Quote:
Ourrobothasagearrackthatispulledbackunderspringtensionbythemotor.
However,ifthemotorrunspastitslimit,thenitwillbreakthegearrackand
potentiallyreleasethesprings,creatinganunsaferobot,aswecan'tensurethat
otherpieceswillnotflyoff.Inordertopreventthis,wehaveinstalledalimitswitch
inlinewiththemotorpowerline,automaticallytrippingthepowerifthegearrack
extendstoofar.Thisworksextremelywellfromourtests.
However,thecurrentrulesagainst"otherelectronics"renderthisillegalfora
competitionrobot,asthelimitswitchisnota"sensor"becauseitdoesnotconnectto
theDIM.WedonotwanttorunthelimitswitchintotheDIMandusethephoneto
controlthemotorbasedonthisfeedbackbecauseoftheprogram'sfailuremodes.
Weknowthatthephone'ssoftwareissubjecttovariousfreezinganddisconnect
issues.Wealsoknowthatduringthesefailuresmodes,allmotorswillcontinueto
runregardless.Sincethiscouldbothbreakourrobotandcausesomewhatofa
safetyhazard,weareaskingthatanexceptionbemadeforsuchcases.Wearestill
adheringtotherequirementsforminimumwiregauge,andthelimitswitchisrated
for10Aat120VAC,whichiswelloverthe5A,12Vmaxdrawofthemotors.In
addition,fromourtests,themotorrarelydrawsmorethanafewamps,meaning
that5Aismoreofapeakcondition.
Thankyou,
9791
Answer:Thelimitswitchinlinewithamotorindeedfallsunderthe"OtherElectronics"categoryand
isnotallowedper<RE17>.
WilWheaton
10252016,03:47PM
3/6
11/10/2016
LEDsIlluminatedduringRobotInitialization
Quote:
AreLED'sallowedtoturnonafterinitializationtosignalthedriverswhatAutonmode
wasselected?
LED'swouldbecontrolledbyamotorcontrollerport.
Answer:Yes.
WilWheaton
11012016,05:36PM
UsingRobotFrameasElectricalConnection
Quote:
Myteamwouldliketoknowifitislegalto"ChassisGround"therobot.Theywantto
wirethenegativeleadsofthemodernroboticscontrollersandofthemotorstothe
metaloftherobot.Thepositiveleadswouldconnecttothepositivepolesoftheir
sourcesasusual.
Theredoesn'tseemtobearuleallowingorforbiddingthis.Isitalegalwaytowire
therobot?
Thanks!
Answer:No,usingtherobotframeasanelectricalconnectorisNOTallowed.Inadditionbeing
unsafe(grosslyincreasesrisksofshortcircuits)andviolationthewiringrulesforappropriatewire
gaugeusage,theschemeasdescribedwouldnotwork.
HintItisimportanttorememberthatthemotorconnectionsareNOTfixedpolarity.TheM+/M
connectionsonthemotorcontrollersswitchpolaritybasedonthemotordirections.Underyour
scheme,thefirsttimeyoureversedyourmotors,youwouldlikelytripthethermalbreakerinthe
motorcontroller,ifnottheoneofthefusesineitherthePowerDistributionmoduleorthebattery.
WilWheaton
11012016,05:45PM
I2CPWM/ServoDrivertoControlLEDs
Quote:
CanweusetheadafruitPWMdriver(https://www.adafruit.com/products/815)to
controlLEDsaslongasallpowercomesfromtheDeviceInterfaceModule.
Answer:No.Themoduleyoureferencedfallsintothe"AdditionalElectronics"categoryandisnot
allowedper<RE17>.
4/6
11/10/2016
TIPThemoduleyoureferencedisverysimilarinfunctiontoaMotorController.Similarcontrolof
LEDscanbeaccomplishedwithaMotorController.
WilWheaton
11092016,02:59PM
LEDQuestions
Quote:
<RE12>LightSourcesstatesthatlightsourcesmaybepoweredbyaninternal
battery.Additionally,theymaybepoweredbypowerportsontheCPDMandora
CMCMport.
CanalightsourcebepoweredbyaportontheCoreServoControllerorbyaUSB
hubport?
<RE11>SensorsstatesthatsensorsmaybeconnectedtotheCoreDeviceInterface
Module.CanLightSourcesbeconnectedtotheCDIM?ForexampletocontrolRGB
LEDs.
DoLightingSourceshavetobesimple?Orisaunifiedmodulethatcanbecontrolled
forsignalingpurposesacceptable?(https://www.adafruit.com/products/2157)
Wearethinkingofusingsomethinglikethisasadevicefortherobottosignalthe
driveteam.
Answer1:No.LightsourcesmaynotbepoweredviaServoControllerorUSBhub
Answer2:No.LightsourcesmaynotbedrivenbytheCDIM
Answer3:TheLEDbackpackmoduleyoureferencewouldfallunderthecategoryof"Additional
Electronics"andisnotallowedper<RE17>
WilWheaton
11092016,03:07PM
MultiplemotorsperCoreMotorControllerport
Quote:
Hello,
IsitpermissibletoattachtwolegalmotorstoasingleMotorControllerportby
solderingthetwowirestomakea"y"splitter?Pleaseseetheattachedpicture.
Thankyou.
Answer:Thereisnothingintherulesthatwouldprohibittheconnectionoftwomotorstoasingle
motorcontrollerportviaasplittercable.
Note:CareshouldbetakentopayattentiontothecurrentdrivinglimitsoftheCoreMotorController.
TheCMChasinternalthermalbreakerthatwillopenwhenexcessloadisdrawnfromthecontroller
5/6
11/10/2016
resultinginthecontrollerbeinginoperableuntilthebreakerresets.Twomotorsunderstallconditions
wouldlikelyexceedtheCMCcurrentlimit!
6/6
11/10/2016
MotorsandServosAnswerThread
PrintableView
Administrator
09122016,01:35PM
AnswerstoquestionspostedpertainingtoMotorsandServos.
Sheldon
09282016,01:30PM
RE15ServoModification
Quote:
Hi,we'dliketoupgradethekarbonitegearsinoursailwinchquarterscaleservosto
metalgears.Thereisnodirectreplacementandslightmodificationsarenecessary
asdescribedhere.http://ftcforum.usfirst.org/showthre...lGearUpgrade.Isthis
modification/replacementallowedasdescribed?Thankyou
A:Yes,teamsmayreplacethegearsintheirservoswithmetalgears.
Sheldon
10072016,08:29PM
RE09Changingmotorgearboxes
Quote:
Therulesstatethatlegalmotorsincludetheam3102motor(20:1gearbox),theam
3103motor(60:1gearbox),andtheam3104motorwhichisamotorwithno
gearbox.So,removingthegearboxandchanginggearratioissimilartousingan
am3104withacustomgearbox(hence,notmodifyingthemotor).Isthisgearbox
modificationlegal?
A:Yes,thisislegal.
Sheldon
10232016,05:51PM
RE15RemovingEncoder
Quote:
1/2
11/10/2016
AreweallowedtoremovetheencoderontheAndymarkNeverRestSeries?(AM
2964,AM2964a,AM3102,AM3103,AM3104)
Wejustneedtoshortentheoveralllength.
Thankyou!
A:Yes,teamsmayremovetheencoderfromtheNeverRestmotors.
Sheldon
10252016,02:01PM
RE09EV3MotorsandSensors
Quote:
AretheEV3motorsandsensorslegal?
A1:Onlythemotorslistedinrule<RE09>areallowed.NootherDCmotorsareallowed.
A2:EV3sensorsareallowedprovidedtheymeettherestrictionslistedinRule<RE11>.
Sheldon
10262016,03:34PM
RE16ContinuousRotationModification
Quote:
Areweabletomodifya90or180degreeservotomakeitcontinuousrotation
servo?SpecificallytheHiTecServoModelHS485HBwhichlistSpecificationsas360
degreeModifiable.http://www.andymark.com/productp/am2543.htm
A:Becausethemodificationinvolveschangingormodifyingthegearsanddoesnotinvolvethe
electronicsorwiringthismodificationisallowed.
2/2
11/10/2016
ControlSystemAnswerThread
PrintableView
Administrator
09122016,01:36PM
AnswerstoquestionspostedpertainingtotheControlSystem.
WilWheaton
09252016,10:05PM
USBHubsonRobot
Quote:
Hello,I'mfromteam3491FIXIT,
WearewonderingifitwouldbelegaltopluganonpoweredUSBintotheCore
PowerModule.Thepowermoduleonlyhasroomfor7USBdevicesanditisquite
likelywewillneedeightmodulesthisyear.
Lastyearwehad1CoreDeviceinterface
3MotorControllers
3ServoControllersWeunderstandthatthethereare6servoportsfor12servos,
butifyouuseanyservothatismorepowerfulthattheHS422thereistoomuch
powerusedandtheservocontrollershutsoff.Wehadtosplitintothreecontrollers
toavoidthisissue.
Thisyearweareconsideringusingamecanumdrivesowewillneedafourthmotor
controller.Theonlywaytoachievethiswouldbetoaddasplittertothepower
module.
ThanksTeam3491
Answer:<RE14>.dexplicitlyallowsstandaloneUSBhubstobeusedonrobots(bothpoweredand
unpowered).PoweredUSBhubsneedtobecompatiblewiththe12vpowerthatisavailableonthe
robot.
WilWheaton
10102016,11:22AM
CrackedPhoneScreens
Quote:
1/3
11/10/2016
Canyougivesomeguidanceregardingtheuseofphoneswithcrackedscreensin
competition?
Answer:Aslongasthecrackedscreendoesnot:
presentasafetyhazard
renderthescreenunreadablebyfieldpersonel
Thephonecanbeusedwithacrackedscreen
WilWheaton
10252016,04:04PM
AcceptableAlternativeRobotInitializationSequence
Quote:
Section1.5.1:AfterplacingtheirRobotonthePlayingField,theDriveTeamselects
theirAutonomousPeriodOperational
Mode(OpMode)ontheirDriverStationAndroiddeviceandinitializestheirRobotby
triggeringtheTeams
initializationeventsoftware.
Isthisorderstrictlyenforced?Mayateaminitializetherobotpriorduringtheprocess
ofplacingit?Forexample,weareconsideringhavingatouchsensorconfiguredto
indicatetothesoftwarewhatcolortherobotis.Sowewouldplacetherobot,
initializethesoftware,andthentouchthesensoriftherobotwasblue.Isthis
allowed?
Thanks.
Answer:ThemethodyouhavedescribediscompatiblewiththedescriptioninSection1.5.1.You
shouldtakecaretomakesurethatyoursetupandinitializationisdoneinatimelymanner.Field
personnel(Refereesand/orFTAs)willlikelyNOTallowyoubackontothefieldtotakecareof
pressingyoursensorifyouforgetbeforeleavingthefield.
WilWheaton
11012016,02:16PM
ModifyingFTCDriverStationApp
Quote:
IsitlegaltomakechangestotheFTCDriverStationApp?
Answer:NO.NomodificationstotheFTCDriverStationappareallowed.
2/3
11/10/2016
WilWheaton
11092016,02:48PM
FullyCustomHub
Quote:
Greetings,rulespeople:
<RE14>(d)says"StandaloneUSBhubsareallowed."
<RE17>Says"Electronicdevicesthatarenotspecificallyaddressedinpreceding
rulesarenotallowed:partiallistincludes....andcustomcircuits."
So,howaboutacustomstandaloneUSBhub?
Ourteamsarefrustratedwiththemechanicaldesignofthemotorcontrollers(asI'm
suremanyofusare).Havinglargewiresexitfromeachcontrolleralong3ofthe
controller'splanesisreallyannoyinginan18"robot.USBcablesandconnectorsare
huge,connectorsfaileasily.
Tomakewiringsimpler,itoccurredtousthatwecouldmountthemotorcontrollers
ontopofoneanotherinatightstack,liketheplugincardsoftheoldFRCcRIO.The
stackarrangementwaspopularintheoldNXT/Hitechnicsystem.
WoulditbewithintherulestofabricateacustomstandaloneUSBhubthatwould
forma"backplane"thatthemotorcontrollersfitinto?Thiscreatesamechanically
stableconnectiontothemotorcontrollerandrequiresnomodificationstoany
ModernRoboticsparts.ThecustomhubwouldbepluggedintothePDC.
Ifacustombuilthubisnotpermitted,couldasmallCOTShubbemodified
(removedfromitsenclosure,connectorsremovedandshortwiressolderedon)for
thispurpose?
ModifyingaCOTShubmayviolate<RE15>though,especiallyifconnectorsare
removed.MovingaCOTShubfromitssuppliedenclosuretoanewoneappearsto
bewithinthescopeof<RE15>
AcustomhubwillnotprovideanyrobotperformanceadvantageoveraCOTSone,
thepurposeofconstructingitispurelyformechanicalcompactnessandelectrical
stability.
Answer:Afullycustomhubwouldnotbeallowedasitwouldfallunderthedefinitionsof
"AdditionalElectronics"and<RE17>.Applying<RE15>asitiswrittenwouldallowformodification
ofahubthatdidnothaveconnectorsmountedtothecircuitboards,buthadan"octopus"typeof
wiredfanout.(i.e.Replacingoraddingconnectorsonwires...)
3/3
11/10/2016
SensorsAnswerThread
SensorsAnswerThread
PrintableView
Administrator
09122016,01:35PM
SensorsAnswerThread
AnswerstoquestionspostedpertainingtoSensors.
WilWheaton
09252016,09:57PM
IntelligentSensors
Quote:
Isthepixystillapermittedsensorlikelastyear?
AssumingtheFollowing:
a)itisthesoledeviceonaDeviceInterfaceModule(DIM)
b)itdrawslessthanthe150maDIMmaximumcurrent
c)itisinthiscontextonlyanI2Cdevice
WouldthePixystillbeapermittedsensor?
Seealsohttp://www.cmucam.org/projects/cmucam5
Answer:Aslongasanintelligentsensor(onethatincludesanembeddedprocessor)doesnot
provideaprogrammingcapacitytotheuser,itislegal.ThePixyreferenceddoesnotprovidea
programmingAPIfortheenduserandisanexampleofalegalintelligentsensor.
WilWheaton
09252016,10:09PM
USBSensors
Quote:
Hellofromteam3491FIXIT,
Wearewonderingifitwouldbelegaltousesensorsthatplugdirectlyintothephone
throughaUSBportonthepowermodule.Wehavetestedthisanditisfully
functionalwiththeFTC_app.Thereisnoasynchronousserialcommunicationonthe
sensormodulesousingUSBwouldallowsteamstouseamultitudeofuseful
sensors.WeareespeciallyinterestedinusingaUSBwebcamandoranHIDMouse.
Thanksteam3941
1/4
11/10/2016
SensorsAnswerThread
Answer:No.<RE11>onlyallowssensorsthatconnecttoandarepoweredbytheCoreDevice
InterfaceModule.<RE17>disallowsallelectronicsnotexplicitlyallowedviaotherrules.
WilWheaton
09282016,08:01PM
SimpleInterfaceCircuitBoard
Quote:
Woulditbelegaltohaveacustomprinted/routedcircuitboardthatconsistsentirely
ofcoppertraces,connectorpins,andalegalI2Cmultiplexer?Readingthemanual,
thisseemstobeabitofagreyareabetweenRE14JandRE17.
RE11EallowssimpleI2Cmultiplexers,sothatisnotinquestion
RE14Jallowsthat"sensorwiresandtheirconnectorsmaybeextended,modified,
custommade"
RE17disallows"customcircuits"
Thecircuitboardwouldsimplyprovideamoreconvenientarrangementofplugsto
interfacewiththemultiplexer.
Answer:asimplecircuitboardthatservesonlytointerconnectotherlegalelectronicsisallowedper
<RE14>.j.
Careshouldbetakentoensurethatthecircuitboardisadequatelyinsulated.Inthisparticularcase,
theonlypowerfortheI2CmultiplexerMUSTcomefromtheI2CconnectionsavailableontheCore
DeviceInterfaceModule.
Itwouldbeprudenttobringacircuitschematicfortheinterfacetoallcompetitionsandbeprepared
toexplaintheinterfacetotheinspectors.
WilWheaton
10072016,02:28PM
PassiveElectronicswithSensors
Quote:
Isitpermissibletoconnectapassiveresistortoasensor(e.g.aswitch)toallowitto
beconnectedtotheDeviceInterfaceModule?We'dliketousegenericlimitswitches
wiredasinhttp://playground.arduino.cc/CommonT...UpDownResistor.
Answer:Yes.<RE11>.bexplicitlyallowstheuseofpassiveelectronicsattheinterfacetosensors.
WilWheaton
10172016,04:07PM
UseofLEDpairedwithsensor
2/4
11/10/2016
SensorsAnswerThread
Quote:
IspositioningawhiteLEDnexttoalightsensor(suchas
https://www.adafruit.com/products/2748)toimprovelinefollowingsensitivity
allowedperRE12?
Answer:<RE12>doesnotlimittheusageofLEDs.Itprovidesguidanceandlimitationsonhow
LEDswithinalegalrobotmaybepowered.AslongasyourproposedusagepowerstheLEDin
accordancewith<RE12>itwouldbeallowed.
WilWheaton
10252016,04:10PM
ModifyingPCBCircuitry
Quote:
Wehaveapurchasedsensorthatisacollectionofdiscreetsensorscombinedwith
anI2CdigitalI/OinterfaceonasinglePCB.
ThereisalreadyafeatureonthePCBthatallowsdisablingthesensorarrayviaI2C,
butwewouldliketoreversethisfeaturesoitpowersupdisabledandweturnonvia
I2C.ConvenientlythiscanbedonebysimplyaddingaSMTresistortopullupan
unbiasedmosfet...alsoconvenientlythereisa5Vinputfiltercapexactly0603away
fromthegate.
Wewantedtoverifythataddingaresistortoimprovesensorusabilityisallowedas
longaswecanjustifybyschematicthatitdoesn'tviolateanysafetyfunctionofthe
design.
Answer:No.Themodificationdescribeisnotallowedbasedon<RE15>.Themodificationisa
changetotheinternalcircuitryofthePCB.<RE11>.ballowsforpassiveelectronicstobeaddedto
sensors,butonlyattheinterfacestothesensors.
WilWheaton
11012016,02:11PM
SensorPCB
Quote:
ThankyoufortheclarificationaboutaddingaresistortoapurchasedPCBsensor
array.Gladweasked.
Justtobe100%clearweareallowedtodesignapcbthatcombinesanarrayof
individualsensors,passivecomponentsandconnectorsandusei2cvoltagesensorto
readthesensors.Weunderstanditcanonlybepoweredfromdeviceinterface
module,weneedaschematictoexplainitscompositiontoinspectorsanditcannot
haveanycomponentthatisprogrammable...alsoitshouldbewellinsulated:)
3/4
11/10/2016
SensorsAnswerThread
Answer:Yes.Also,makesuretopayattentiontocurrentcapacityforanysignalsroutedthroughthe
circuitboard.Thecircuitboardtracesshouldbedesignedtoensuresufficientcurrentcapacity.
4/4
11/10/2016
DriverStationAnswerThread
PrintableView
Administrator
09122016,01:34PM
AnswerstoquestionspostedpertainingtotheDriversStation.
Sheldon
10252016,01:47PM
RE16DriverStationCables
Quote:
<RE16>requires"One(1)OTGCable"and"Nomorethanone(1)nonpoweredUSB
Hub",canthesebecombinedinasinglecable,example:
https://www.amazon.com/gp/product/B0...?ie=UTF8&psc=1
A:Yes,thiscableisallowed.
AgentAngelaPage
11072016,12:35PM
MotoG3rdGenPhonewithnonpoweredhubonDriverStation
Quote:
Hello,
WhentheMotoG3rdgenphonewasaddedtotheapprovedandroiddeviceliston
Aug1,ourgrouppurchasedeightofthesephones(withFIRSTSTEMequitygrant
money)tousewith4grantfundedFTCteams.Thesephonessimplydonotfunction
reliablywithnonpoweredUSBhubsand2Logitechgamepads.Theprocedure
postedbyTomEngontheFTCforuminearlySeptemberonlyoccasionallyworks.
Mostofthetime,wefindourselvesjustplugging,unplugging,rebooting,etcuntilit
justhappenstoworksometimestaking510minutes.AsaCoachandQualifier
TournamentDirector,Iknowthatsimplyisn'tgoingtoworkatcompetition.Theonly
thingIcanfindthatworksistouseahubthatcanhaveaUSBbatteryattachedto
powertheexternaldevices.I'mcurrentlyusingthisone:
https://www.amazon.com/gp/product/B0...?ie=UTF8&psc=1
Theproblemis,thatbasicallybecomesapoweredhubthatseemstobeunallowed
1/2
11/10/2016
bytherules.Canyoupleaseadvisehowwearesupposedtousetheseapproved
MotoG3rdgenphonesandstillbeincompliancewiththerules?Replacingthemis
notafinanciallyviableoption.
Our5thteamhasZTEphonesfromlastyearthoseseemcompletelyfinewithallof
thesamehubsandgamepads,asdoesmyunapprovedGalaxyNote4.Theproblem
isclearlythephones.
Thanks,JimJackson
Coach:teams10780,11296,11296,11298,11300
Thisconfigurationwouldbelegalperrule<RE06>d.IfauserconnectsaUSBportablebatteryto
theirnonpoweredUSBhub,wefoundthattheMotoG3rdgenphonesworkreliablywiththe
existingnonpoweredUSBhubandtheLogitechF310gamepads.
TeamswouldneedtopurchaseaUSBportablebatteryandaTypeAtoTypeA(maletomale)
adapterorcable.
2/2
11/10/2016
MiscellaneousGameQuestionsAnswerThread
PrintableView
Administrator
09222016,11:04AM
AnswerstoquestionspostedpertainingtomiscellaneousGameQuestions.
ProfessorProton
09222016,12:18PM
thequestion:Ifeverybodydidthis,wouldthegameplaybeimpossible?Iftheanswerto
thequestionisyes,thedesigncomponentisprobablynotallowed."
ProfessorProton
09242016,03:55PM
ControllingtherotationoftheCenterVortex.
Quote:
Question:IsitlegaltopurposefullycontroltherotationoftheCenterVortex?
Answer:Yes,RobotsmaypurposefullyControltherotationoftheCenterVortex,providedthatno
otherrulesareviolated.Forexample,rules<S1>,<G14>,<G15>,and<GS8>constrainhowa
RobotcanlegallyrotatetheCenterVortex.
TipfromtheGameDesignCommittee:Rule<G14>preventsaRobotfromgraspingaGame
Element.InthecontextofControllingtherotationoftheCenterVortex,Robotcontactwiththe
CenterVortexPVCverticalpolefromtwoormoredifferentdirectionsinthehorizontalplaneisnot
allowed.Forexample,aspinningwheeltouchingtheCenterVortexverticalsupportisallowed,ifit
doesnotdamagethePVCverticalpole.UsingtwoormorespinningwheelsthatinteractwiththePVC
verticalpolefromdifferentdirectionsinthehorizontalplaneviolatesrule<G14>.
1/12
11/10/2016
ProfessorProton
09242016,05:23PM
DefinitionsofOpenandClosedRecyclingSystems
Quote:
Question1:Whatisthedefinitionofanopenrecyclingsystem?
Question2:Whatisthedefinitionofaclosedrecyclingsystem?
Answer1:OpenRecyclingSystemAllRobotsparticipatinginaMatchhaveareasonable
opportunitytointeractwithScoredParticlesthathaverandomlyreturnedfromaVortextothe
PlayingFieldFloor.
Answer2:ClosedRecyclingSystemOneormorecyclesof(1)Scoring,(2)capturing,and(3)re
ScoringaParticleinamannerthatdeniestheotherRobotsinaMatchanequalopportunityto
captureajustScoredParticle.ThefollowingvideosofprototypeRobotsareexamplesofClosed
RecyclingSystemsfortheCornerVortex.
i)https://youtu.be/FqhtXVk1eZM?t=5m45s5minutesand45secondsintothevideo.
ii)https://youtu.be/5FPnng5BVdg
Robotsorgameplaystrategiesthathaveanyofthefollowingcharacteristicsareconsideredtobe
usingaClosedRecyclingSystem:
i)ARobotcreatedconfinedareathatcorralsScoredParticlesastheyexitaVortex.Thisisconsidered
abarrierthatrestrictsaccesstootherRobots.
ii)AmechanismthatreducestherandomnessofwhereScoredParticlesreturntothePlayingField
Floor.
iii)ControllingaScoredParticlebeforeitcontactsthePlayingFieldFloororCenterVortexBase.
ClosedRecyclingSystemsforScoringanyquantityofParticlesintheCornerVortex
and/orCenterVortexarenotallowed.
AlliancePartnersgivingtheirpermissiontouseaClosedRecyclingSystemdoesnotmake
aClosedRecyclingSystemlegal.
TipfromtheGameDesignCommittee:DonotparsethegamerulesandtheGameDesign
Committee'spostsintheGameQ&AForuminanattempttofindalegalambiguitythatjustifiesa
ClosedRecyclingSystemforScoringParticles.TheGameDesignCommittee'sintentissimple,all
ScoredParticlesshouldreturnwithoutrestrictiontorandomlocations[subjecttothedesignofthe
VortexParticlereturnmechanisms]onthePlayingFieldFloorandbothRobotsonanAllianceshould
haveanequalopportunitytoaccess,Control,orPossesstheirAlliance'sjustScoredParticles.
ProfessorProton
09252016,01:23PM
<G14>RobotsGraspingGameElementsUShapedAlignmentToolfortheBeacon
Quote:
Rule<G14>statesthatRobotscannotgrasp,graborattachtoaGameElement.
Question:Isa"Ushaped"alignmenttoolthatsfitsoneithersideoftheBeacon[it
mighttouchthesidesoftheBeacon]allowed?
2/12
11/10/2016
Answer:Yes,providedthatthealignmenttooldoesnotdamagetheBeaconandnootherruleis
violated.Forexample,RobotcontactwithanythingoutsidethePlayingFieldPerimeterviolatesrule
<S2>.
TipfromtheGameDesignCommittee:Thealignmenttoolshouldnotextendfarenoughpast
theBeaconsothatitcouldcontactavolunteerstandingnearthePlayingFieldPerimeter.
ProfessorProton
09252016,11:58PM
<G14>RobotGraspingGameElements:BeltContactWithTheCenterVortexVerticalPole
Quote:
CantheGDCclarifytheirTipinpost#3in"MiscellaneousGameQuestionsAnswer
Thread"
Question:MybuilderswanttotouchtheCenterVortexPVCverticalpolewitha
timingbeltstretchedbetween2pulleys.Theirthoughtisthatifthetimingbeltwraps
thepolelessthan180degrees,thatthiswouldnotviolate<G14>,sinceitwouldnot
grab,grasporattachitselftothepole.
Answer:Theactiondescribedviolatesrule<G14>.Thetimingbelt'smultiplepointsofcontact
aroundthePVCverticalpoleisconsideredtobegraspingtheGameElement.
ProfessorProton
09262016,10:17AM
<GS2>ParticleScoringEligibilityCenterVortexBase
Quote:
ThePlayingFieldFloorisdefinedas"Thesurfaceofthetilesthatmakeupthebase
ofthePlayingField."Fromthisdefinition,theblackbaseoftheCenterVortexisnot
partofthePlayingFieldFloor.
<GS2>saysinpart"AfterScoring,ParticlesmustmakecontactwiththePlayingField
FloorbeforetheyareeligibletobeScoredagain."
Question:MayrobotspickupParticlesfromtheblackbaseoftheCenterVortexand
scorethemwithoutviolating<GS2>ormusttheParticlestouchafloortilefirst?In
otherwords,shouldtheblackbasebeconsideredpartofthePlayingFieldFloorfor
purposesof<GS2>ornot?
Answer:Greatquestion!RobotsmaycollectParticlesfromtheCenterVortexBaseandlegallyScore
themwithoutviolatingrule<GS2>.
ProfessorProton
09262016,09:36PM
<GS2>ParticleScoringEligibilityCenterVortex
Quote:
3/12
11/10/2016
Post4intheMiscellaneousGameQuestionsAnswerThreadstatesthat
"Robotsorgameplaystrategiesthathaveanyofthefollowingcharacteristicsare
consideredtobeusingaClosedRecyclingSystem:...ii)Amechanismthatreduces
therandomnessofwhereScoredParticlesreturntothePlayingFieldFloor"and"all
ScoredParticlesshouldreturnwithoutrestrictiontorandomlocations[subjecttothe
designoftheVortexParticlereturnmechanisms]onthePlayingFieldFloor."
Question:Wewerewonderingifthefollowingtwostrategiesarelegal.Notethat
wehaveaveryconsistentlauncherallparticleslaunchedfromacertainposition
onthefieldwillfollowthesametrajectory.Consideracycletobetherelease/
scoringofmultipleparticlesthatwerestoredinourrobot.
"Pseudopseudoclosedrecycling"(StrategyA):Lineupsemirandomlyonthefield
suchthatparticleslaunchedwilllandsomewhereinthecentervortex.Giventhe
extremeconsistencyofourlauncher,theparticleslaunched(inagivencycle)will
landinthesamesectionofthecentervortexandthuslandinthesameareaofthe
field.However,duetosemirandomlineup,theareaofthefieldinwhichthe
particleslandoutofsevenpossibleareaswasnotpredeterminedandwilllikely
differforeachseparatecycle.
"Pseudoclosedrecycling"(StrategyB):Lineuponthefieldsuchthatparticles
launchedwilllandinapredeterminedsectionofthecentervortex(everycyclewill
launchtothissection)andthuslandinthesameareaofthefield,everycycle.
Thanksforyourtime.
Answer:Bothstrategiesareallowed.
TipfromtheGameDesignCommittee:TheGameDesignCommittee'sintentisforRobotsto
launch,push,place,etc.ParticlesintoaVortex(CenterorCornerVortexasappropriate)andthen
collectthejustScoredParticlesbydrivingasneededtothelocationwheretheParticlesnaturally
returntothePlayingFieldFloor.
ProfessorProton
09262016,10:24PM
<GS10>ControllingorBlockinganOpposingAlliance'sScoringElementsParticles
Quote:
IntheGameManualPart2itstatesthefollowingasitrelatestoscoringparticles:
ParticleScoringParticlesScoredintoanAlliancespecificCenterVortexearnfive
(5)pointseachforthecorrespondingAlliance(regardlessofParticlecolor.Particles
ScoredintotheAlliancespecificCornerVortexearnone(1)pointeachforthe
correspondingAlliance(regardlessofParticlecolor).
Thelanguageissimilarforbothautonomousanddrivercontrolledperiods.
Question:Isthistobereadasteamscanpurposelyscoreanycolorparticleintheir
cornervortexand/orcentervortex(ie,redgatheringblueparticlestoscore)oristhis
meanttoaddressinadvertentscoringonly(ie,redthrowsaredparticleintoablue
vortex).Weaskforclarificationandmorespecificverbiageindicatingthatalliances
areonlyallowedtocontrolparticlesoftheiralliancecolororthatalliancescan
controlparticlesofanycolorforscoring.
4/12
11/10/2016
Thankyou.
Answer:Rule<GS10>statesthatRobotsmaynotControlorBlockAccesstotheopposingAlliance's
CapBallorParticles.Therefore,RobotscannotlegallyattempttoScoretheopposingAlliance's
ScoringElements.
TheParticleScoringtextfromtheGameManualthatisreferencedintheteam'squestion,allows
RobotstointentionallyorinadvertentlyScoretheirAlliance'sParticlesintheopposingAlliance's
Vortexgoals.WhencountingScoredParticles,theAlliancegoaliswhatmatters,notwhichAlliance's
Particleenteredthegoal.
ProfessorProton
09262016,10:57PM
<GS1>Controlling/PossessingParticlesScoringMultipleParticlesTogether
Quote:
Question:Arerobotsallowedtoscoremultipleparticlestogetheratthesametime?
Forexample,canyoubuildanarmtoattachtotherobottograb2or3particlesand
thenscorethemtogether.
Answer:Yes,RobotsareallowedtoScoremultipleParticlestogetheratthesametime.Rule<GS1>
allowsRobotstoControlorPossessanyquantityoftheirAlliance'sParticlesoncetheMatchbegins.
TipfromtheGameDesignCommittee:Thequestionreferencesbuildinganarmtocollect
ParticlesandthenScorethem.IftheintentistousethearmtoScoreParticlesintheCenterVortex,
rule<GS8>preventsRobotsfromextendinghigherthan29inches(73.6cm),exceptduringtheEnd
Game.
ProfessorProton
09282016,07:50PM
<GS2>ParticleScoringEligibilityInteractingWithParticlesBeforeFloorContact
Quote:
Accordingto<GS2>AfterScoring,ParticlesmustmakecontactwiththePlayingField
FloorbeforetheyareeligibletobeScoredagain.AnyParticlesScoredinviolationof
thisrulewillhaveaScorevalueofzero
Question1:Maytheparticlestouchtherobot(oranypartthereof)priortomaking
contactthePlayingFieldfloor?
Question2:Canrobotsbedesignedtohelpdirectparticlesreturningfromthe
CenterorCornerVorticestowarditself,aslongastheparticlemakescontactwith
theplayingfieldfloorbeforebeingpossessedandscored?
Answer1:Yes,inadvertentcontactwithaRobotisallowed.RobotsmaynotPossessorControla
justScoredParticlebeforetheParticlecontactsthePlayingFieldFloorortheCenterVortexBase.
Answer2:No,thisisconsideredtobeControllingaParticleanditisnotalloweduntilafterthe
5/12
11/10/2016
ParticlemakescontactwiththePlayingFieldFloorortheCenterVortexBase.Seepost#4inthe
"MiscellaneousGameQuestionsAnswerThread"forthecompletedetails.
ProfessorProton
09282016,09:48PM
ManipulatingtheDirectionofParticlesScoredintheCornerVortex
Quote:
Ourteamwasthinkingofusingabarriertomanipulatethedirectionoftheparticles
scoredinthecornervortex.Thiswouldensurethatalltheparticlesenduponthe
sameside,whichwouldsaveusalotoftime.
Question:Isthisstrategylegal?
Ourideawouldbasicallyconsistofsomesortofbarrierattachedtoourrobot.The
barrierwouldnotbeincontactwiththefloor.
Thankyou.
Answer:Thisstrategywasdeclaredtobeillegalinthe"MiscellaneousGameQuestionsAnswer
Thread,"post#4.
ProfessorProton
09292016,05:53PM
<S1>UnsafeRobotandPlayingFieldDamageDecidingWhichRobotCausedTheDamage
Quote:
SupposearobotonallianceAisspinningthecentervortex,andarobotonallianceB
comesoverandeitherappliessomethingtospinittheotherdirection,orapplies
frictiontobringittoastop.
Question:Ifinthisstruggleforcontrollingtherotationofthecentervortex,itends
upbreaking,whichallianceisassessedapenalty?
Answer:ThePenalizedRobotisnotbasedonwhenitstartedtointeractwiththeCenterVortex.
RefereesobservingtheMatchwillmakethedetermination.
ProfessorProton
09292016,06:17PM
<G15>Destruction,Damage,Tipping,etc.RobotTippedOverByTheCenterVortex
Quote:
SupposerobotAisattemptingtoscorethecapballonthecentervortex.Aroboton
theotheralliancespinsthecentervortexaroundandknocksitintorobotA,causingit
totipover.
6/12
11/10/2016
Question:Istherobotthatspunthecentervortexassessedapenaltyfortipping
overrobotA?
Answer:StrategiesaimedsolelyattippingoveranopposingAllianceRobotarenotallowedperrule
<G15>.IntentionalinterferencewithaRobotthatPossessesaliftedCapBallisaviolationofrule
<GS11>.Theactiondescribedinthequestionisapossibleviolationofrules<G15>and<GS11>.
RefereeswatchingtheMatchwillmakethedeterminationifarulehasbeenviolated.
ProfessorProton
09292016,06:48PM
<G14>RobotsGraspingGameElementsTwoRobotsInteractingWiththeCenterVortex
Quote:
Twoteamsonthesamealliancearebothlegallytouchingthecentervortexpolefor
thepurposesofrotatingit.
Question:Isthecombinationofthetworobotsinteractingwiththecentervortex
poleconsideredgraspingit?
Answer:No.
ProfessorProton
09292016,07:04PM
<GS10>ControllingorBlockinganOpposingAlliance'sScoringElementsParticle
Quote:
Question1:Ifanparticlebelongingtotheopposingalliancedropsfromthecenter
vortexandlandsontopofanopposingalliance,becominglodgedinorontherobot,
willthisbeconsideredapenaltyforcontrollingaparticleoftheopposingalliance?
Question2:Ifitisapenalty,willtheteamcontrollingtheparticlebecontinually
calledforpenaltiesuntiltheyremovetheparticlefromtheirrobot?
Question3:Iftheanswertobothofthesequestionsisyes,thencantheoffending
teamdisabletheirrobottoavoidreceivingadditionalpenalties.
Thanks.
Answer1:Yes,thisviolatesrule<GS10>.AnAlliancehasaccesstobetweenthreeandfive
Particles.KeepinganopposingAlliance'sParticleoutofplaycreatesasignificantcompetitive
advantage.
Answer2:Yes,Penaltieswillbeassessedasdescribedinrule<GS10>.
Answer3:No,rule<G23>doesnotprotectaRobotfromearringPenaltieswhenitisDisabledfor
strategicreasons.
TipfromtheGameDesignCommittee:Robotsshouldbedesignedtopreventunintentional
PossessionoftheopposingAlliance'sParticles.
7/12
11/10/2016
ProfessorProton
09292016,07:35PM
CantheGDCdescribea"legal"waytorecoverparticlesfromthecornervortex?
Quote:
Question:Astherearealimitednumberofpossiblereturnpathsforaparticlethat
hasbeenscoredinthecornervortex,canyoudefinealegaldistancethattheparticle
musttravelonthefloor,orasettimethattheparticlemustbeavoided,ora
minimumdistancethatourrobotmuststaybackfromtheparticlereturn,sothat
retrievingthisparticlewouldbeconsidered"openrecycling?"
Answer:No,addingthesuggestedparametersintroducesruleloopholesthatcouldallowRobotsto
defeattheGameDesignCommittee'sintentforhowtolegallyrecycleParticlesduringgameplay.
ProfessorProton
10022016,04:26PM
<RG08>LaunchingGameScoringElementsTrajectoryConstraintsForParticles
Quote:
GameManualPart1rule<RG08>states:
RobotsareallowedtolaunchgameScoringElementsthroughtheair.Itisexpected
thatTeamswilllaunchtheelementswithjustenoughvelocitytoscore.Ifthe
refereesfeelthataRobotislaunchingScoringElementswithexcessivevelocitythat
wouldcauseasafetyissueiftheyweretoleavethefieldtheRobotwillberequired
tobeinspected.RobotsmustthendemonstratethatalaunchedGameElement
cannottravelintheairmorethanadistanceof4.88m(16ft.)ormorethan1.83m
(6ft.)inelevation.
Question:
Thewordingofthisruleseemstoindicatethatitisperfectlylegaltolaunchparticles
inexcessofthemaximum16feetdistanceand6feetelevation,aslongasthe
refereesfeelthatthelaunchingoftheparticlesisresponsibleanddoesnotposeany
safetyissues.Ourteamcurrentlylaunchparticlesnearlystraightupfromunderthe
centervortex.Atthetopoftheslowarch,theballreachesaheightof6feet6
inches.Wejustwanttoclarifytheintentofthegamedesigncommitteeinregardsto
thisrule.
Thankyou.
Answer:TheGameDesignCommittee'sintentisforalaunchedParticletotravelintheair
nomorethanadistanceof4.88m(16ft.)and/ornomorethan1.83m(6ft.)inelevation.
RobotsmaynotlegallylaunchParticlesfurtherorhigherthantheselimits.
ProfessorProton
10042016,11:20PM
CenterVortexmaxrotationrateanddoesrotatingtheCenterVortexbreakthegame?
TeamshavesharedintheGameQ&AforumtheirstrongbeliefthatallowingRobotsto
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TeamshavesharedintheGameQ&AforumtheirstrongbeliefthatallowingRobotsto
rotatetheCenterVortexbreaksthegameandtheGameDesignCommitteeshould
proclaimthatpurposefulrotationoftheCenterVortexisnotallowed.TheGameDesign
Committeebelievesthisisavalidconcernandwewouldliketoshareourperspectivewith
theFIRSTTechChallengecommunity.
Duringthegamedesignprocess,weconsideredthedifficultylevelofrotatingtheCenter
Vortex,thestrategicbenefitoftheaction,andhoweasilyanopposingAllianceRobotcould
disruptthestrategy.
Itisadifficulttask:WebelievethattheconstraintsplacedonhowRobotsmaylegally
interactwiththeCenterVortexpreventRobotsfromrotatingtheCenterVortexatan
angularratethatwillbreakthegame.RefereeswillpaycloseattentiontohowRobots
interactwiththeCenterVortextoassurethatthereisnodamageandRobotmechanisms
donotemploymultiplepointsofcontactthatgrab,grasp,pinch,etc.theCenterVortexPVC
VerticalPole.
Limitedstrategicvalue:RotatingtheCenterVortexaffectsbothAlliances,reducingthe
strategicvalueofthisstrategy.ARobotthatisrotatingtheCenterVortexisprobablynot
abletoconcurrentlyaddtotheAlliancesScore.Finally,rotatingtheCenterVortexduring
theEndGamewhileanopposingAllianceRobotisattemptingtoScoreaCapBallinthe
CenterVortexviolatestheCapBallinterferencerule,<GS11>.
Easytodisruptthestrategy:ItshouldbeeasyforanopposingAllianceRobottodisrupt
thestrategybypushingtheRobotawayfromtheCenterVortex.
Atthispointintheseason,theGameDesignCommitteebelievesthatallowingthe
purposefulrotationoftheCenterVortexisavalidgameactivitythatisdifficulttoperform,
haslimitedstrategicvalue,andiseasilydefendedagainst.However,FIRSTTechChallenge
teamsareextremelycreativeandtheyhavesurprisedtheGameDesignCommitteewith
theiringeniousRobotdesignsandstrategiesinthepast.Forexample,inthegameBowled
Over,theGameDesignCommitteewaspleasantlysurprisedthatRobotsliftedtheScoring
Cratessohighthatrefereesneededaladdertomeasuretheirheight!
TheGameDesignCommitteewillcontinuetoallowthepurposefulrotationoftheCenter
Vortexuntilthereisevidencethatthestrategyreallydoesbreakthegame.IfaRobot
demonstratesthatthestrategydoesbreakthegame,theGameDesignCommitteewill
probablyfixthegamewitharulingintheGameQ&AForum.
ThequestionsandcommentsmadebyTeamsintheQ&AGameFormhavemadethe
GameDesignCommitteeconcernedthatvigorousrotationoftheCenterVortexislikelyand
itmaycausedamage.Inmanycases,thedamagewillbevisibleandanobviousviolationof
thePlayingFielddamagerule,<S1>.Lessobviousinternaldamageoracceleratedwearand
tearfromfastrotationratesandthehighforcesneededtorotatetheCenterVortexmakeit
difficultforrefereesatdifferenteventstomakethesamejudgmentcall.Tohelpassure
consistencybetweentournaments,theGameDesignCommitteeisprovidingthefollowing
guidancetodeterminewhentheCenterVortexrotationrateviolatesrule<S1>:
i)ARobotthatpurposefullycausestheCenterVortextorotateatarateofonerevolutionin
lessthanfivesecondsviolatesrule<S1>.
ii)AcompleterevolutionoftheCenterVortexatahighangularrateisnotrequiredto
violaterule<S1>.
iii)Similartotheotherrulesthathaveatimecomponent,theperceivedrotationratewill
beajudgmentcallbyreferees.Timingaidssuchasastopwatchwillnotbeusedtoprecisely
determinetherotationrate.
TeamsthatplanonintentionallyrotatingtheCenterVortexshouldcarefullyreviewrule
<S1>andpaycloseattentiontothe"intent"statementthatispartoftherule.Whena
refereewarnsaDriveTeamthattheirRobotisdamagingtheCenterVortex,theRobot
shouldimmediatelystopinteractingwiththeCenterVortexandmoveaway.
That'sallfornow,
TheGameDesignCommittee
ProfessorProton
10062016,12:31AM
PushinganopposingAllianceRobotwhileitislaunchingParticles.
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Quote:
Question:Isitlegaltopushanopposingalliancerobotwhileit'slaunchingparticles
intothecentervortex?
Answer:Yes,providedthatnootherruleisviolated.Forexample,DriveTeamsusingaggressive
actionsagainstanopposingAllianceRobotshouldhaveaclearunderstandingoftheUnsafeRobot
andandPlayingFieldDamagerule,<S1>.IftheopposingAllianceRobotislaunchingParticles
towardsaVortex,theParticleinterferencerule<GS9>couldcomeintoplay.DriveTeamsshouldalso
becarefulnottoviolatethePinning,Trapping,orBlockingRobotsrule,<G16>.
ProfessorProton
10252016,08:07PM
<RG08>LaunchingGameScoringElementsElevationConstraint
Quote:
Question:RuleRG08limitsthemotionoftheparticlesto6feet"inelevation."Our
robotactuallyreleasestheparticles(intotheair)about22inchesabovethefloor.
Arewethenallowedtosendtheparticles94inchesabovethefloor?
Answer:The6ft(1.83m)elevationconstraintinrule<RG08>ismeasuredfromthePlayingField
Floor.
ProfessorProton
10252016,08:29PM
ParticleStuckintheCenterVortex.
Quote:
Question1:Ifaparticleislodgedbetweenthepvcpipesofthecentervortex,isit
countedasscored?
Question2:Basedonpreviousseasons,astuckscoringelementisstilluptothe
teamstodislodge?
Answer1:No,thedefinitionofScoredinsection1.4oftheGameManualPart2requiresthata
Particle"rollthroughthe[Center]Vortex"tobeScored.ParticlesarecountedasScoredafterthey
exitthroughthebottomspokesoftheCenterVortex.
Answer2:Correct.
ProfessorProton
10252016,10:10PM
<GS10>ControllinganOpposingAlliance'sScoringElementParticle
10/12
11/10/2016
Quote:
Question:Ifarobotlaunchesaparticleintoanopposingalliancerobot,doesthis
violateGS10?Thankyou!
Answer:Rule<G17>protectsaRobotfromreceiving<GS10>Penaltiesiftheintentofthe
opposingAllianceistoplace,launch,etc.aParticleintotheRobot.
<GS10>PenaltieswillcomeintoplayifaParticlethatislaunchedwiththeexpectationthatitwill
ScoreintoaVortexbecomesembeddedinanopposingAlliance'sRobot.Forexample,ifaRed
AllianceRobotlaunchesaredParticletowardstheCenterVortexonatrajectorythathasareasonable
chanceofScoringandtheParticlefallsintoaBlueAllianceRobot,theBlueAllianceRobotissubject
to<GS10>Penalties.
ProfessorProton
10252016,10:16PM
<RG08>LaunchingGameScoringElementsParticleElevationConstraint
Quote:
Question:Isitlegalforthemechanicalcapabilityofaparticlelaunchertoexceed6
ftinelevationiftherobotislimitedbysoftwaretouseareducedpercentageofthe
fullpowerofthelauncher?Thiswouldmeanthattherobotparticlelauncherwillbe
programmedtohaveanupperlimitof5ft11inches.
Answer:Yes.
ProfessorProton
10312016,10:22PM
<GS10>ControllinganOpposingAlliance'sScoringElementsParticles
Quote:
WewerewonderingifGS10couldbeclarifiedthroughexamples.
Ourrobotisdesignedtodetectthecolorofaparticleweunintentionallycollect.
Scenario1)Therobotisdesignedtoautomaticallyejectparticlesofthewrongcolor
outthesideoftherobotwithoutreversingcollection.Thiswouldbethefastestway
toreturnanaccidentallycollectedparticletoplay.
Scenario2)Therobotisdesignedtoautomaticallyreversethecollectionmechanism
(ejecttheparticleoutthefront)ifthewrongcolorparticleiscollected.Thiswould
alsoreturntheparticletoplayveryquickly.
Scenario3)Sameasscenario1,butthedrivercontrolsthis,ratherthantherobot
beingdesignedtohandleitautomatically.Thiswouldslowdownthereturningofthe
particletoplay.
Scenario4)Sameasscenario2,butthedrivercontrolsthis,ratherthantherobot
beingdesignedtohandleitautomatically.Thiswouldslowdownthereturningofthe
particletoplay.
Notethatforallscenarios,therobotoperatorsareactivelytryingtoavoidcollecting
thewrongcoloredparticle,thefunctionsarejustabackuptotrytopreventpenalty.
Theintentofthedesignistoimmediatelylosepossesionoftheotheralliance's
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particle.
Inthesescenarios,wouldtherebepenalties,andifsohowwouldthepenaltiesbe
assessed?
Thanks!
Answer:AllfourscenariosareexamplesofControllinganopposingAlliance'sScoringElement.As
statedinrule<GS10>,thefirstinstancewillresultinawarningwithanyfollowingviolations
resultinginaMajorPenaltyandanadditionalMinorPenaltyassessedforeveryfivesecondsthatthe
ruleviolationpersists.TheabilitytoquicklydiscardanopposingAlliance'sParticlesmayreducethe
magnitudeof<GS10>Penalties,however,itdoesnotgiveaRobotimmunityfromrule<GS10>
consequences.
ProfessorProton
11062016,09:09PM
<G12>RecordingtheScoreAfterObjectsCometoRestElevatedCapBall
Quote:
Arobothassuccessfullyliftedacapballabove30inchesastimeexpires,butthe
robotslowlylowersthecapballbelow30inchesoverthenextseveralseconds
followingtheendifthematch.
Question:Doesthe20pointsstillscore?Ifscoringisnotdetermined
instantaneously,pleaseexpandontimingofhowscoringdeterminationsaremade.
Answer:Asstatedinrule<G12>,refereeswilldeterminetheScorevalueoftheCapBallafterithas
cometorest.Intheexamplescenario,theRobothasnotaccomplishedtheEndGamehighheight
achievementbecausetheCapBallisbelow30inchesinheightafterithascometorest.
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PreMatchAnswerThread
PrintableView
Administrator
09222016,11:03AM
AnswerstoquestionspostedpertainingtoPreMatchactivities.
Raj
10192016,11:00AM
Prematch:UsingGamepadDuringInitPhasetoSetUpAutonomous?
Quote:
Duringsetupforagamematch,teamssetopmodefortheirautonomousprogram.
TheSelectOpModewindoweasilygetsclutteredwithnumerousautonomous
OpModes.OneideatheteamhadwastowriteasingleautonomousOpModethat
canbeconfiguredwithagamepadduringtheinitphaseoftheOpMode.Assuming
wedontcauseadelayofgame,wouldthisbelegalforustodo?
A:Yes,youcanusethegamepadtoselectwhichbranchofyourAutonomousOpModeyouwillrun
foragivenmatchaslongasthefollowingremainstrue:1)Thesettingisreadintheinit()phase2)
Thepressingofthegamepadisdonepriortotherefereesrandomizingthebeacons3)Itdoesnot
causeadelayinthestartofamatchand4)Theonlybuttonyoupressatthebeginningofthe
Autonomousperiodisthestartbuttononthedriver'sstationAndroiddevice.
ProfessorProton
10252016,09:16PM
Section1.5.1PreMatchCenterVortexOrientation
Quote:
Question:Canyoutellmehowthevortexisgoingtobesetupforthebeginningof
theautonomousround,forexamplewillitberandomizedbyyou,orwillitbesetup
fromthepreviousround?Thankyouverymuch.
Answer:Section1.5.1oftheGameManualPart2statesthat"FieldPersonnelwillrotatetheCenter
VortexAssemblyintothestartingorientationshowninFigure1.31."
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ProfessorProton
10312016,10:28PM
Section1.5.1PreMatchRobotPlacementonthePlayingField
Quote:
Question1:Whereexactlydotherobotsstart?
Question2:Iftheyaretouchingtheperimeter,cantherobotstartatanangle?
Answer1:DriveTeamsplacetheirRobotsonthePlayingFieldwiththeconstraintsdescribedin
section1.5.1oftheGameManualPart2.
Answer2:Yes.
WilWheaton
11092016,09:28PM
<G3>andPreMatchRobotSizing?
Quote:
HowisruleG3,therobotstartingvolumeconstraint,enforcedatthestartofa
match?
Answer:Routinedetailedresizingofrobotsduringmatchsetupshouldnotbeanormalpartof
setup.Refereeswillbewatchingforsignificantviolations.Minorconcernswillbeaddressedby
sendingtherobotbacktoinspectiontobeappropriatelycheckedforsizingcomplianceafterthe
match.
An18"stickatthefieldisanOKtoolforverifyingsignificantviolations,butrealisticallyshouldnot
beusedtocheckfor"millimeter"compliance.Inallcases,theofficialmeasureofsizecomplianceis
thesizingcubeusedduringRobotInspection.
2/2
11/10/2016
AutonomousPeriodAnswerThread
PrintableView
Administrator
09222016,11:02AM
AnswerstoquestionspostedpertainingtotheAutonomousPeriod.
ProfessorProton
09222016,12:20PM
ProfessorProton
09262016,12:14AM
Section1.5.2AutonomousPeriodBeacon:TriggeringtheBeaconButtonMultipleTimes
Quote:
Question:IstherobotallowedtopresstheBeaconButtontwiceintheAutonomous
periodinordertocorrectamistake?Thanks!
Answer:Yes,theactiondescribedisallowed.Thereisnorulethatlimitsthenumberoftimesa
RobotmaypressaBeacontriggerbuttonintheAutonomousandDriverControlledPeriods.
TipfromtheGameDesignCommittee:TohelppreventaccidentalresettingofaBeacontwiceby
abuttonpress,thereisabuiltinfiveseconddelayafterabuttonisreleasedbeforethetrigger
buttonsbecomeactiveandareabletochangetheilluminatedstateoftheBeaconagain.
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ProfessorProton
09282016,08:02PM
Section1.5.2AutonomousPeriodRobotScoringParticlesFromItsStartingLocation
Quote:
Question:Arerobotsrequiredtomovebeforethrowingparticlesintothecenter
vortexduringtheautonomousperiod?
Thankyou.
Answer:No,RobotsareallowedtolaunchParticleswithoutmovingfromtheirMatchstarting
location.
ProfessorProton
09282016,10:07PM
<G16>Pinning,TrappingorBlockingRobotsAccesstoBeaconsintheAutonomousPeriod
Quote:
Question1:Isitlegalforarobottoblocktheopposingalliance'sbeaconsduring
theAutonomousPeriod?Weareawareoftherulesstatingthatyoumaynotenter
theothersidefor10seconds,andthatyoumaynotscoretheotherbeacons,butcan
youblockaccesstothem?
Question2:Ifnot,couldyourrobotintentionally"sweep"theareatopushother
robotsawayfromtheirbeacons?Weaskaswehaveseensimilardefensiveplayin
autonomousplayinpreviousyears.
Thanks!
Answer1:IntentionalBlockingofanopposingAllianceRobotfromaccessingtheirAlliance'sBeacon
duringtheAutonomousPeriodviolatesrule<G16>.
Answer2:Yes,thisisanallowedstrategy,providedthattheopposingAllianceRobotdoesnot
becomePinned,Trapped,orBlocked.Seerule<G16>forthedetails.
ProfessorProton
09282016,10:17PM
Section1.5.2AutonomousPeriodStopingGamePlayEarly
Quote:
Question:IsitlegalfordriverstopressthestopbuttonontheDriverStationduring
theAutonomousPeriod?Werealizethatteamscouldstrategicallystoptheirrobots,
butwhatiftherobotstartstocausedamage?Arethedriversallowedtoprevent
damagebystoppingtherobotmidwaythroughtheAutonomousPeriod?Canthe
driveteamasktherefereetobeallowedtostoptheirrobotinthesekindsof
situations?
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Thanks!
Answer:DriveTeamsmaynotstopgameplayearlyduringtheAutonomousPeriodforstrategic
reasons.DriveTeamswiththecooperationofeitheraReferee,FieldTechnicalAdvisor,orField
TechnicalAdvisorAssistantmaypressthestopbuttonontheDriverStationifthereisunexpected
RobotbehaviorthathasorisverylikelytodamageanotherRobot,thePlayingField,ortheRobot
itself.
ProfessorProton
10052016,12:43AM
Section1.5.2.3AutonomousPeriodParticleScoringandRule<GS10>
Quote:
Question1:Duringautonomous,ifourrobotpicksuptheopposingalliance's
particlesandshootsthemintothecentervortex,doesitcount?Thereisnoway
duringautonomoustointentionallypickupopposingalliance'sparticles,ithastobe
accidental,right?
Question2:Isthereapenaltyifopposingalliance'sparticlesourrobotaccidentally
pickedupremaininsideourrobotwhenautonomousisended?
Answer1:Yes,ParticlesScoredduringtheAutonomousPeriodintoanAlliancespecificCenter
VortexearnfifteenpointseachfortheAlliancecorrespondingtothatVortex,regardlessofParticle
colorandtheAllianceRobotthatlaunchedtheParticle.
TheactiondescribedinthequestionisControllinganopposingAlliance'sParticleandthatviolates
rule<GS10>.Afterthefirstwarning,aMajorPenaltyisassessedandanadditionalMinorPenaltyis
assessedforeveryfivesecondsthattheruleviolationpersists.Theruleappliestointentionaland
accidentalControloftheopposingAlliance'sParticle.
Repeatedviolationof<GS10>couldbringtheEgragiousBehaviourrule,<G26>,intoplayfor
flagrantviolationofgamerules.
Answer2:Rule<GS10>isviolatedintheAutonomousandDriverControlledPeriodsassoonasa
RobotControlstheopposingAlliance'sParticle.Thereisno"freepass"toControlanopposing
Alliance'sParticleduringtheAutonomousPeriod.Rule<GS10>Penaltieswillbeassessedduringthe
AutonomousPeriodandcontinueduringtheDriverControlledPerioduntiltheopposingAlliance's
ParticlehasbeenreleasedfromtheRobot.
TipfromtheGameDesignCommittee:TurnofftheRobot'sParticlecollectionsystemduringthe
AutonomousPeriodtoavoidviolatingrule<GS10>.
ProfessorProton
10062016,12:19AM
<G16>Pinning,Trapping,orBlockingRobotsAccesstoaBeacon
Quote:
Question1:Duringautonomous,after10seconds,isitlegaltomoveourrobotto
justoutsideofthewhitegaffetape,thisstillgivesopposingalliance'srobotenough
roomtoaccesstheirbeaconfromotherdirectionsifit'sprogrammedto?
Question2:Duringautonomous,after10seconds,whileourrobotismoving
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towardsanopposingalliance'sbeacon,afewinchesawayfromwhitegaffetapeline
area,collideswithopposingalliance'srobot,botharestalledafterwards,doesit
violateblocking,pinning,trappingaccordingruleofG16?
Question3:Duringautonomous,after10seconds,isitlegaltomoveourrobotto
themiddleofopposingalliance'stwobeacons?Isthisablockingaccessscenario?
Question4:Essentially,thequestioniswhichareaourrobotcanmovetointhe
opposingalliancesidedoesn'tviolateG16?
Answer1:Theactiondescribedislegal,iftheRobotplayingdefenseisOutsidetheAreadefinedby
thesoftfoamfloortile(notincludingthetileconnectingteeth)thatcontainstheoneinchwide
gafferstape.
Answer2:Theactiondescribedislegal,iftheRobotplayingdefenseisOutsidetheAreadefinedby
thesoftfoamfloortile(notincludingthetileconnectingteeth)thatcontainstheoneinchwidestrip
ofwhitegafferstape.
Answer3:Thisisalegalstrategy,iftheRobotplayingdefenseisOutsidetheAreadefinedbythe
softfoamfloortile(notincludingthetileconnectingteeth)thatcontainstheoneinchwidestripof
whitegafferstapewhenanopposingAllianceRobotattemptstoaccesstheBeacon.
Answer4:Itisa<G16>ruleviolationforBlocking,ifaRobotisattemptingtoaccessitsAlliance's
BeaconandanopposingAllianceRobotisInsidetheAreadefinedbythesoftfoamfloortile(not
includingthetileconnectingteeth)thatcontainstheoneinchwidestripofwhitegafferstape.
TipfromtheGameDesignCommittee:TriggeringtheBeaconisahighvalueachievementduring
theAutonomousPeriod.ThegameruleswerewrittentoprotectRobotsthatareactivelyattempting
toaccesstheirAlliance'sBeaconsduringtheAutonomousPeriod.Refereeswillpayveryclose
attentiontoRobotsthatintentionallyPin,Trap,orBlockanopposingAllianceRobotthatisactively
attemptingtoaccesstheirAlliance'sBeaconduringtheAutonomousPeriod.Robotsshouldstayclear
ofthesoftfoamtilecontainingthewhitegafferstapeontheopposingAlliance'ssideofthePlaying
FieldduringtheAutonomousPeriod.
ProfessorProton
10112016,10:08PM
Section1.5.2.1AutonomousPeriodBeaconTriggeredinFavoroftheOpposingAlliance
Quote:
Question:If,duringautonomous,arobotmistakenlyactivatesthewrongcoloron
oneoftheiralliance'sbeacons,dotheystillearnanextraparticle,orwouldtheother
alliance?
Example:Redalliancemistakenlyactivatesoneoftheirbeaconstoblue,andblue
alliancedoesn'tscoreoneoftheirownbeacons.Wouldthebluealliancereceivethe
particle?Therulespecifiesthat"thestatesofalltheClaimsdetermineshowmany
bonusParticlesarereleased(uptoamaximumoftwo)")
Answer:Fortheexample,iftheBeaconisilluminatedblueattheendoftheAutonomousPeriod,
theBlueAlliancewillreceiveoneBlueParticleandthirtypointsfortheBeacontriggeredintheirfavor
bytheRedAllianceRobot.
TipfromtheGameDesignCommittee:RobotsmayavoidawardingaParticleandpointstothe
opposingAlliancebyrecognizingthattheBeaconwastriggeredinfavoroftheopposingAllianceand
pressingthebuttonagaintochangetheBeaconcolor.
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ProfessorProton
10112016,10:49PM
Section1.5.2.1AutonomousPeriodAddingEarnedParticlestothePlayingField
Quote:
1.5.2Autonomousperiodsummary:"...thebonusParticles,ifany,willbeintroduced
ontothefieldbytheRefereesbyplacingthemintothecorrespondingAlliances
CornerVortexfortheAlliancethatearnedthemsothattheyrolldownoneofthe
ParticleReturns."
Question:Isittobeassumedthatitwillbethedecisionoftherefereeastowhich
oftheParticleReturnsthenewParticlesareintroduced?Andoncedecided,wouldit
bethesameforbothalliances?
TheconcernisthatperhapsoneParticleRunintroducestheBonusParticlesinaway
morebeneficialtooneAllianceiftheintroductionisnotstandard.
Answer:ArefereewillplacetheParticleintheCornerVortexwheretheleftandrightsideParticle
ReturnrampsmeetattheVortexBar.TheParticleshouldhaveanequallikelihoodofrollingdownthe
leftorrightramp.TheintentisthattheParticlewillbeintroducedtoarandomlocationonthe
PlayingFieldFloor,subjecttothedesignoftheCornerVortexParticleReturnramps.
ProfessorProton
10172016,10:32PM
<G16>Pinning,Trapping,orBlockingRobotsBlockingAccesstoaBeacon
Quote:
Post#5,Answer#2intheautonomousperiodanswerthreadstatesthatitislegalto
"'sweep'theareatopushotherrobotsawayfromtheirbeacons,"providedthat"the
opposingAllianceRobotdoesnotbecomePinned,Trapped,orBlocked".
Post#8intheautonomousperiodanswerthreadstatesthat"Robotsshouldstay
clearofthesoftfoamtilecontainingthewhitegafferstapeontheopposingAlliance's
sideofthePlayingFieldduringtheAutonomousPeriod."
IntheGameManual,Blockingisdefinedas"PreventinganopposingAllianceRobot
fromaccessinganAreaorAlliancespecificGameElementforanextendedperiodof
timebyobstructingALLpathsoftraveltotheobjectorArea."
Question:Isitlegalforarobotto"sweep"(driveoverbutnotparkon)the
opposingAlliance'ssideofthePlayingField(includingtheareabythebeacons)
duringautonomousafterthe10secondshavepassed?
Answer:ItislegalforaRobottodrivearoundInsidetheopposingAlliance'sAreaofthePlaying
FieldafterthefirsttensecondsoftheAutonomousPeriodhaveelapsed.Keepinmindthatallofthe
rulesapplytotheAutonomousPeriodunlesstheGameManualorQ&AForumgrantsanexception.
Forexample,rule<G16>isviolatedifthedefendingRobotisInsidetheAreadefinedbythesoft
foamfloortile(notincludingthetileconnectingteeth)thatcontainstheoneinchwidestripofwhite
gafferstapeatthesametimethatanopposingAllianceRobotisapproachingtheirAlliance'sBeacon.
Inthisscenario,thedefendingRobotisBlockingbecauseitisbetweentheopposingAllianceRobot
andtheirAlliance'sBeacon.Arule<G16>violationcanoccurifthedefendingRobotisParkedor
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11/10/2016
moving."Stayingclearofthesoftfoamtilecontainingthewhitegafferstape"isaguidelinethatwill
helptokeepaRobotfromreceivingaPenaltyforBlockingaccesstotheopposingAlliance'sBeacon.
ProfessorProton
10312016,10:51PM
<GS3>CornerVortexScoringViolationsParkingontheCornerVortex
Quote:
Question:WhenparkingarobotontheCornerVortexduringtheautonomous
period,toprecludeslidingbackdowntheramp,isitlegaltohaveoneofyourrobot's
wheelsparkedintheVortexBarareawherethelevelchangesfromtheCorner
VortexRamptotheParticleReturnramp?Therewouldbenopartoftherobot
grasping,onlythewheelsittinginthelowerlevelofwhereballsarescored.Thanks
forallyoudo.
Answer:TheRobotinthescenarioisviolatingtheCornerVortexScoringrule<GS3>,becauseitis
breakingtheverticalplaneoftheoutside(facingthePlayingFieldWall)verticalfaceoftheVortex
BaranditisprobablymakingcontactwiththeParticleReturnramp.
ProfessorProton
11022016,08:05PM
<G16>BlockingRobotsParkingontheOpposingAlliance'sCornerVortex
Quote:
Scenario:Tensecondsorlaterintheautonomousperiodaredalliancerobotgoes
overtothebluealliancesideoftheplayingfieldandintentionallyparksontheblue
alliancecornervortex.
Question1:Isdoingthislegalaslongasitisafter10seconds?
Question2:Willtheredalliancerobotearnpointsforparkingonthecornervortex?
Thankyou!
Answer1:Thisisalegalstrategy,providedthataBlueAllianceRobotdoesn'tattempttoaccessthe
CornerVortexwhileitisBlockedbytheRedAllianceRobot.
Rule<G16>PenaltieswillcomeintoplayifaBlueAllianceRobotattemptstoaccesstheCorner
VortexwhileaccessisBlockedbytheRedAllianceRobotthatisintentionallyParkedorCompletely
ParkedOntheCornerVortex.
Rule<G16>Penaltieswillnotcomeintoplayif,intheopinionofthereferees,theintentoftheRed
AllianceRobotwasnottoParkontheopposingAlliance'sCornerVortex.Forexample,rule<G16>
PenaltieswillnotcomeintoplayifParkingontheCornerVortexwascausedbytheRedAlliance
RobotcollidingwithanotherRobot.
Answer2:Yes,evenifrule<G16>Penaltiescomeintoplay.
6/7
11/10/2016
DriverControlledPeriodAnswerThread
PrintableView
Administrator
09222016,11:01AM
AnswerstoquestionspostedpertainingtotheDriverControlledPeriod.
ProfessorProton
09222016,12:21PM
ProfessorProton
09282016,09:55PM
<GS15>StartingtheEndGameAchievementsEarlyLiftingtheCapBall
Quote:
Question:IsitlegaltointentionallyliftthecapballduringtheDriverControlled
Periodfortransportationpurposes?InGameManual2,rule<GS15>statesthat
"RobotsmaynotIntentionallyperformanyEndGamescoringachievementspriorto
thestartoftheEndGame,"butalsostates"IntentionalControlledmovementofan
AlliancesownCapBallisallowedatalltimes."Soassumingwe'renotsettingupfor
scoring,wouldwebeallowedtolifttheballabovethefloorjustenoughtohave
completecontroloveritfortransportationaroundthefield?
Thanks!
Answer:IntentionallyliftingtheCapBallanyheightabovethePlayingFieldFloorisanactof
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ScoringanachievementthatisreservedfortheEndGame.IntentionallyliftingtheCapBallbefore
thestartoftheEndGameviolatesrule<GS15>.
ProfessorProton
11012016,01:18PM
<GS10>BlockingAccessCabBallBlockingAccesstoParticles
Quote:
Wehadourfirstqualifyingtournamentlastweekend,andsomethingcameupthat
wehadn'tthoughtabout.
Theparticlesandcapballstendtofrequentlyendupinthenonrampcornersofthe
playingfieldduringtheTeleOpperiod.Thisisespeciallytrueoftheparticles
introducedbyrollingthemdowntheparticlereturnsaftertheautonomousperiod.
Thosesimplyrollintothatcornerunlesstherearobotparkedintheway.
Question:If,forinstance,twoblueparticlesareinthecornerofthefield
behind/underaredcapballthatisalsointhesamecorner,isthebluealliance
allowedtobumptheredcapballoutofthewaysotheycanretrievethebluescoring
elements?Orarethoseelementsconsideredoutofplayfortheblueallianceuntilthe
redalliancecomesandremovestheredcapball?
Thankyou.
Answer:Yes,theBlueAllianceRobotmaybrieflyControltheredCapBallforthepurposeofgaining
accesstotheBlockedblueParticles.
TipfromtheGameDesignCommittee:DriveTeamsshouldnottakeadvantageofthisexception
togainanintentionaltacticaladvantage.
ProfessorProton
11062016,08:54PM
<GS15>andControllingtheCapBallBeforetheEndGame
Quote:
Thisisafollowuptoquestion#3intheDriverControlledPeriodthread.
BasedononthesentenceinGS15thatstates:
IntentionalControlledmovementofanAlliancesownCapBallisallowedatalltimes.
Andtheanswertopost#3thatisfocusedonwhethertheCapBallislifted,itisour
understandingthatwecanmovethecapballtoourpreferredlocationforendgame
scoringbeforetheendgameaslongaswedon'tlifttheballoffthemat.
Question1:Isthiscorrect?
Question2:Ifso,canwealsoactuallygrasptheCapBallandmoveitbeforeend
game(againaslongaswedon'tliftitoffthemat)tomoveittoastrategiclocation?
Thanks.
2/3
11/10/2016
Answer1:Yes.
Answer2:Yes.
3/3
11/10/2016
EndGameAnswerThread
EndGameAnswerThread
PrintableView
Administrator
09222016,11:01AM
EndGameAnswerThread
AnswerstoquestionspostedpertainingtoEndGame.
ProfessorProton
09222016,12:23PM
ProfessorProton
09252016,01:06PM
Section1.5.41cEndGame:CapBallOntheCenterVortexBase
Quote:
IntheEndGame,aRobotcanlifttheCapBalloffofthePlayingFieldFloorfor
points.AccordingtothedefinitionofthePlayingFieldFloor,"Thesurfaceofthetiles
thatmakeupthebaseoftheplayingfield,"rollingtheballontothecornervortex
wouldcountasbeingliftedtothelowheight.
Question:DoesplacingtheCapBallorleavingtheCapBallonthebaseofthe
CenterVortexcountaslowheightaswellsincethebaseoftheCenterVortexisnot
atile?
Answer:Greatquestion!ACapBallOntheCenterVortexBasedoesnotearnCapBallLowHeight
points.
1/5
11/10/2016
EndGameAnswerThread
Confirmation:ACapBallthatisOntheCornerVortexandisnotincontactwiththePlayingField
FloorqualifiesfortheEndGameLowHeightScoringachievement.
ProfessorProton
09252016,04:03PM
<GS11>CapBallInterference
Quote:
Rule<GS11>states:"TheintentofthisruleistoallowRobotstoScoretheCapBall
withoutinterference.ARobotinteractionwithanopposingAllianceRobotmaybe
ruledattherefereesdiscretiontobeInconsequentialandInadvertentandwillnot
bePenalized."
Question:Isthistobeinterpretedasonlyprotectingrobotsinpossessionofthecap
ballWHILSTintheactofscoring?Inotherwords,whenacapballisknockedoutof
possessionbyadirectactofanopposingrobot,arenopenaltiesassessedifthe
affectedrobotwasnotactuallyintheactofscoring?
Answer:DuringtheEndGame,aRobotPossessingaCapBallthatisraisedanyheightabovethe
PlayingFieldFloorisintheprocessofScoringtheelevatedCapBallachievementandisprotectedby
rule<GS11>.
TipfromtheGameDesignCommittee:RobotsusinganelevatedCapBallduringtheEndGame
togainanadvantageovertheiropponent,otherthantheScorevalueoftheCapBall,isnotallowed.
Examplesofinappropriateuseof<GS11>protectionsare:
UsingaCapBalltointentionally:
i)BlockanopposingAllianceRobot(<G16>).
ii)BlockanopposingAllianceRobotthatisattemptingtoaccesstheirAlliance'sCornerVortex
(<GS14>).
ii)BlockanopposingAllianceRobotthatisattemptingtoaccesstheirAlliance'sCapBallorParticles
(<GS10>).
iv)InterferewithanopposingAlliance'sParticlesthathavebeenlaunched/releasedwiththeintention
ofScoring(<GS9>).
PenaltiesshouldnotbeassessedagainstanopposingAllianceRobotwhenaninappropriateuseofa
rule<GS11>protectionhasbeenusedagainstthem(<G17>).
ProfessorProton
09252016,11:47PM
<GS11>CapBallInterference:RotatingtheCenterVortex
Quote:
Answer#3intheMiscellaneousGameQuestionsthreadsays"Yes,Robotsmay
purposefullyControltherotationoftheCenterVortex,providedthatnootherrules
areviolated."
Rule<GS11>saysinpart"DuringtheEndGame,Robotsmaynotinterferewithan
opposingAllianceRobotthatPossessesaliftedCapBallabovethePlayingField
Floor"and"TheintentofthisruleistoallowRobotstoScoretheCapBallwithout
interference."
Question1:MayarobotrotatetheCenterVortexduringtheEndGametomoveit
awayfromanopposingalliance'srobotthatistryingtoscoretheirCapBallonthe
2/5
11/10/2016
EndGameAnswerThread
CenterVortex,ortomakeitdifficultforthatrobottoscoretheCapBall?
Question2:IfarobotrotatestheCenterVortexandcausestheCenterVortextohit
theCapBallheldbyanopposingalliance'srobot,isthatactionsubjectto<GS11>
CapBallInterferencepenalties(eveniftherobotmakesnocontactwiththeCapBall
ortheopposingrobot)oristhatalegaldefensivestrategy?
Answer1:Theactiondescribedviolatesrule<GS11>becauseitinterfereswithaRobotthatis
attemptingtoScoreaCapBall.
Answer2:Theactiondescribedviolatesrule<GS11>becauseitinterfereswithaRobotthatis
attemptingtoScoreaCapBall.
ProfessorProton
10032016,08:14PM
TheGameDesignCommitteeUpdatedPost#5
TheGameDesignCommitteechangedtheanswersinpost#5tocorrectadiscrepancyintheGame
Q&AForum.
Weapologizeforintroducingatemporaryinconsistencyintheforum.
ProfessorProton
10062016,12:38AM
RotatingtheCenterVortexduringtheEndGame.
Quote:
Question:Isitlegaltospinthecentervortexwhileanopposingalliancerobotis
tryingtodumpParticlesduringendgame?Theopposingalliancerobotisnotlifting
thecapballinthisscenariobuttryingtoliftupanarmtodumptheparticlesintothe
centervortex.
Answer:Yes,providedthatnootherruleisviolated.Forexample,rotatingtheCenterVortexsothat
itcausesanopposingAllianceRobottotipoverviolatesrule<G16>.
ProfessorProton
10062016,12:48AM
<RG08>LaunchingGameScoringElementsCapBall
Quote:
Question:Ifateamchoosestolaunchthecapballduringendgametoscoreitin
thecentervortex,isthetopofthecapballorthebottomofthecapballthepoint
thatmustremainunderthe6ftlimitationforlaunchinggameelements?
Answer:Thankyoufortheterrificquestion!ThelowestpartoftheCapBallmustnotexceed6ft.
(1.83m)abovethePlayingFieldFloor.
3/5
11/10/2016
EndGameAnswerThread
ProfessorProton
10072016,12:34AM
<GS11>CapBallInteferenceCenterVortexRotationCausedByScoringaCapBall
Quote:
Question:Ifateamreleasesthecapballasitisbeingscored,butasaresultofit's
momentumwhenlandinginthecenter,thecentervortexmovesandhitsthe
opposingcapballoropposingrobotholdingacapball,isitconsideredaviolationof
<GS11>?
Answer:ARobotattemptingtoScoreaCapBallintheCenterVortexisplayingoffense,therefore,
theactiondescribeddoesnotviolaterule<GS11>.
ProfessorProton
10112016,09:39PM
<GS11>CapBallInterferencePlayingOffenseversusPlayingDefense
Quote:
InlightofEndGame#5answer:"Answer1:Theactiondescribedviolatesrule
<GS11>becauseitinterfereswithaRobotthatisattemptingtoScoreaCapBall."
I'mconcernedaboutwhetherteamsattemptingtocapthecentervortexwillbe
penalizedbymovementofthevortex(bytheirownrobot).
It'shardtoconceiveofamethodofcappingtheCenterVortex,thatisguaranteed
NOTtomoveit.
Question1:So,iftwoteamsarebothattemptingtocaptheVortex,andthevortex
isrotatedintheprocess,how/willpenaltiesbeassessed?
Tome,thisbringsuptheeternalquestionof:IntentorAccident?"Wasthevortex
movementintentionaloraccidental"(regardlessoftheconsequencetothe
opponent).Thiscanbeimpossiblefortherefstoknow.
Question2:So...areteamsgenerallyexcludedfromgettinga<GS11>penaltyif
theyarealsoinpossessionofaCapBallinendgame,becausethatautomatically
putstheminpotentialcappingmode?Orwillrefsbeputinthepositionofhavingto
decideintent?
Thanks.
Answer1:RobotsattemptingtoScoreaCapBallintheCenterVortexareplayingoffenseandare
notsubjecttorule<GS11>constraints/Penalties.
Answer2:TherefereewillmakethedeterminationifaRobotisattemptingtoScoretheirAlliance's
CapBall(i.e.playingoffense)orinterferingwithanopposingAllianceRobotthatisattemptingto
ScoreaCapBall(i.e.playingdefense).Ingeneral,Robotsplayingoffensewillnotreceivea<GS11>
Penalty.
4/5
11/10/2016
EndGameAnswerThread
ProfessorProton
10312016,09:47PM
<G14>RobotsGraspingGameElements&<G15>Destruction,Damage...CenterVortex
Quote:
Scenario:Arobotscoresthecapballinthecentervortexusingaliftingmechanism
thathasastringontheendoftwoforkliftlikeprongs.Thestringmaygetstuck
behindtheverticalredorbluetubing,leavingthatrobotunabletoraisesaidforklift
andexitthatareawithoutliftingoutthecapballaswell.
Question1:Isitlegaltoendthegameinthatpositionwiththestringaroundthe
centervortex?
Question2:Wouldthatrulingbediffernetevenifitwerenotincontactwith
anything?
Answer1:Thescenarioviolatesrule<G15>duetoRobotentanglementwiththeCenterVortexand
rule<G14>forgraspingaGameElement.
Answer2:Thescenarioviolatesrule<G15>duetoRobotentanglementwithaGameElement.
ProfessorProton
11022016,11:22PM
GameManualPart2Section1.5.4EndGameCapBallScoringClarification
DuringtheEndGame,thecoloroftheCapBallmustmatchtheAlliancecolorof
theRobotorCenterVortexgoalfortheCapBalltocountasScored.For
example:
i)ARedAllianceRobotliftingaredCapBalliseligibletoearntheloworhigh
heightScoringachievements.
ii)AredCapBallliftedbyaBlueAllianceRobothaszeroScorevalue.
iii)AredCapBallsupportedbytheredCenterVortexgoalandnotincontact
withaRedAllianceRobotearns40points.
iv)AredCapBallintheblueCenterVortexgoalhaszeroScorevalue.
ProfessorProton
11022016,11:27PM
<GS11>CapBallInterferenceLaunched/ReleasedCapBallClarification
ACapBallthathasbeenfullyreleasedbyaRobotandisabove18inches(45.7
cm)fromthePlayingFieldFloorwitharealisticintentionofCappingaCenter
Vortexisprotectedbyrule<GS11>.
5/5
11/10/2016
PlayingFieldAnswerThread
PrintableView
Administrator
09222016,11:03AM
AnswerstoquestionspostedpertainingtothePlayingField.
ProfessorProton
09262016,10:17AM
<GS2>ParticleScoringEligibilityCenterVortexBase
Quote:
ThePlayingFieldFloorisdefinedas"Thesurfaceofthetilesthatmakeupthebase
ofthePlayingField."Fromthisdefinition,theblackbaseoftheCenterVortexisnot
partofthePlayingFieldFloor.
<GS2>saysinpart"AfterScoring,ParticlesmustmakecontactwiththePlayingField
FloorbeforetheyareeligibletobeScoredagain."
Question:MayrobotspickupParticlesfromtheblackbaseoftheCenterVortexand
scorethemwithoutviolating<GS2>ormusttheParticlestouchafloortilefirst?In
otherwords,shouldtheblackbasebeconsideredpartofthePlayingFieldFloorfor
purposesof<GS2>ornot?
Answer:Greatquestion!RobotsmaycollectParticlesfromtheCenterVortexBaseandlegallyScore
themwithoutviolatingrule<GS2>.
ProfessorProton
09282016,09:38PM
VisionPatternsUnderneathBeacons
Quote:
Question:Pleaseclarifywhatthevisionpatternsunderthebeaconarefor.Also,will
theybesameforallcompetitions?
Thankyou.
1/2
11/10/2016
Answer:TeamsmayusetheRobotControllerAndroiddevicecamerainconjunctionwithVuforia
navigationsoftware,whichispartofthedefaultsoftwareapplicationlibraryfortheFIRSTTech
Challenge,todeterminetheRobot'slocationonthePlayingFieldwhenatleastoneoftheVision
Targetsisviewedbythecamera.ThisinformationwillhelpaRobotnavigatetoaBeaconlocation
duringtheAutonomousPeriod.
ThefourimagesinAppendixBoftheGameManualPart2willbeusedatallcompetitionsandthey
willalwaysbeinthesamelocationsonthePlayingField.Seethe"FieldSetupandConfiguration
Guide"forthelocationsoftheVisionTargets.
2/2
11/10/2016
MiscellaneousTournamentRulesAnswerThread
PrintableView
Administrator
10112016,01:16PM
AnswerstoyourquestionsaboutTournamentRulesthatdon'tfallintotheotherestablished
categories.
Barry
10112016,01:28PM
Quote:
Whatistheminimumnumberofteamsneededtoholda"valid"LeagueMeet?
AppendixBoftheLeagueMeetGuidementions"a10team(minimum)League
Meet",butIcan'tfindanywhereelsethatdirectlyanswersthisquestion.
Forexample,ifaLeaguehas10teams,butonthedayoftheLeagueMeetonly8
teamsshowuptotheevent(oronly8teamshavearobotthatpassesinspection),is
8teamsasufficient"quorum"toproceedwiththeMeetandhavethosematches
counttowardstheLeagueTournament?
Thanks!
Pm
Thanksforyourquestion!Ideally,everyteaminaLeaguewillcompeteineverymeet,butwerealize
thatsometimesweatherorotherunexpectedcircumstancescancauseateamtochangetheirplans
andnotattendanevent.Whenthathappens,wegenerallyallowtheeventtocontinue,andthe
matchestocounttowardtheLeagueTournament,eveniftherearefewerthan10teams
participating.
Ifthecircumstanceswarrantit,yourlocalAffiliatePartnermaydecidetocancelorreschedulean
eventiftheyexpectalowturnout.Thatdecisionwouldbemadeatthelocallevel.
Thanks!
Raj
10192016,11:00AM
Prematch:UsingGamepadDuringInitPhasetoSetUpAutonomous?
Quote:
1/2
11/10/2016
Duringsetupforagamematch,teamssetopmodefortheirautonomousprogram.
TheSelectOpModewindoweasilygetsclutteredwithnumerousautonomous
OpModes.OneideatheteamhadwastowriteasingleautonomousOpModethat
canbeconfiguredwithagamepadduringtheinitphaseoftheOpMode.Assuming
wedontcauseadelayofgame,wouldthisbelegalforustodo?
A:Yes,youcanusethegamepadtoselectwhichbranchofyourAutonomousOpModeyouwillrun
foragivenmatchaslongasthefollowingremainstrue:1)Thesettingisreadintheinit()phase2)
Thepressingofthegamepadisdonepriortotherefereesrandomizingthebeacons3)Itdoesnot
causeadelayinthestartofamatchand4)Theonlybuttonyoupressatthebeginningofthe
Autonomousperiodisthestartbuttononthedriver'sstationAndroiddevice.
2/2
11/10/2016
PlayingFieldSetupAnswerThread
PrintableView
Administrator
09222016,01:52PM
AnswerstoquestionspostedpertainingtothesetupofthePlayingField.
AgentAngelaPage
10062016,12:04PM
CuttingTiles
Quote:
Whereistheofficialinstructionsforcuttingthematsinthecenter,forthesquare
woodenbase?
Thankyouforyourquestion.YoucanfindtheFieldSetupGuidelocatedonourwebsitethat
providesinstructionsonhowtocutthetiles.
http://www.firstinspires.org/resourc...ndseasoninfo
AgentAngelaPage
11012016,12:42PM
VisionTargets
Quote:
Greetings,
Ourteamisexperimentingwiththeimagerecognitionandwewouldliketoknow
onwhattypeofpaper/cardstocktheimageswillbeprinted,andwhetherornot
theywillbelaminated.
Thankyouverymuch
FTC6996OncomingStorm
TheVisionTargetsshouldbeprintedon8.5x11whitecardstock,whichcanbefoundatmostlocal
officesupplyorcraftstores.Theimagesspecificallyindicatethattheyshouldnotbelaminated,as
thismightincreasethereflectionoffthetargetandthereforemakeitmoredifficulttonavigate.
1/3
11/10/2016
AgentAngelaPage
11012016,12:48PM
PaintingCenterVortexBase
Quote:
Arewesupposedtopaintthewoodenbaseofthecentervortexblack?
OnlyOfficialEventsarerequiredtopainttheCenterVortexbaseblack.Teamsthathavepurchased
theirownfieldforpracticecanalsoopttopainttheirCenterVortexbaseblackasitwillhelptoseal
thebaseandprotectthebasefrompotentiallywarpingovertime.
AgentAngelaPage
11012016,02:58PM
BeaconButtonHeight
Quote:
Giventhatdifferenttypesoffieldshaveslightlydifferentheights,andnewermatsare
slightlythickerthanolderones,whatistheofficialheightofthebuttonsonthe
beaconsabovethemat?Isitcorrectthatitcanbeplusorminusoneinchfromthe
officialheight?
Perrule<G24>fromtheGameManualPart2:PlayingFieldandGameElementswillstarteachMatch
withtolerancesthatmayvarybyasmuchas+/2.5cm(1.0inch).TeamsmustdesigntheirRobots
accordingly.
Thisappliestothefieldperimeterwallsaswellasallgameandscoringelements.Teamsmust
rememberthatthereareafewdifferentvariationsoffieldperimeters,andthiscanpotentiallychange
theheightoftheRescueBeaconbutton.Itisalsopossiblethataneventcanhaveonetypeoffield
perimeterforthepracticefields,andadifferentperimeteronthecompetitionfields.Thefollowing
measurementsareapproximateheightsofeachfieldtype:
AndyMarkFieldPerimeter(newestversion):123/4"
IFIFieldPerimeter:115/8"
LogoLocFieldPerimeter:123/8"
TeamsshouldbesuretodesigntheirRobottoaccommodateforthepotentialvarianceinthebeacon
buttonheight.
AgentAngelaPage
11072016,03:07PM
Quote:
Themanualsaysthetargetsshouldbeprintedsuchthatthetarget"coverstheentire
page".But,thePDFprovidedonlinehasa1"marginaroundtheedgewhenprinted.
SincethefileisuploadedasaPDF,wecan'taltertheimagesize.So,exactlywhat
shouldbethedimensionsoftheimagenotincludinganymargin?
Also,dowetrimthewhiteedgebeforemountingwithwhitegafferstape?Ordowe
justputthetapeontheoutsideoftheprinted8.5"x11"?Basically,whatshouldbethe
2/3
11/10/2016
finaldimensionsofthemountedimagewithgafferstape?Thisisimportantassome
locationsmighthaveafinaloutsidedimensionwidthof11"plus1.5"oftapeoneither
sidegivingatotalof14".Othersmighttrimthemarginanduse1"(orless)oftape
oneachsidegivingafinaldimensionof11"orless.Thisvariabilitycouldsignificantly
affectarobot'sperformance.
Step81intheAndyMarkFieldSetupGuidedirectsyoutothewebsitewherethetargetimagesare
located.TheTargetimagesshouldbeprintedasison8.5x11whitecardstock,theymustnotbe
resized.YoudonottrimtheedgesoftheTarget.Whentapingthetargettothefieldperimeteritis
importanttomakesuretheentireimageisvisibleontheotherside.
Step83Outlinesthatthetargetimagesshouldbeplacedunderneatheachbeacon11/2"fromthe
floorintheirappropriatelocation.
Step84referstoprinttheFIRSTTechChallengeLogocoveringtheentirepage.Thiswayitcanbe
seenbytheaudience.AlsolinkedthroughthedocumentisaPDFthatyoucanuseinsteadof
downloadingthelogoimageandresizingittofitthepage.
AgentAngelaPage
11072016,03:54PM
Quote:
IsthereapageinFTCforDimensionsofthePlayingFieldbesidewhatyoucanfind
onAndyMark?
ThePlayingFielddimensionsarelocatedinsection1.3oftheGameManualPart2.
http://www.firstinspires.org/resourc...ndseasoninfo
AgentAngelaPage
11072016,03:57PM
Quote:
WhatisthedimensionsoftheParticles.Outsidedimension?Please.
TheParticlesmeasure9.5cm(3.75inches)indiameterandweighapproximately56.13gm(1.98
ounces).ThesedimensionsarenotedintheGameManualPart2,Section1.4.
3/3

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