2018 Game & Season ManualFIRST®, the FIRST® logo, FIRST® Robotics Competition, Coopertition®, FIRST POWER UP℠, Gracious Professionalism®, andSport for the Mind™ are trademarks of For Inspiration and Recognition of Science and Technology (FIRST®). © 2017-2018
FIRST. All rights reserved.
Official FIRST® Robotics Competition teams and Partners are permitted to make reproductions of this manual for team andPartner use only. Any use, reproduction, or duplication of this manual for purposes other than directly by the team or Partner aspart of FIRST® Robotics Competition participation is strictly prohibited without specific written permission from FIRST. Thismanual may not be re-hosted without specific written permission from FIRST.

Contents
2018 Game & Season Manual ................................................................................................................................. 1
Contents ..................................................................................................................................................................... iii
1

Introduction ....................................................................................................................................................... 7
1.1

About FIRST ..................................................................................................................................................................................... 7

1.2

FIRST Robotics Competition ........................................................................................................................................................ 7

1.3

Gracious Professionalism , a FIRST Credo............................................................................................................................... 7

1.4

Coopertition ....................................................................................................................................................................................8

1.5

This Document and its Conventions ........................................................................................................................................91.6Translations & Other Versions ................................................................................................................................................ 10

1.7Team Updates ............................................................................................................................................................................... 10

1.8

Question and Answer System .................................................................................................................................................. 11

®

®

®

®

®

2

FIRST POWER UP Overview ......................................................................................................................... 13

3

ARCADE ............................................................................................................................................................... 15

®

SM

3.1

Zones and Markings .................................................................................................................................................................... 16

3.2

FIELD................................................................................................................................................................................................... 17
GUARDRAIL ........................................................................................................................................................................................ 17

3.3

SCALE................................................................................................................................................................................................. 18
SCALE PLATES .................................................................................................................................................................................. 19
RUNGS ............................................................................................................................................................................................... 22
OUTRIGGERS ..................................................................................................................................................................................... 22
TOWER ............................................................................................................................................................................................... 22
PLATFORM ........................................................................................................................................................................................ 23

3.4

SWITCH............................................................................................................................................................................................... 24
SWITCH PLATES ................................................................................................................................................................................ 24
FENCE ................................................................................................................................................................................................. 25

3.5

PLATE Lighting ............................................................................................................................................................................... 26

3.6

ALLIANCE WALL ................................................................................................................................................................................ 28
PLAYER STATION ............................................................................................................................................................................. 28
EXCHANGE ........................................................................................................................................................................................ 29
VAULT ............................................................................................................................................................................................... 29

4

3.7

PORTAL ............................................................................................................................................................................................. 32

3.8

POWER CUBE..................................................................................................................................................................................... 33

3.9

Vision Targets ............................................................................................................................................................................... 33

3.10

The FIELD Management System ............................................................................................................................................... 34

MATCH Play ........................................................................................................................................................ 37

Contentsiii

Stages .............................................................................................................................................................................................. 37
MATCH Setup .................................................................................................................................................................................. 38
4.2

Scoring ............................................................................................................................................................................................. 39

4.3

POWER UPS....................................................................................................................................................................................... 41

4.4

Rule Violations .............................................................................................................................................................................. 43

4.5

DRIVE TEAM...................................................................................................................................................................................... 43

4.6

Logistics ......................................................................................................................................................................................... 44

5

Safety Rules .................................................................................................................................................... 45

6

Conduct Rules ................................................................................................................................................. 47

7

Game Rules ...................................................................................................................................................... 51
7.1

Before the MATCH.......................................................................................................................................................................... 51

7.2

ROBOT Restrictions ....................................................................................................................................................................... 52

7.3

ROBOT to ROBOT Interaction ..................................................................................................................................................... 54

7.4

FIELD Interaction........................................................................................................................................................................... 56

7.5

AUTO Period Rules ....................................................................................................................................................................... 60

7.6

Human Action Rules ................................................................................................................................................................... 60

8

ROBOT Rules ..................................................................................................................................................... 64
8.1

Overview ...................................................................................................................................................................................... 64

8.2

General ROBOT Design ................................................................................................................................................................ 66

8.3

ROBOT Safety & Damage Prevention ................................................................................................................................... 68

8.4

Budget Constraints & Fabrication Schedule ...................................................................................................................... 69

8.5

BUMPER Rules ................................................................................................................................................................................. 75

8.6

Motors & Actuators .................................................................................................................................................................... 83

8.7

Power Distribution ..................................................................................................................................................................... 86

8.8

Control, Command & Signals System .................................................................................................................................... 92

8.9

Pneumatic System ..................................................................................................................................................................... 96

8.10

OPERATOR CONSOLE ....................................................................................................................................................................... 101

9Inspection & Eligibility Rules...................................................................................................................... 103

10Tournaments ................................................................................................................................................. 107
10.1

MATCH Schedules ......................................................................................................................................................................... 107

10.2

Practice MATCHES ........................................................................................................................................................................ 107
Filler Line ...................................................................................................................................................................................... 107

10.3

Measurement .............................................................................................................................................................................. 108

10.4

Qualification MATCHES ................................................................................................................................................................ 108
Schedule ........................................................................................................................................................................................108
MATCH Assignment .................................................................................................................................................................... 108
Qualification Ranking ............................................................................................................................................................... 109

Contents

iv

10.5

Playoff MATCHES .......................................................................................................................................................................... 109
ALLIANCE Selection Process ..................................................................................................................................................... 110
BACKUP TEAMS ................................................................................................................................................................................ 111
Playoff MATCH Bracket .............................................................................................................................................................. 111

10.6

REFEREE Interaction .................................................................................................................................................................... 113

10.7

YELLOW and RED CARDS............................................................................................................................................................... 114

10.8

MATCH Replays .............................................................................................................................................................................. 115

10.9

TIMEOUTS and BACKUP TEAMS ..................................................................................................................................................... 116

10.10

Pit Crews ....................................................................................................................................................................................... 117

10.11

FIRST Championship Additions and Exceptions .................................................................................................................. 118
Four ROBOT ALLIANCES ............................................................................................................................................................... 118

FIRST Championship Pit Crews .............................................................................................................................................. 119
FIRST Championship Playoffs.................................................................................................................................................. 119
FIRST Championship TIMEOUTS................................................................................................................................................ 120
10.12

Advancement Between Tournaments ............................................................................................................................... 120
Regional Events.......................................................................................................................................................................... 121
Wild Cards ...................................................................................................................................................................................... 121
District Events ............................................................................................................................................................................ 122

11

Glossary .......................................................................................................................................................... 129

Contentsv

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

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

Please visit our website: www.firstinspires.org for more information about FIRST programs.

1.2 FIRST ® Robotics Competition
FIRST Robotics Competition pairs high school students with adult mentors (primarily engineers andteachers) to design and build ROBOTS that compete against one another in a high-energy environment.
This varsity Sport for the Mind™ combines the excitement of sport with the rigors of science andtechnology. Under strict rules, limited resources and time limits, teams of students are challenged to raise
funds, design a team “brand,” hone teamwork skills, and build and program ROBOTS to performprescribed tasks against a field of competitors. It’s as close to “real-world” engineering as a student can
get.
Each January at an event known as “Kickoff,” a new, challenging game is introduced. These exciting
competitions combine the practical application of science and technology with the fun, intense energy andexcitement 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 2018, FIRST Robotics Competition will reach 90,000 high-school students representing more than
3,600 teams. Teams come from nearly every state in the United States, as well as many other countries.
FIRST Robotics Competition teams will participate in 63 Regional Competitions, 85 District Competitions,and 10 District Championships. In addition, approximately 800 teams will qualify to go to one of the two
FIRST Championships at the end of April, 2018.
This year’s game, and this manual, were presented at the 2018 FIRST Robotics Competition Kickoff on
Saturday, January 6, 2018.
At the Kickoff, all teams:•••

saw the 2018 game, FIRST® POWER UPSM, for the first timelearned about the 2018 game rules and regulations
received a Kickoff Kit that provides a starting point for robot build

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

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Gracious Professionalism is not clearly defined for a reason. It can and should mean different things toeveryone.
Some possible meanings of Gracious Professionalism include:••••

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

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

Learn to be strong competitors, but also treat one another with respect and kindness in theprocess
Avoid leaving anyone feeling as if they are excluded or unappreciatedKnowledge, 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 andsociety benefits.
“The FIRST spirit encourages doing high-quality, wellinformed work in a manner that leaves everyone feelingvalued. Gracious Professionalism seems to be a good
descriptor for part of the ethos of FIRST. It is part of whatmakes FIRST different and wonderful.”- Dr. Woodie Flowers, National Advisor for FIRST

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

1.4 Coopertition ®
At FIRST, Coopertition® is displaying unqualified kindness and respect in the face of fierce competition.
Coopertition is founded on the concept and philosophy that teams can and should help and cooperatewith one another even as they compete. Coopertition involves learning from teammates and mentors.
Coopertition means competing always, but assisting and enabling others when you can.
A Message from Woodie Flowers Award Recipients
The Woodie Flowers Award is the most prestigious mentoring award in FIRST. The award recipients as of
the 2015 FIRST Championship created an important message for all FIRST Robotics Competition teams
to consider as we tackle each season.
“Performing at your best is important. Winning is important. This is a competition.
However, winning the right way and being proud of what you have accomplished and how you haveaccomplished it is more important. FIRST could create rules and penalties to cover almost any scenario

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8 of 133or situation, but we prefer an understandable game with simpler rules that allow us to think and becreative in our designs.
We want to know that our partners and opponents are playing at their best in every match. We want toknow 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 andimplement game strategies, and live your daily lives, remember what Woodie has said time and timeagain, and let’s ‘Make your Grandmother proud.’”
Woodie Flowers
Liz Calef (88)Mike Bastoni (23)Ken Patton (51, 65)
Kyle Hughes (27)Bill Beatty (71)Dave Verbrugge (5110, 67)
Andy Baker (3940, 45)

Dave Kelso (131)Paul Copioli (3310, 217)
Rob Mainieri (2735, 812, 64)
Dan Green (111)Mark Breadner (188)John Novak (16, 323)
Chris Fultz (234)John Larock (365)

Earl Scime (2614)
Fredi Lajvardi (842)
Lane Matheson (932)Mark Lawrence (1816)
Eric Stokely (258, 360, & 2557)
Glenn Lee (359)

1.5 This Document and its Conventions
The 2018 Game and Season Manual is a resource for all FIRST Robotics Competition teams for
information specific to the 2018 season and the FIRST® POWER UPSM game. Its audience will find thefollowing detail:
•
•
•
•
•

a general overview of the FIRST POWER UP gamedetail about the FIRST POWER UP playing field
description of how to play the FIRST POWER UP game
all season rules (e.g. safety, conduct, game play, inspection, etc.)
description of how teams advance at 2018 tournaments and throughout the season

The intent of this manual is that the text means exactly, and only, what it says. Please avoid interpretingthe text based on assumptions about intent, implementation of past rules, or how a situation might be in“real life.” There are no hidden requirements or restrictions. If you’ve read everything, you know
everything.
Specific methods are used throughout this section to highlight warnings, cautions, key words andphrases. These conventions are used to alert the reader to important information and are intended help
teams in constructing a ROBOT that complies with the rules in a safe manner.
Links to other section headings in this manual and external articles appear in blue underlined text.
Key words that have a particular meaning within the context of the FIRST Robotics Competition and
FIRST POWER UP are defined in Section 11 Glossary, and indicated in ALL CAPS throughout thisdocument.
The rule numbering scheme uses an indication of the section in which the rule is stated plus a serial
numbering system (e.g. safety rules begin with “S,” game rules begin with “G,” etc.). References tospecific rules use this scheme (e.g. “S01” is the first rule in Section 5 Safety Rules).

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Warnings, cautions and notes appear in blue boxes. Pay close attention
to their contents as they’re intended to provide insight into the reasoning
behind a rule, helpful information on understanding or interpreting a rule,
and/or possible “best practices” for use when implementing systems
affected by a rule.
While blue boxes are part of the manual, they do not carry the weight of
the actual rule (if there is an inadvertent conflict between a rule and its
blue box, the rule supersedes the language in the blue box).
With the exception of nominal dimensions, imperial dimensions are followed by comparable metricdimensions in parentheses to provide metric users with the approximate size, weight, etc. Metricconversions for non-rules (e.g. FIELD dimensions) round to the nearest whole unit e.g. "17 in. (~43 cm)”and “6 ft. 4 in. (~193 cm).” Metric conversions in rules round such that the metric dimension is compliant
with the rule (i.e. maximums round down, minimums round up). The metric conversions are offered forconvenient reference only and do not overrule or take the place of the imperial dimensions presented inthis manual and the field drawings (i.e. FIELD dimensions and rules will always defer to measurements
using imperial units).
Some sections and rules include colloquial language, also called headlines, in an effort to convey anabbreviated intent of the rule or rule set. This language is differentiated using bold blue text. Any
disagreement between the specific language used in the rules and the colloquial language is an error,
and the specific rule language is the ultimate authority. If you discover a disparity, please let us know and
we will correct it.
Team resources that aren’t generally season specific (e.g. what to expect at an event, communication
resources, team organization recommendations, ROBOT transportation procedures, and award
descriptions) can be found on the FIRST Robotics Competition website.

1.6 Translations & Other Versions
The FIRST® POWER UPSM manual is originally and officially written in English, but is occasionallytranslated into other languages for the benefit of FIRST Robotics Competition Teams whose native
language may not be English.
A text-based version can be provided only for use with assistive devices for visually and hearing-impaired
persons, and not for redistribution. For more information, please contact
frcteamadvocate@firstinspires.org.
In the event that a rule or description is a modified in an alternate version of this manual, the English pdf
version as published on the FIRST website is the commanding version.

1.7 Team Updates
Team updates are used to notify the FIRST Robotics Competition community of revisions to the official
season documentation (e.g. the manual, drawings, etc.) or important season news. Between Kickoff andStop Build Day, Team Updates are posted each Tuesday and Friday. Between Stop Build Day and theweek before FIRST Championship Houston, Team Updates are posted each Tuesday. Team updates areposted on the FIRST® POWER UPSM Game and Season Materials website and generally posted before 5
pm, Eastern Time.
Generally, Team Updates follow the following convention:•

Additions are highlighted in yellow. This is an example.

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••

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

1.8 Question and Answer System
Questions about any 2018 Game and Season Manual content and FIRST® Robotics Competition
Event Experience web page content may be asked to FIRST using the official Question and Answer
System (i.e. “the Q&A”), which opens on January 10, 2018, noon Eastern. Details on the Q&A can befound on the FIRST® POWER UPSM Game and Season Materials website. The Q&A is intended to help
clarify rules, and sometimes the responses result in revisions to the text in the official document (which iscommunicated using Team Updates).
The Q&A is not a resource for•••rulings on hypothetical strategies or vague situations,challenging decisions made at past events, ordesign reviews of a ROBOT system for legality.

The responses in the Q&A do not supersede the text in the manual, although every effort will be made toeliminate inconsistencies between the two. While responses provided in the Q&A may be used to aid
discussion at each event, per Section 10.6 REFEREE Interaction and Section 9 Inspection & Eligibility
Rules, 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.
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?

Good questions ask generically about features of parts or designs, gameplay scenarios, or rules, andoften reference one or more relevant rules within the question. Some examples of questions that will likely
be answered in the Q&A are:••A device we are considering using on the robot comes with purple AWG 40 wire, does this comply
with R?? and R??
We’re not sure how to interpret how Rule G?? applies if Blue Robot A does X and Red Robot B
does Y, can you please clarify?

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2 FIRST ® POWER UP SM Overview
FIRST® POWER UPSM, the 2018 FIRST® Robotics Competition game, includes two alliances of video
game characters and their human operators who are trapped in an arcade game. Both alliances areworking to defeat the boss in order to escape!

Each three-team alliance prepares to defeat the boss in three ways:
1. Control the Switches and the Scale. Robots collect Power Cubes and place them on
Plates to control Switches or the Scale. When the Scale or their Switch is tipped in theirfavor, it is considered owned by that Alliance. Alliances work to have Ownership for asmuch time as possible.
2. Earn Power Ups. Robots deliver Power Cubes to their humans who then place them into
the Vault earning the Alliance Power Ups. Alliances use Power Ups to gain a temporary
advantage during the Match. There are three Power Ups available to teams: Force, Boost,and Levitate.
oForce gives the alliance ownership of the Switch, Scale, or both for a limited period oftimeoBoost doubles the rate points are earned for a limited period of timeoLevitate gives a robot a free climb

3. Climb the Scale. Robots Climb the Scale in order to be ready to Face The Boss.
Figure 2-1: FIRST® POWER UPSM playing area

Each match begins with a 15-second Autonomous period in which Robots operate only on preprogrammed instructions. During this period, Robots work to support the three efforts listed above as wellas earn points for crossing their Auto Line.

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Table 2-1: Autonomous Point Values

ActionCross the Auto Line (a.k.a Auto-Run)
Switch Ownership
Scale OwnershipValue
5 points
2, + 2 points per second
2, + 2 points per second

During the remaining 2 minutes and 15 seconds of the match, the Teleoperated period, student drivers
control Robots. Teams on an Alliance work together to continue to control their Switch and the Scale.
They can also trade in their Power Cubes for Power Ups. During the final 30 seconds, teams work
together to Climb to Face the Boss. Points for these efforts are awarded as shown in Table 2-2.
Table 2-2: Teleoperated Point Values

ActionSwitch Ownership
Scale OwnershipPower Cube in Vault
Boost Power Up Bonus
Parked on Platform
Successful Climb

Value
1, + 1 point per second
1, + 1 point per second
5 points
2 points per second
5 points
30 points

Alliances are seeded in the Qualification tournament using ranking points which are awarded based on a
combination of their Win-Loss-Tie record (2 points for a win, 1 point for a tie), the number of times they
achieve three Climbs (1 point), and the number of times during Autonomous they complete three AutoRuns and gain Ownership of their Switch (a.k.a the Auto-Quest) (1 point).
For full details, read on!

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3 ARCADE
Figure 3-1: FIRST® POWER UPSM playing area

The ARCADE includes all elements of the game infrastructure that are required to play FIRST® POWER
UPSM: the FIELD, SWITCHES, the SCALE, VAULTS, carpet, the POWER CUBES, and all equipment
needed for FIELD control, ROBOT control, and scorekeeping.
The competition ARCADE is modular and assembled, used, disassembled, and shipped many times
during the competition season. It will undergo wear and tear. The ARCADE is designed to withstandrigorous play and frequent shipping. Every effort is made to ensure that ARCADES are consistent fromevent to event. However, ARCADES are assembled in different venues by different event staff and somesmall variations occur. For details regarding assembly tolerances, please refer to the 2018 ARCADE
Layout and Marking Drawing. Successful Teams will design ROBOTS that are insensitive to thesevariations.
Illustrations included in this section are for a general visual understanding of the FIRST® POWER UPSM
ARCADE, and dimensions included in the manual are nominal. Please refer to the official drawings forexact dimensions, tolerances, and construction details. The official drawings, CAD models, and drawings
for low-cost versions of important elements of the FIRST® POWER UPSM FIELD are posted on the 2018
FIRST® POWER UPSM Game & Season Materials page on the FIRST® website.

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3.1 Zones and Markings
ALLIANCE STATION: a 22 ft. (~671 cm) wide by 10 ft. (~305 cm) deep by 10 ft. (~305 cm) tallvolume formed by, and including three (3) PLAYER STATIONS, an EXCHANGE wall, and 2 in.
ALLIANCE colored gaffers tape.
AUTO LINE: a line of 2 in. (~5 cm), black gaffers tape that is the width of the FIELD and is 10 ft.
(~305 cm) from each ALLIANCE WALL to the leading edge of the tape.
EXCHANGE ZONE: A rectangular area 4 ft. (~122 cm) wide by 3 ft. (~91 cm) deep and infinitely tallvolume bounded by the EXCHANGE wall and 2 in. (~5 cm) ALLIANCE colored gaffers tape. The
EXCHANGE ZONE includes the tape, but excludes the wall.
NULL TERRITORY: one of two, 7 ft. 11 ¼ in. (~242 cm) wide by 6 ft. (~183 cm) deep and infinitely
tall volumes formed by 2 in. (~5 cm), white gaffers tape and the GUARDRAILS. The NULLTERRITORY includes the gaffers tape, but excludes the GUARDRAILS. The ALLIANCE’S NULLTERRITORY for a MATCH corresponds to the SCALE PLATE color in that NULL TERRITORY anddoes not change when the FORCE POWER UP is played.
PLATFORM ZONE: a 11 ft. 1 ½ in. (~339 cm) wide by 9 ft. 11 ¾ in. (~304 cm) deep and infinitely tallvolume bounded by 2 in. (~5 cm) ALLIANCE colored gaffers tape, the faces of the OUTRIGGERS,TOWER, and the SWITCH. The PLATFORM ZONE includes the gaffers tape, but excludes the
SWITCH and the faces of the OUTRIGGERS AND TOWER.
PORTAL: a 4 ft. (~122 cm) wide by 12 ft. 11 in. (~394 cm) deep infinitely tall volume bounded by,
and including, 2 in. (~5 cm). ALLIANCE colored gaffers tape and the PORTAL wall.
POWER CUBE ZONE: A rectangular area 3 ft. 9 in. (~114 cm) wide by 3 ft. 6 in. (~107 cm) deep,bounded by the SWITCH and 2 in. (~5 cm) ALLIANCE colored gaffers tape. The POWER CUBEZONE includes the gaffers tape, but excludes the SWITCH.
STARTING LINE: a line of 2 in. (~5 cm), white gaffers tape that runs the width of the carpet and is 2
ft. 6 in. (~76 cm) behind the ALLIANCE WALL diamond plate, which includes the tape.
Figure 3-2: Zones and Markings

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3.2 FIELD
The FIELD for FIRST® POWER UPSM is a 27 ft. (~823 cm) by 54 ft. (~1646 cm) carpeted area, bound by
and including the inward-facing surfaces of the GUARDRAILS, PORTALS, EXCHANGE walls and
ALLIANCE WALLS. The carpet used for the FIELD is gray in color (Shaw Floors, Philadelphia
Commercial, Neyland II 20, “Ground Pepper”).
There are two versions of GUARDRAILS and PLAYER STATIONS used for competitions. One design
has been used at FIRST® Robotics Competitions for several years and matches the 2018 Official FIRST
Field Drawings & Models. The other is designed and sold by AndyMark. While the designs are slightly
different, the critical dimensions, performance, and expected user experience between the two are thesame. Detailed drawings for the AndyMark design are posted on the AndyMark website. All illustrations in
the Game Manual show the traditional FIELD design.

GUARDRAIL
The GUARDRAIL is a system that consists of transparent polycarbonate supported on the top and bottom
by aluminum extrusion. The GUARDRAIL prevents ROBOTS from inadvertently exiting the FIELD during
a MATCH.
There are four (4) gates in the GUARDRAIL that allow access to the FIELD for placement and removal of
ROBOTS. The gates are 3 ft. 2 in. (~97 cm) wide and closed and shielded during the MATCH.
Figure 3-3: Gate locations

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3.3 SCALE
There is one (1) SCALE centered in the field, and oriented so that the SCALE arm is parallel to the
ALLIANCE WALL. The SCALE features an arm, RUNGS, PLATES, OUTRIGGERS, PLATFORMS, and
TOWER. All frame surfaces are covered in polycarbonate panels. A cable protector extends from thecenter of each side of the PLATFORM and is 3 in. (~8 cm) wide and ¾ in. (~2 cm) high (Hubbell Inc.
FloorTrak3 Floor Cable Cover FT3BK25, Grainger Item # 5D687, black). The cable protector is attachedto the field with hook fastener, increasing the height to approximately ⅞ in. (~2 cm). These cable
protectors extend to the GUARDRAILS and the SWITCHES.
Figure 3-4: The SCALE (Note, cable protectors are shown, but are not part of the SCALE)

The BRICKS are graphics depicting golden squares surrounded by a black outline that extends 12 in.
(~30cm) above the horizontal surface of the PLATFORM. The BRICKS cover the polycarbonate panels at
the base of the TOWER and OUTRIGGERS.

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Figure 3-5: The BRICKSSCALE PLATESEach SCALE features two (2) PLATES which are 3 ft. (~91 cm) wide and 4 ft. (~122 cm) deep. The
outside edges of the two PLATES are 15 ft. (~457 cm) apart. Each PLATE has four polycarbonate walls
which contain Philips Color Kinetics LED lights. The wall closest to the center of the FIELD extends 1 ft. 3
in. (~38 cm) above the PLATE surface. The other walls extend up 3 ½ in (~9 cm) above the PLATE
surface.
At the start of the MATCH the PLATES are even, such that the outside edges of each PLATE are 5 ft.
(~152 cm) +/- 1 in. (~2.5 cm) above the FIELD carpet. The SCALE can tilt and rest in different positions
depending on the number and location of the POWER CUBES on the PLATES. During the MATCH, the
SCALE is in one of three (3) states based on the magnitude of its tilt:
1. OWNERSHIP by the Red ALLIANCE, or
2. OWNERSHIP by the Blue ALLIANCE, or
3. neither ALLIANCE has OWNERSHIP
If the outside edge of an ALLIANCE colored PLATE is positioned between 4 ft. (~122 cm) and 4 ft. 8 in.
(~142 cm) above the FIELD carpet then the ALLIANCE has OWNERSHIP of the SCALE. If the outsideedge of an alliance colored PLATE is positioned between 5 ft. 4 in. (~163 cm) and 6 ft. (~182 cm) above
the FIELD carpet then the opposing ALLIANCE has OWNERSHIP. When neither ALLIANCE has
OWNERSHIP of the SCALE, the outside edges of the PLATES are between 5 ft. 4 in. (~163 cm) and 4 ft.
8 in. (~142 cm) above the FIELD carpet. See Figure 3-6. The time required to move between states isdependent on the weight difference and the distribution of the weight on the SCALE PLATES. Details on
OWNERSHIP can be found in Section 4.2 Scoring.

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Figure 3-6: SCALE range of motion

Note: It’s possible to have the same quantity of POWER CUBES on the
PLATES on each side of the SCALE and have the SCALE not bebalanced. The location of the POWER CUBES on the SCALE/SWITCH
is a factor in its position.
Figure 3-7: SCALE PLATE dimensions

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Figure 3-8: SCALE PLATE wall dimensions

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RUNGSAt the top of each SCALE there are two RUNGS, one per ALLIANCE. An ALLIANCE’S RUNG extends
into their PLATFORM ZONE. RUNGS consist of a 1 ft. 1 in. (~33 cm) long 1 ¼ in. Schedule 40 aluminum
pipe supported by 2 in. (~5 cm) box tubing. Each RUNG extends 8 ¼ in. (~21 cm). from the vertical faceof the SCALE supports and 7 ft. (~213 cm) from the carpet to the top of the RUNG. The RUNG in Figure
3-9 is highlighted for clarity.
Figure 3-9: RUNGSOUTRIGGERSThe OUTRIGGERS are supports for the TOWER constructed from aluminum shielded by polycarbonate

TOWER
The TOWER is the central structure of the SCALE constructed from aluminum shielded by polycarbonate
which supports the RUNGS and SCALE PLATES. The tower is 17 in. (~43 cm) wide and extends 2 in.
(~5 cm) from the face of the OUTRIGGERS.
Figure 3-10: Tower dimensions

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PLATFORM
Located at the base of the SCALE, on each side, is a PLATFORM covered with ALLIANCE colored
HDPE. The TOWER and OUTRIGGERS separate one PLATFORM from the other. Each PLATFORM top
is 8 ft. 8 in. (~264 cm) wide by 3 ft. 5 ¼ in. (~105 cm) deep and 3 ½ in. (~9 cm) tall. The PLATFORM
includes ramps which are 1 ft. 1 in. (~33 cm) long with a 15.35 deg. angle. The ALLIANCE colored tapethat abuts the PLATFORM ramps is part of the PLATFORM.
Figure 3-11: PLATFORM top length and width dimensions

Figure 3-12: PLATFORM height and ramp dimensions

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3.4 SWITCH
There are two (2) SWITCHES on the FIELD, one per ALLIANCE. Each SWITCH is centered across thewidth of the FIELD, with the center of the SWITCH located 14 ft. (~427 cm) from the ALLIANCE
STATION. Each SWITCH is surrounded by a FENCE. An ALLIANCE’S SWITCH is the one locatedclosest to its ALLIANCE STATION.
Figure 3-13: SWITCHSWITCH PLATESEach SWITCH features two (2) PLATES which are 3 ft. (~91 cm) wide and 4 ft. (~122 cm) deep. The
outside edges of the two PLATES are 12 ft. (~366 cm) apart. Each PLATE has four polycarbonate walls
which contain Philips Color Kinetics LED lights. The wall closest to the center of the FIELD extends 1 ft. 3
in. (~38 cm) above the PLATE surface. The other walls extend up 3 ½ in (~9 cm) above the PLATE
surface
The PLATES are 9 in. (~23 cm) above the carpet when the SWITCH is level. Like the SCALE, the
SWITCH tilts and rests in different positions based on the placement of POWER CUBES. During the
MATCH, the SWITCH is in one of two (2) states based on the magnitude of its tilt:
1. OWNERSHIP by its ALLIANCE, or
2. neither ALLIANCE has OWNERSHIP
If the outside edge of an ALLIANCE’S colored PLATE is positioned between 3 in. (~8 cm) and 6 in. (~15cm) above the FIELD carpet then the ALLIANCE has OWNERSHIP of its SWITCH. If the outside edge ofan ALLIANCE colored PLATE is positioned between 6 in (~15 cm) and 15 in. (~38 cm) above the FIELD
carpet then neither ALLIANCE has OWNERSHIP of the SWITCH. See Figure 3-15. The time required tomove between states is dependent on the weight difference and the distribution of the weight on the
SWITCH PLATES. Details on OWNERSHIP can be found in Section 4.2 Scoring.

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Figure 3-14: SWITCH PLATE dimensions

Figure 3-15: SWITCH range of motion

FENCE
Each SWITCH is surrounded by a FENCE constructed from aluminum shielded by polycarbonate. The
FENCE is 12 ft. 9 ½ in. (~390 cm) wide by 4 ft. 8 in. (~142 cm) deep by 1 ft. 6 ¾ in. (~48 cm) tall. The gap
between the FENCE and the sides of the PLATES is approximately 1 ½ in. (~4 cm). When the SWITCH islevel, the gap between the FENCE and the outer edges of the PLATES is approximately 2 ¼ in (~8 cm).

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Figure 3-16: FENCE

3.5 PLATE Lighting
Each PLATE is highlighted by Philips Color Kinetics Flex LED light strings.
Until further notice, events are instructed to install the SCALE lightstrings in the cavity below the outriggers instead of around the PLATES,
approximately as shown below.
Figure 3-17 Temporary SCALE lighting.

These lights indicate ALLIANCE color and OWNERSHIP. The lights have the following states:

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Table 3-1: PLATE Lighting

Color

Pre-MATCH

AUTO

TELEOP
ALLIANCE color

Post-MATCH

Blue at 100% brightness
Blue OWNERSHIPBlue (pulsing)Blue (pulsing) with solid
red corners
Blue at 25% brightness
Blue (chase pattern)Blue FORCE POWER
UP is active
Red OWNERSHIPBlue BOOST POWER
N/A
UP is active
ALLIANCE color
Red OWNERSHIPRed FORCE POWER
N/A
UP is active
Blue OWNERSHIPRed BOOST POWER
N/A
UP is active
N/A

N/A

Red at 100% brightness
Red (pulsing)
Red (pulsing) with solid
blue corners
Red at 25% brightness
Red (chase pattern)
Purple (pulsing)

N/A

Green
OFF

MATCH readyto start

N/A

FIELD is safe for
FIELD STAFF
FIELD is safe for all
N/A

ALLIANCE color of the PLATES is provided to the Driver Station software by the Field Management
System. More details are in Section 3.10 The Field Management System

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3.6 ALLIANCE WALL
The ALLIANCE WALL is the structure that separates ROBOTS from DRIVE TEAMS (except the
TECHNICIAN) and consists of three (3) PLAYER STATIONS, and an EXCHANGE wall.
Figure 3-18: ALLIANCE STATION

PLAYER STATIONA PLAYER STATION is one (1) of three (3) assigned positions in an ALLIANCE WALL from where a
DRIVE TEAM operates their ROBOT. Each PLAYER STATION is made from a 3 ft. (~91 cm) tall diamondplate panel base topped with a 3 ft. 6 in. (~107 cm) tall transparent plastic panel. An aluminum shelf is
attached to each PLAYER STATION to support the DRIVE TEAM’S OPERATOR CONSOLE. The shelf is
5 ft. 9 in. (~175 cm) wide and 1 ft. (~30 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 tosecure the OPERATOR CONSOLE to the shelf.
Each PLAYER STATION contains the following components for Teams:•

One Ethernet Cable: attaches to the Ethernet port of the OPERATOR CONSOLE andprovides connectivity to the FIELD Management System.
• One 120VAC NEMA 5-15R power outlet: located on each PLAYER STATION shelf andprotected by its own 2-Amp circuit breaker. It can be used to power the OPERATORCONSOLE. DRIVE TEAMS are responsible for monitoring their power consumption as atripped breaker in the outlet does not constitute an ARCADE fault.
• One Emergency Stop (E-Stop) button: located on the left side of the PLAYER STATION shelfand should be used to deactivate a ROBOT in an emergency.
• One Team sign: displays the Team number and located at the top of each PLAYERSTATION.
• One Team LED: indicates ALLIANCE color, ROBOT status, and E-Stop status and centeredat the top of each PLAYER STATION. Team LED states include:− Solid: indicates that the ROBOT is connected and enabled. This will only happen during a
MATCH.

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−

Blinking: indicates that either the Field Management System is preset for the MATCH or it’sduring a MATCH and the corresponding ROBOT has lost connectivity.
− Off: indicates that the MATCH has not started yet, but the ROBOT is linked and disabled. −If the amber LED is on, the E-stop button has been pressed.
• One Timer (in the PORTAL adjacent to PLAYER STATION 1): displays the official timeremaining in AUTO, TELEOP, and TIMEOUTS and marked with white tape along the bottomedge.
• Field Management System hardware and wiring: mostly located below the center PLAYERSTATION shelf.

EXCHANGE
An EXCHANGE is a polycarbonate wall 6 ft. 5 ¾ in. (~197 cm) tall by 4 ft. (~122 cm) wide locatedbetween PLAYER STATION 1 and PLAYER STATION 2 and used by ROBOTS to deliver POWERCUBES to HUMAN PLAYERS. HUMAN PLAYERS can then either place POWER CUBES in the VAULT
or feed them back to the ROBOT through the RETURN.
Each EXCHANGE has a lower opening 1 ft. 4 ¼ in. (~41 cm) tall and is 1 ft. 9 in. (~53 cm) wide used todeliver POWER CUBES to the HUMAN PLAYER. A small ramp, 1 ¾ in. (~4 cm) tall by 6 ½ in. (~17 cm)
deep, leads to a series of conveyor rollers. The conveyor rollers are spun by the HUMAN PLAYER tomove the POWER CUBE through a polycarbonate tunnel that is 1 ft. 11 ¾ in. (~60 cm) deep.
Each EXCHANGE also features a RETURN used to deliver POWER CUBES to ROBOTS. The RETURN
opening is a 1ft. 2 in. (~36 cm) square, centered above the lower opening and is located 1 ft. 8 in. (~51
cm) above the carpet. Behind the RETURN opening is a 1 ft. 6 ½ in. (~47 cm) deep polycarbonate chute.
The chute features a swinging wall designed to push the POWER CUBE onto the FIELD.
Figure 3-19: EXCHANGE

VAULTThe VAULT is an aluminum and plastic structure used by HUMAN PLAYERS to turn POWER CUBES in
to POWER UPS. There are three (3) columns within the VAULT. Each column is 1 ft. 1-1/2 in. (~34 cm)
wide by 3 ft. 3-1/4 in. (~100 cm) tall with the bottom located 1 ft. 3-1/2 in. (~39 cm) above the carpet.
Each of the three (3) columns in the VAULT correspond to a POWER UP. When standing in the

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ALLIANCE STATION and facing the open columns of the VAULT the column to the left is the FORCE
POWER UP, the center column is the LEVITATE POWER UP and the column on the right is the BOOSTPOWER UP.
POWER CUBES placed logo-side-up may result in POWER CUBES not being sensed consistently by the
FIELD.
Figure 3-20: Blue ALLIANCE VAULT

Caution, there may be orientations where all three (3) POWER CUBES
will not fit in a VAULT column, but if HUMAN PLAYERS place POWERCUBES logo side down they’ll fit with room to spare.

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3.6.3.1

VAULT lighting

Lights at the top of each VAULT column display the POWER CUBE count for that column. The lights
have the following states:
Table 3-2: VAULT Lighting

Color

Meaning
No POWER CUBES in column
One (1) POWER CUBE in column
Two (2) POWER CUBES in column
Three (3) POWER CUBES in column(pulsing)

Blue POWER UP in queue
Blue POWER UP played(pulsing)

Red POWER UP in queue
Red POWER UP played

The lights illuminate one bulb per POWER CUBE and show one (1), two (2), three (3) or none (0) bylighting up from left to right. To play a POWER UP, the button corresponding to the column andassociated POWER UP is pressed by the HUMAN PLAYER. Once played, all five (5) lights in thecorresponding column are illuminated in the ALLIANCE color. If an ALLIANCE plays a POWER UP during
the time when an opposing ALLIANCE’s POWER UP is active, the POWER UP is queued, indicated by
five (5) pulsing lights. See Section 4.3 POWER UPS for more details.

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3.7 PORTALHUMAN PLAYERS may deliver POWER CUBES to ROBOTS through either of the PORTAL walls. Each
PORTAL wall features a 1 ft. 2 in. (~36 cm) square opening, centered across the width of the panel andlocated 1 ft. 8 in. (~51 cm) from the carpet. Behind the opening is a 1 ft. 6 ½ in. (~47 cm) polycarbonate
chute. The chute featues a swinging wall that the HUMAN PLAYER uses to push the POWER CUBE onto
the FIELD.
Figure 3-21: PORTAL

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3.8 POWER CUBE
POWER CUBES are used to affect the position of the SCALE and SWITCH PLATES, and can be tradedin for POWER UPS. A POWER CUBE is a 1 ft. 1 in. (~33 cm) wide by 1 ft. 1 in. (~33 cm) deep by 11 in.
(~27 cm) tall HDPE milk crate covered in a yellow nylon (600 Denier) cover. The FIRST® logo covers theopen face of the milk crate. Each POWER CUBE weighs approximately 3 ¼ lbs (~1.5 kg). POWERCUBES may be purchased from AndyMark (am-3818 and am-3741), Innovation First (217-6188 and 2176193), and Rev Robotics (REV-21-1217 and REV-21-1218). Please note that due to the use of recycledmaterial in the manufacturing process, the batches of crates will vary slightly in color, but not such that it’s
perceptible with the cover in place.
Figure 3-22: POWER CUBE

3.9 Vision Targets
Vision targets are located on the SWITCH FENCE facing the ALLIANCE WALL using 2 in. (~5 cm) stripsof 3M 8830 Scotchlite Reflective Material and are used to highlight the locations of the PLATES on the
SWITCH.
Each vision target consists of two vertical, 16 in. (~41 cm) tall strips of reflective material, with a 4 in. (~10cm) gap between them. Elements of the SWITCH obscure the top and bottom of the target, resulting inapproximately 15.3 in. (~39 cm) of viewable height when viewed straight on. The center of each target is
located 51 7/8” in. (~132 cm) from the center of the SWITCH.

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Figure 3-23: Vision Target locations

3.10 The FIELD Management System
The FIELD Management System (FMS) is the electronics core responsible for controlling the FIRST
Robotics Competition playing field. The FMS encompasses all field electronics, including the computers,
REFEREE touchscreens, wireless access point, sensors, stack lights, E-Stops, etc.
When a DRIVE TEAM connects the Ethernet cable from their assigned PLAYER STATION to their
OPERATOR CONSOLE, the Driver Station software on the OPERATOR CONSOLE computer will begin
to communicate with the Field Management System (FMS). Once connected to FMS, the only open ports
available are described in Table 3-3.
Table 3-3: Open FMS PortsPort
UDP/TCP 1180-1190
TCP 1735
UDP 1130
UDP 1140
HTTP 80
HTTP 443
UDP/TCP 554
UDP/TCP 5800-5810

Designation
Camera data from the roboRIO to the Driver
Station (DS) when the camera is connected
the roboRIO via USB
SmartDashboard
Dashboard-to-ROBOT control data
ROBOT-to-Dashboard status data
Camera connected via switch on the ROBOT
Camera connected via switch on the ROBOT
Real-Time Streaming Protocol for h.264
camera streaming
Team Use

Bi-directional?
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes

Teams may use these ports as they wish if they do not employ them as outlined above (e.g. TCP 1180
can be used to pass data back and forth between the ROBOT and the Driver Station software if the Teamchooses not to use the camera on USB). Note that ROBOT code cannot be deployed while connected to
the FMS. Additional information about the FMS may be found in the FMS Whitepaper.
The FMS provides the ALLIANCE color assigned to each PLATE to the Driver Station software.
Immediately following the assignment of PLATE color prior to the start of AUTO. Specific details on theformat of the data can be found on the 2018 FRC Control System website.
While FMS does provide the ALLIANCE PLATE color to each team’s
Driver Station, teams must write the necessary ROBOT code to makeuse of the information during a MATCH.

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34 of 133FMS alerts participants to milestones in the MATCH using audio cues. Please note that audio cues areintended to be a courtesy to participants and not intended as official MATCH markers. If there is adiscrepancy between an audio cue and the FIELD timers, the FIELD timers are the authority.
•
•
•
•
•
•
•
•

MATCH Start & PLATES randomized: “Startup Sound”
AUTO Start: “Cavalry Charge”
T=0 for AUTO: Buzzer
Start of TELEOP: Three (3) Bells
T-30 seconds in TELEOP: Train Whistle
T=0 for TELEOP/MATCH end: Buzzer
MATCH stopped: Foghorn
POWER UP activated: “Linear Popping"

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4 MATCH PlayDuring each FIRST® POWER UPSM MATCH, two ALLIANCES (cooperatives of up to four (4) FIRST®
Robotics Competition Teams) play out a multiplayer video game to defeat the boss by gaining
OWNERSHIP of a SCALE and SWITCHES by tipping them in their favor or by using POWER UPS.

StagesEach MATCH is divided in to two stages. The first stage, called Autonomous (AUTO), is the first fifteen(0:15) seconds of a MATCH in which ROBOTS operate without any DRIVE TEAM control or input. Prior
to the start of AUTO, the assignments of ALLIANCE colors for SWITCH and SCALE PLATES are
randomized among the four states in Figure 4-1 and transmitted to the OPERATOR CONSOLE by the
Field Management System (FMS). During AUTO, ROBOTS attempt to deliver preloaded POWER CUBES
to PLATES, retrieve additional POWER CUBES from around the FIELD, and cross their AUTO LINE any
time before the end of the stage.
Figure 4-1 Possible PLATE assignments

Teleoperated (TELEOP) is the second stage in a MATCH and is two minutes and fifteen seconds (2:15)
long. During this stage, DRIVERS remotely operate ROBOTS to retrieve and place POWER CUBES on
the PLATES and feed POWER CUBES through the EXCHANGE for placement in the VAULT to earn

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POWER UPS. The final thirty (30) seconds of the TELEOP stage is considered the ENDGAME, during
which ROBOTS prepare to FACE THE BOSS.
In addition to the two (2) minutes and thirty (30) seconds of game play, each MATCH also has pre- andpost-MATCH time for setup and reset of the ARCADE. During ARCADE reset, the ARCADE is cleared of
ROBOTS and OPERATOR CONSOLES from the MATCH that just ended. The ROBOTS andOPERATOR CONSOLES for the subsequent MATCH are loaded into the ARCADE by DRIVE TEAMS at
this time. FIELD STAFF also use this time to reset ARCADE elements and POWER CUBES.

MATCH Setup
Prior to the start of each MATCH, POWER CUBES, elements used to affect the position of the SCALE
and SWITCHES and earn POWER UPS, are staged as shown in Figure 4-2. Staging details are as
follows:
A. Seven (7) in each PORTAL (on the carpet between the PORTAL wall and the STARTING
LINE), minus any preloaded POWER CUBES,
B. Six (6) next to each SWITCH. They are arranged approximately equidistant from each otheralong the face of the FENCE closest to the SCALE, FIRST logo facing up
C. Ten (10) located in each ALLIANCE POWER CUBE PILE (in a pyramid formation, with six on
the bottom, three in the middle, and one on top, justified toward the SWITCH, FIRST logo
facing up)
Figure 4-2: POWER CUBE staging

When a DRIVE TEAM loads their ROBOT onto the FIELD for a MATCH they may elect to preload up toone (1) POWER CUBE in or on their ROBOT such that it is fully and only supported by the ROBOT. A
minimum of five (5) POWER CUBES must remain in each of their two (2) PORTALS after any preloads.
If order placement of ROBOTS 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 alternate placement of all ROBOTS. In a Qualification MATCH, ROBOTS will be placed in
the following order: Red Station 1 ROBOT, Blue Station 1 ROBOT, Red Station 2 ROBOT, Blue Station 2
ROBOT, Red Station 3 ROBOT, Blue Station 3 ROBOT. In a PLAYOFF MATCH, the same pattern isapplied, but instead of Red ALLIANCE placing, the higher seeded ALLIANCE (regardless of color) willplace last.

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4.2 Scoring
ALLIANCES are rewarded for accomplishing various actions throughout the course of a MATCH,
including autonomous movement, having OWNERSHIP of their SWITCH or the SCALE, CLIMBING to
FACE THE BOSS, and winning or tying MATCHES. Rewards are granted either via MATCH points (which
contribute to the ALLIANCE’S MATCH score) or Ranking Points (which increase the measure used torank teams in the Qualification tournament). Such actions, their criteria for completion, and their pointvalues are listed in Table 4-1. Scores are assessed and updated throughout the MATCH.
The primary method of earning points in FIRST® POWER UPSM is by placing POWER CUBES on the
PLATES of the SWITCH or SCALE to establish OWNERSHIP. OWNERSHIP is a state of the
ALLIANCE’S SWITCH or SCALE where it is tilted in favor of an ALLIANCE colored PLATE, such that theoutside edge of the ALLIANCE colored PLATE is at or less than a specified height above the carpet.
ALLIANCES earn points when OWNERSHIP is established and additional points for each additional
second of OWNERSHIP.
The SWITCH located closest to its ALLIANCE STATION is considered that ALLIANCE’S SWITCH. While
any ROBOT can place POWER CUBES on the PLATES of either SWITCH, an ALLIANCE can only have
OWNERSHIP of, and accumulate points for, their SWITCH.
An ALLIANCE has OWNERSHIP of their SWITCH when:A. the SWITCH is tilted in favor of their ALLIANCE colored PLATE, such that the outsideedge of the ALLIANCE colored PLATE is at or less than 6 in. (~15 cm) from the floor
for at least one (1) second, or
B. they have played the FORCE POWER UP at level 1 or 3 (see Section 4.3 POWERUPS)The Blue ALLIANCE’S SWITCH accumulates points for the Blue
ALLIANCE when the PLATE illuminated and pulsing with blue lights is
down.
The SWITCH does not accumulate points for either ALLIANCE when theblue PLATE is above 6 in (~15 cm).
An ALLIANCE has OWNERSHIP of the SCALE when:A. the SCALE is tilted in favor of their ALLIANCE colored PLATE, such that the outsideedge of the ALLIANCE’S colored PLATE is at or lower than 4 ft. 8 in. (~142 cm) fromthe floor for at least one (1) second and there isn’t an active opponent’s Level 2 or 3
FORCE, orB. they have played the FORCE POWER UP at level 2 or 3 (see Section 4.3 POWER
UPS)
Note that points for the SWITCH and SCALE are accrued over time andnot a direct function of the number of POWER CUBES placed on the
SWITCH or SCALE.
Points are not taken away when OWNERSHIP changes, but rather stop
accumulating (if balanced) or start accumulating for the opposite
ALLIANCE if they take OWNERSHIP of the SCALE.
ROBOTS deliver POWER CUBES to HUMAN PLAYERS through the EXCHANGE. Once a POWER
CUBE is delivered through the EXCHANGE, HUMAN PLAYERS may:
1. place the POWER CUBE into the VAULT for points and application toward a POWER UP, orSection 4 MATCH PlayV4

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2. return the POWER CUBE to the FIELD using the RETURN in the EXCHANGE wall, or
3. keep the POWER CUBE inside the ALLIANCE STATION (effectively delaying the selection until alater time or not using it all.)An ALLIANCE can earn up to four (4) Ranking Points (RP) per Qualification MATCH, as described inTable 4-1. There are no RP, or comparable point bonuses, in Playoff MATCHES.
Table 4-1: FIRST® POWER UPSM rewards

ActionAUTO-RUNOWNERSHIP
VAULT

PARKING

CLIMBING

FACE THE
BOSS
AUTO
QUEST
Win
Tie

Criteria
For each ROBOT that breaks the vertical plane of the
AUTO LINE with its BUMPER at any point in the
AUTO stage
SCALE
ALLIANCE’S SWITCH
For each POWER CUBE placed in the VAULT
For each ROBOT fully supported by the SCALE(either directly or transitively), not at all in the
opponent’s PLATFORM ZONE, and has not
CLIMBEDFor each ROBOT fully supported by the SCALE(either directly or transitively) with BUMPERS fully
above the BRICKS at T=0, not in direct contact with
their PLATFORM, and not at all in the opponent’s
PLATFORM ZONE
All three (3) ALLIANCE ROBOTS have CLIMBED or
two (2) ROBOTS have CLIMBED and the ALLIANCE
has played the LEVITATE POWER UP
ALLIANCE completes three (3) AUTO-RUNS and has
OWNERSHIP of their SWITCH at T=0 of the AUTO
stage
ALLIANCE’s final MATCH score exceeds theiropponents’
ALLIANCE’s final MATCH score equals theiropponents’

MATCH Points

Ranking
PointsAUTO

TELEOP5--

2 + 2/sec
2 + 2/sec

1 + 1/sec
1 + 1/sec

-

-

5

-

-

5

-

-

30

-

-

-

1

-

-

1

-

-

2

-

-

1

Points are earned for establishing OWNERSHIP, with additional points
earned for each additional second of OWNERSHIP. For example, a teamthat establishes OWNERSHIP of their SWITCH three (3) seconds after
the start of AUTO and maintains OWNERSHIP for five (5) seconds earns
two (2) points + ten (10) points, for a total of twelve (12) points.
The MATCH points listed in Table 4-1 for OWNERSHIP during the
TELEOP stage are increased if the BOOST POWER UP is played. See
Section 4.3 for details on BOOST.
AUTO-RUN and CLIMBING are both evaluated and scored by human
REFEREES. Teams are encouraged to make these actions obvious andunambiguous.

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4.3 POWER UPS
POWER UPS are advantages an ALLIANCE can earn and play throughout the TELEOP stage of the
MATCH. ALLIANCES earn POWER UPS by delivering POWER CUBES through their EXCHANGE to
their HUMAN PLAYERS who place them into their VAULT. Table 4-2 lists the POWER UPS, their cost,
and the effect when it is played by an ALLIANCE.
Table 4-2: POWER UPSName

LEVITATE# of POWER
CUBES
3
1

FORCE

2
3
1

BOOST

2
3

EffectDuration(seconds)

An additional CLIMBING ROBOT, up to a maximum of three(3) ROBOTS, is credited to the ALLIANCE at the end of the
MATCH

N/A

ALLIANCE earns OWNERSHIP points from their SWITCH
regardless of PLATE position
ALLIANCE earns OWNERSHIP points from the SCALE
regardless of PLATE position
ALLIANCE earns OWNERSHIP points from the SWITCH and
the SCALE regardless of PLATE position
Doubles the points being earned by the ALLIANCE for
OWNERSHIP of their SWITCH.
Doubles the points being earned by the ALLIANCE for
OWNERSHIP of the SCALE.
Doubles the points earned by the ALLIANCE for
OWNERSHIP of a) their SWITCH and b) the SCALE.

10
10
10
10
10
10

If LEVITATE is played the CLIMB is credited randomly to any ROBOT on the ALLIANCE who is not
PARKING or CLIMBING at the end of the MATCH. If all ROBOTS on the ALLIANCE are either PARKING
or CLIMBING, one randomly chosen PARKING ROBOT will be upgraded from PARKING to CLIMBING.
An ALLIANCE plays a POWER UP by pressing the corresponding button on the VAULT. Only one (1)instance of the FORCE or BOOST POWER UP can be active at a time. If an ALLIANCE pushes the
button for FORCE/BOOST while their other FORCE/BOOST is active, the button press is ignored. The
LEVITATE POWER UP can be played at any time during the TELEOP stage.
A POWER UP is active for the duration listed in Table 4-2. If an ALLIANCE plays BOOST or FORCE
during the time when an opposing ALLIANCE’s POWER UP is active, the POWER UP is queued andbecomes active immediately upon the conclusion of the currently active POWER UP. Once a POWER UP
is played, it cannot be cancelled.

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Figure 4-3: POWER UP timeline example

Example: the Red ALLIANCE plays FORCE with sixty (60) seconds
remaining in the MATCH. FORCE is in-progress from sixty (60) seconds
to fifty (50) seconds, during which time no additional instances of
FORCE or BOOST can be active.
The Blue ALLIANCE plays BOOST with fifty-five (55) seconds remaining
in the MATCH, but it does not become active until the Red ALLIANCE
FORCE ends at fifty (50) seconds.
The Red ALLIANCE plays BOOST with forty-eight (48) seconds
remaining in the MATCH, but it does not become active until the Blue
ALLIANCE BOOST ends at forty (40) seconds.
The Blue ALLIANCE plays LEVITATE with thirty-five (35) seconds
remaining in the MATCH. It is immediately active for the Blue ALLIANCE
and added to their score.
FORCE and BOOST can be played with as few as one (1) or as many as three (3) POWER CUBES intheir corresponding column of the VAULT. However, an ALLIANCE may only play each POWER UP one
time in the MATCH. Additional POWER CUBES placed into the FORCE or BOOST columns after theactivation of the corresponding POWER UP do earn points for the ALLIANCE.
Example: the RED ALLIANCE places two (2) POWER CUBES in the
FORCE column of their VAULT. With ninety (90) seconds remaining in
the MATCH, a HUMAN PLAYER plays FORCE on the SCALE. The Red
ALLIANCE has now played their FORCE, and cannot play another
FORCE during the MATCH. Additional POWER CUBES placed into the
FORCE column will earn points for the Red ALLIANCE, per Table 4-1.

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

ActionPenaltyFOUL

5 points credited towards the opponent’s total score.

TECH FOUL

25 points credited towards the opponent’s total score.
a warning issued by the Head REFEREE for egregious ROBOT or Team
member behavior or rule violations. A subsequent YELLOW CARD
within the same tournament phase will lead to a RED CARD.
a penalty assessed for egregious ROBOT or Team member behavior, or
rule violations, which results in a Team being DISQUALIFIED for the
MATCH.
ROBOT will be commanded to deactivate all outputs, rendering the
ROBOT inoperable for the remainder of the MATCH.
the state of a Team in which they receive zero (0) MATCH points in aqualification MATCH or causes their ALLIANCE to receive zero (0)MATCH points in a Playoff MATCH

YELLOWCARD
RED CARDDISABLEDDISQUALIFIED

4.5 DRIVE TEAMA DRIVE TEAM is a set of up to five (5) people from the same FIRST Robotics Competition Team
responsible for Team performance for a specific a MATCH. There are four (4) specific roles on a DRIVETEAM which ALLIANCES can use to assist ROBOTS with FIRST® POWER UPSM.
Table 4-4: DRIVE TEAM roles

Description

Max./
DRIVE TEAM

Criteria

COACH

a guide or advisor

1• Pre-college student or adult mentor• Must wear “Coach” button

DRIVERan operator and controller ofthe ROBOT

3• Pre-college student• Must wear one (1) of the three (3)“Drive Team” buttons

1• Pre-college student• Must wear “Technician” button

Role

HUMAN
PLAYERa POWER CUBE manager

TECHNICIAN

a resource for ROBOT
troubleshooting, setup, andremoval from the FIELD

The TECHNICIAN is a new role for the 2018 season and 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, andunderstanding of its indicator lights•

location of the roboRIO and understanding of its indicator lights•

username and password for the OPERATOR CONSOLE

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•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 haveknowledge of the basic functionality of the ROBOT, such as the locationand operation of the main circuit breaker, connecting and resetting
joysticks or gamepads from the OPERATOR CONSOLE, and releasing
the ROBOT from the SCALE.

4.6 Logistics
Any POWER CUBE that leaves the FIELD will not be returned to MATCH play. POWER CUBES that
inadvertently deflect back in to the FIELD will be considered fair game.
Note that ROBOTS may not deliberately cause POWER CUBES to leave
the FIELD (see G21), except through the lower opening of the
EXCHANGE.
There will not be an ARCADE FAULT called for MATCHES that accidentally begin with an incorrect
number of, incorrectly positioned, or damaged POWER CUBES. Damaged POWER CUBES will not be
replaced until the next FIELD reset period. DRIVE TEAMS should alert the FIELD STAFF to any missing
or damaged POWER CUBES prior to the start of the MATCH.
Once the MATCH is over, if the Head REFEREE determines that the FIELD is safe for FIELD STAFF but
not safe for everyone (e.g. the SCALE is full of POWER CUBES that create a falling hazard for a DRIVETEAM carrying a ROBOT), they will turn the LED lights on the PLATES purple. Once the FIELD is readyfor DRIVE TEAM traffic, the Head REFEREE or their designee will change the LED lights to green and
DRIVE TEAMS may retrieve their ROBOT in accordance with S02.

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5 Safety Rules
Safety is paramount at all times during any Tournament, and each rule below is intended to establish
norms at each event that will mitigate injury risk to all participants.
Event staff have the final decision authority for all safety-related issues within a venue.
Veterans of the FIRST® Robotics Competition may notice the absence ofsome long-standing rules from this section, e.g. the requirements forsafety glasses, closed-toed shoes, and limitations on the wireless use of
ROBOTS. These rules remain enforced for the 2018 FIRST® POWER
UPSM season, but have been moved to the FIRST® Robotics Competition
Event Experience web page because they are not season specific. Aswith all violations in this Game Manual any of the Event Experience rules
also carry the consequence of a YELLOW or RED CARD.
S01.

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
D. ROBOTS that consistently extend beyond the FIELD

S02.

Wait for the green lights. DRIVE TEAMS may only enter the FIELD if the LED strings are green,unless explicitly instructed by a REFEREE or an FTA.
Violation: Verbal warning. If repeated, YELLOW CARD. If egregious, RED CARD.

S03.

Never step/jump over the GUARDRAIL. DRIVE TEAMS may only enter or exit the FIELD
through open gates.
Violation: Verbal warning. If repeated, YELLOW CARD. If egregious, RED 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
S03 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 S03 apply to the entire team, not specifically to any one
individual. For example, a member of team 9999 steps over the
GUARDRAIL prior to MATCH 3, and a different member steps over the
GUARDRAIL prior to MATCH 25. The team receives a verbal warning for

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the first violation and a YELLOW CARD for the second. Jumping overthe GUARDRAIL is considered an egregious violation of S03.
S04.

Humans, stay off the FIELD during the MATCH. DRIVE TEAMS may not extend any body part
into the FIELD during the MATCH.
Violation: YELLOW CARD
Examples of egregious violations that are likely to escalate the Violation
to a RED CARD include, but are not limited to, walking onto the FIELD
during a MATCH or reaching into the FIELD and grabbing a ROBOT
during a MATCH.

S05.

ROBOTS, stay on the FIELD during the MATCH. ROBOTS and anything they control, e.g. a
POWER CUBE, may not contact anything outside the FIELD with the exception of brief incursions
beyond the EXCHANGE or the opening in the PORTAL wall.
Violation: Offending ROBOT will be DISABLED.
Please be conscious of REFEREES, and FIELD STAFF working aroundthe ARCADE who may be in close proximity to your ROBOT.

S06.

Stay out of the tunnels. DRIVE TEAMS may not extend any body part into the RETURN chute,the PORTAL chute, or the EXCHANGE tunnel. Momentary encroachment into these volumes is
an exception to this rule
Violation: FOUL.

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6 Conduct Rules
C01.

Egregious or exceptional violations. 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 foregregious ROBOT actions or Team member behavior at the event. This includes violations of theevent rules found on the FIRST® Robotics Competition Event Experience web page. Please see
Section 10.7 YELLOW and RED CARDS for additional detail.

C02.

Be a good person. All Teams must be civil towards their own Team members, other Teams,
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 toescalate to YELLOW or RED CARDS rapidly (i.e. the threshold for egregious or repeated violations
is relatively low.)
Examples of inappropriate behavior include, but are not limited to,repeated use of offensive language or other uncivil conduct.
We’ve learned that, although intended with no ill will, “clothes pinning” (agame played by some event participants where they try to clip aclothespin to an unsuspecting person) can and does make people
uncomfortable. Understandable; it’s unwelcome contact that may or may
not have been from someone you know and trust. As a result, this isconsidered an example of uncivil conduct.

C03.

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 toescalate rapidly to YELLOW or RED CARDS, and may lead to dismissal from the event (i.e. thethreshold for egregious or repeated 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 run their AUTO program on
their ROBOT, resulting in Teams A, B, and C not being able to earn a
Ranking Point for the AUTO QUEST achievement. 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.
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.
FIRST® considers the action of a Team influencing another Team tothrow a MATCH, to deliberately miss Ranking Points, etc. incompatible
with FIRST values and not a strategy any team should employ.

C04.

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

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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 toescalate rapidly to YELLOW or RED CARDS, and may lead to dismissal from the event (i.e. thethreshold for egregious or repeated violations is relatively low.)
Example 1: A MATCH is being played by Teams A, B, and C. Team D
requests Team C to not run their AUTO program on their ROBOT,
resulting in Teams A, B, and C not earning a Ranking Point for the AUTOQUEST achievement. Team C accepts this request from Team D. TeamD’s motivation for this behavior is to prevent Team A from rising in the
Tournament rankings negatively affecting Team D’s ranking.
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.
FIRST considers the action of a Team influencing another Team to throwa MATCH, to deliberately miss Ranking Points, etc. incompatible with
FIRST values and not a strategy any team should employ.
C05.

Compete with only one (1) ROBOT. Each registered FIRST Robotics Competition team mayenter only one (1) ROBOT (or ‘Robot’, which to a reasonably astute observer, is a ROBOT built toplay FIRST® POWER UPSM) into the 2018 FIRST Robotics Competition Season.
“Entering” a ROBOT (or Robot) into a FIRST Robotics Competitionmeans bringing it to the event such that it’s an aid to your Team (e.g. forspare parts, judging material, or for practice). Spare FABRICATEDITEMS may be brought to the event in a bag or part of a WITHHOLDINGALLOWANCE.
This rule does not prohibit teams from bringing in robots from other
FIRST programs for the purposes of awards presentations or pit
displays.
Violation: Verbal warning. Repeated violations will be addressed by the Head REFEREE, the Lead
ROBOT Inspector and/or Event Management.

C06.

Show up to your MATCHES. Each team must send at least one (1) member of its DRIVE TEAM
to the FIELD and participate in each of the team’s assigned Qualification and Playoff MATCHES.
The team should inform the Lead Queuer if the Team’s ROBOT is not able to participate.
Violation: If ROBOT has passed an initial, complete Inspection, RED CARD. If ROBOT has notpassed an initial, complete Inspection, DISQUALIFIED per I02.

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Figure 6-1: Match participation flowchart

C07.

Don’t expect to gain by doing others harm. Strategies clearly aimed at forcing the opposing
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 egregious or repeated, TECH FOUL and YELLOW CARD.
C07 does not apply for strategies consistent with standard gameplay, forexample:A. contacting an opponent during the ENDGAME while in your
PLATFORM ZONE and attempting to CLIMB.
B. placing a POWER CUBE on a SCALE PLATE resulting in the
opposite PLATE moving upwards into an opponent ROBOT suchthat the opponent ROBOT ends up violating G25.
C07 requires an intentional act with limited or no opportunity for the
TEAM being acted on to avoid the penalty, such as:
C. placing a POWER CUBE on/in an opponent who’s alreadycontrolling a POWER CUBE such that they cannot help but violate
G22.
D. forcing an opposing ALLIANCE ROBOT to become wedged under a
SCALE PLATE such that they cannot help but violate G16 and/or
G25.

C08.

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

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Violation: The Head REFEREE will not address additional, non-compliant Team members or
peripheral conversations.
Please see Section 10.6 REFEREE Interaction for more information
about process and expectations.
C09.

Plug in to/be in your PLAYER STATION. The OPERATOR CONSOLE must be used in the
PLAYER STATION to which the Team is assigned, as indicated on the Team sign.
Violation: The MATCH will not start until the situation is corrected. If during a MATCH, DISABLED.
One intent of C09 is to prevent unsafe situations where long tethers to
OPERATOR CONSOLE devices increase tripping hazards as theoperator moves about the ALLIANCE STATION. In the interest of
avoiding nuisance penalties associated with an operator stepping outsideof a prescribed area, we prefer to offer a general guideline as to what itmeans to use the OPERATOR CONSOLE in the ALLIANCE STATION.
Provided the operator is within close proximity of their PLAYERSTATION, there will be no repercussions. However, if an operator is
located more than approximately ½ PLAYER STATION width away fromtheir own PLAYER STATION, that would be considered a violation of
C09.

C10.

No work outside your pit. Throughout the event, from load-in to load-out, Teams may only
produce FABRICATED ITEMS during pit hours, and:a. in their pit area,b. in other Teams’ pit areas with permission from that team,c.

while Queued for a MATCH or Practice Field,

Please note that given likely tight quarters, extra scrutiny regarding
safety is required.
d. any area designated by Event Staff (e.g. Playoff Pit Area, etc.), ore. as permitted at provided machine shops that are available to all teams.
Violation: Verbal warning. Repeated or egregious violations will be addressed by the Head
REFEREE, the Lead ROBOT Inspector and/or Event Management.

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7 Game Rules
7.1 Before the MATCH
G01.

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 9 Inspection & Eligibility Rules),B. the only item left on the FIELD by the DRIVE TEAM,
C. confined to its STARTING CONFIGURATION,
D. set on the carpet,
E. in contact with its ALLIANCE WALL diamond plate,
F. not in contact with the EXCHANGE wall,
G. not breaking the plane of the EXCHANGE ZONE, andH. supporting not more than one (1) POWER CUBE (as described in Section 4.1.2
MATCH Setup).
Violation: If fix is a quick remedy, the MATCH won’t start until all requirements are met. If it is nota 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 DRIVETEAM may not remove the ROBOT from the FIELD without permission
from the Head REFEREE or the FIRST® Technical Advisor (FTA).

G02.

Be prompt/safe when coming to and going from the FIELD. DRIVE TEAMS may not causesignificant or repeated delays to the start of a MATCH and/or to the FIELD reset after the
MATCH.
Violation: If prior to the MATCH, the offending DRIVE TEAM’S ROBOT will be DISABLED. If after
the MATCH, YELLOW CARD.
DRIVE TEAMS are expected to stage their ROBOTS for a MATCH, andremove it from the FIELD afterwards, safely and swiftly. Examples
include, but are not limited to:A. late arrival to the FIELD
B. failing to exit the FIELD once the LED strings have turned off(indicating MATCH ready)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)
E. failing to remove OPERATING CONSOLES from the
PLAYER STATIONS in a timely manner

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G03.

Know your DRIVE TEAM positions. Prior to the start of the MATCH, DRIVE TEAMS must be
positioned as follows:
A. DRIVERS and COACHES must be in their ALLIANCE STATION and behind the
STARTING LINE
B. HUMAN PLAYERS must be behind the STARTING LINE and either in their
ALLIANCE STATION or one of their ALLIANCE PORTALS
C. TECHNICIANS must be in their designated area outside the ALLIANCE STATION
and PORTALS.
Violation: MATCH will not start until the situation is corrected.
The specific location for the TECHNICIAN to stand during a MATCH mayvary by event due to space restrictions around the FIELD. In general,
TECHNICIANS are located with their Team’s ROBOT cart and withinclose proximity to the FIELD.

G04.

Leave the POWER CUBES alone. Prior to the start of the MATCH, DRIVE TEAMS may notrearrange the POWER CUBES within a PORTAL, staged on the FIELD (that are not staged
inside a ROBOT), or transfer POWER CUBES from one PORTAL to another.
Violation: MATCH will not start until the situation is corrected.

7.2 ROBOT Restrictions
G05.

Don’t overextend yourself. ROBOTS may not extend more than 16 in (41 cm). beyond their
FRAME PERIMETER (see Figure 8-1). This rule doesn’t apply to a ROBOT fully within its
PLATFORM ZONE during the ENDGAME.
Violation: FOUL. If strategic, (e.g. expansion results in scoring a POWER CUBE), RED CARD.
Teams should be cognizant of venue height, camera poles, lighting
trusses etc. when designing their ROBOT.
Examples of compliance and non-compliance of G05 are shown in
Figure 7-1.
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 has not been exceeded. Red bars represent ameasured extension from the FRAME PERIMETER that has exceeded
the limit in G05). ROBOT A violates G05, whereas ROBOT B and C donot.

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Figure 7-1: Examples of G05 compliance and non-compliance

G06.

Keep it together. ROBOTS may not intentionally detach or leave parts on the FIELD.
Violation: RED CARD
This rule is not intended to penalize ROBOTS that encounter accidental
breakage (e.g. a failed MECHANISM that falls off), as those actions are
not intentional.

G07.

Keep your BUMPERS together. ROBOTS must be in compliance with BUMPER rules
throughout the MATCH.
Violation: FOUL. DISABLED if any BUMPER segment becomes completely detached, any side of a
ROBOT is completely exposed (without BUMPER), or the Team number or ALLIANCE color
becomes indeterminate.

G08.

ROBOTS must be removed from the FIELD by hand (i.e. no enabling, power, etc.). ROBOTS
will not be re-enabled after the conclusion of the MATCH, nor will Teams be permitted to tether tothe ROBOT except in special circumstances (e.g. during TIMEOUTS, after Opening Ceremonies,
before an immediate MATCH replay, etc.) and with the express permission from the FTA or a
REFEREE.
Violation: YELLOW CARD.
Tethering includes any wired or wireless connection used to electricallyenergize and/or control elements on the ROBOT. The safety of teams
and volunteers in close proximity to ROBOTS and ARCADE elements on
the FIELD is of the utmost importance, therefore ROBOTS or ROBOTCOMPONENTS may not be energized or powered in any way on the
FIELD once the MATCH has concluded.
Keep in mind that 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.

G09.

Launching POWER CUBES is okay, but keep it short. A ROBOT is not permitted to launch
POWER CUBES except:

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A. When any part of its BUMPERS are inside its ALLIANCE’S NULL TERRITORY, andit’s attempting to place a POWER CUBE on the SCALE PLATE in its ALLIANCE’S
NULL TERRITORY, or
B. when any part of its BUMPERS are contacting a FENCE or any part of the ROBOT isintersecting the vertical planes defined by the SWITCH FENCE, and it’s attempting toplace a POWER CUBE on the nearest PLATE of that FENCE’s SWITCH, or
C. when any part of its BUMPERS are inside its ALLIANCE’S EXCHANGE ZONE, andit’s attempting to place a POWER CUBE in its ALLIANCE’S EXCHANGE tunnel.
Violation: TECH FOUL per POWER CUBE. Repeated violations of this rule are likely to escalate
rapidly to YELLOW or RED CARDS
Because gameplay is evaluated by human REFEREES, teams areencouraged to make compliance with G09 (e.g. if any part of the ROBOT
is intersecting the vertical planes defined by the SWITCH FENCE)
obvious and unambiguous.
A ROBOT in contact with a FENCE and straddling the midpoint (i.e.
BUMPERS in both halves of the FIELD) may launch towards either of thecorresponding SWITCH’S PLATES.
Figure 7-2: Launching examples

7.3 ROBOT to ROBOT Interaction
G10.

Don’t tear others down to lift yourself up. Strategies aimed at the destruction or inhibition of
ROBOTS via attachment, damage, tipping, or entanglements are not allowed.
Violation: FOUL and YELLOW CARD. If harm or incapacitation occurs as a result of the strategy,
YELLOW CARD is elevated to a RED CARD
For example, use of a wedge-like MECHANISM to tip ROBOTS is aviolation of G10.
MECHANISMS outside the FRAME PERIMETER are particularly
susceptible to causing such damage, drawing this penalty, and/or
drawing penalties associated with violations of G11.
Teams are encouraged to be cautious in their use of such
MECHANISMS when engaging in ROBOT to ROBOT MATCH play.

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G11.

Stay out of other ROBOTS. Initiating deliberate or damaging contact with an opponent ROBOT
on or inside the vertical extension of its FRAME PERIMETER, including transitively through a
POWER CUBE, is not allowed.
Violation: FOUL and YELLOW CARD.
High speed accidental collisions may occur during the MATCH and are
expected. Generally, ROBOTS extend elements outside of the FRAME
PERIMETER at their own risk.
A ROBOT with an element outside its FRAME PERIMETER may be
penalized under G11 if it appears they are using that element topurposefully contact another ROBOT inside its FRAME PERIMETER.

G12.

Don’t collude with your partners to shut down major parts of game play. Two or more
ROBOTS may not isolate or close off any major component of MATCH play, e.g. blocking the
EXCHANGE, blocking both PORTALS simultaneously, shutting down all access to POWERCUBES, quarantining all opponents to a small area of the FIELD, etc.
Violation: YELLOW CARD for the ALLIANCE.
A single ROBOT blocking access to a particular area of the FIELD is nota violation of G12.
Two ROBOTS independently playing defense on two opposing ROBOTS
is not a violation of this rule.

G13.

If an opponent’s down, back off. Fallen (i.e. tipped over) ROBOTS attempting to rightthemselves (either by themselves or with assistance from a partner ROBOT) have one ten (10)second grace period in which they may not be contacted by an opponent ROBOT. This protection
lasts for either ten (10) seconds or until the protected ROBOT has completed the righting
operation, whichever comes first.
Violation: FOUL. If intentional, YELLOW CARD.

G14.

There’s a 5-count on pins. ROBOTS may not pin an opponent’s ROBOT for more than five (5)seconds. A ROBOT will be considered pinned until the ROBOTS have separated by at least six(6) feet. The pinning ROBOT(s) must then wait for at least three (3) seconds before attempting to
pin the same ROBOT again. Pinning is transitive through other objects. If the pinned ROBOT
chases the pinning ROBOT upon retreat, the pinning ROBOT will not be penalized, and the pin
will be considered complete.
Violation: FOUL, plus an additional FOUL for every five (5) seconds in which the situation is notcorrected. If extended, RED CARD.
There is no FIRST® Robotics Competition specific definition of pin, so a
general definition applies; “to prevent or stop something from moving.”
As a result, contact is not required for pinning to occur. For example, a
ROBOT parked right behind an opponent that is against its PORTAL wall
could be considered pinning because the wall and the parked ROBOT
prevent the opponent from moving.
Generally, pins that exceed fifteen (15) seconds are consideredextended, regardless of a pinning ROBOT’s mobility.

G15.

Opponent’s EXCHANGE ZONE: no camping. A ROBOT may not block their opponent’s
EXCHANGE ZONE for more than five (5) seconds. A ROBOT is considered “blocking” if any partof their ROBOT is breaking the plane of the EXCHANGE ZONE, and will continue to be

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55 of 133considered blocking until the ROBOT has moved at least six (6) feet from the EXCHANGE
ZONE. If an opposing ROBOT attempts to stop the blocking ROBOT from moving the required
distance to clear the block, the blocking ROBOT will not be penalized, and the block will beconsidered complete.
A ROBOT that is being pinned is exempt from G15. Once the pin is over, the 5-second countbegins for this rule.
Violation: FOUL, plus an additional FOUL for every five (5) seconds in which the situation is notcorrected. If extended and egregious, YELLOW CARD.
Generally, blocking that exceeds fifteen (15) seconds is consideredextended and egregious, regardless of a blocking ROBOT’s mobility,
however circumstances vary and the assessment is open to REFEREE
discretion.
G16.

The NULL TERRITORY is safe. A ROBOT whose BUMPERS are breaking the plane of orcompletely contained by its NULL TERRITORY and not breaking the plane of the opponent’s
PLATFORM ZONE may not be contacted by an opposing ROBOT either directly or transitively
through a POWER CUBE, regardless of who initiates the contact. A ROBOT forced into breaking
the plane of an opponent’s NULL TERRITORY resulting in it being wedged underneath the
SCALE is not a violation of this rule.
Violation: TECH FOULTEAMS should note that they are putting themselves at great risk of
TECH FOULS near their opponent’s NULL TERRITORY.

G17.

Don’t climb on each other until the end. Unless during the ENDGAME, or attempting to right a
fallen (i.e. tipped over) ALLIANCE partner, ROBOTS may neither fully nor partially strategicallysupport the weight of partner ROBOTS.
Violation: TECH FOUL.

G18.

Don’t mess with opponents in their PLATFORM ZONE. During the ENDGAME ROBOTS may
not contact an opponent ALLIANCE ROBOT completely contained within their ALLIANCE’S
PLATFORM ZONE, either directly or transitively through a POWER CUBE, regardless of who
initiates the contact.
Violation: The contacted opponent ROBOT, and all partner ROBOTS it’s fully supporting, areconsidered to have CLIMBED at the end of the MATCH.
Teams are encouraged to consider rule C07 when developing theirstrategies, such as attempting to draw violations of this rule.

7.4 FIELD Interaction
G19.

Be careful about what you interact with. DRIVE TEAMS, ROBOTS, and OPERATORCONSOLES are prohibited from the following actions with regards to interaction with ARCADE
elements.
Items A and B exclude DRIVE TEAM interaction with FIELD elements in their areas.
Item C excludes use of the PLAYER STATION hook-and-loop tape, plugging in to the provided
power outlet, and plugging the provided Ethernet cable in to the OPERATOR CONSOLE.
Items A-D exclude RUNGS and POWER CUBES.
A. Grabbing

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B. Grasping
C. Attaching to (including the use of hook-and-loop tape against the FIELD carpet)
D. Hanging
E. Deforming
F. Becoming entangled
G. Damaging
Violation: If prior to MATCH, and situation can be corrected quickly, it must be remedied before
the MATCH will start. If during a MATCH, FOUL. If during a MATCH and extended or repeated,
YELLOW CARD. If offense is via a ROBOT and the Head REFEREE determines that further
damage is likely to occur, offending ROBOT will be DISABLED. Corrective action (such as
eliminating sharp edges, removing the damaging MECHANISM, and/or re-Inspection) may berequired before the ROBOT will be allowed to compete in subsequent MATCHES.
POWER CUBES are expected to undergo a reasonable amount of wear
and tear as they are handled by ROBOTS, such as scratching, marking,or small cracks. Gouging, tearing off pieces, routinely marking POWERCUBES, or causing large cracks that weaken rigidity are violations of thisrule. Humans causing POWER CUBE wear and tear, e.g. slicing a
POWER CUBE, are subject to a CARD per C01.
G20.

POWER CUBES: use as directed. With the exception of placing a POWER CUBES on PLATES,ROBOTS may not deliberately use POWER CUBES in an attempt to ease or amplify thechallenge associated with FIELD elements.
Violation: TECH FOUL per POWER CUBE. Repeated or egregious violations of this rule are likely
to escalate rapidly to YELLOW or RED CARDS.
Examples include, but are not limited to:
A. stacking POWER CUBES underneath a PLATE
B. climbing on POWER CUBES
C. using POWER CUBES to explicitly impede opponent
mobility
D. Placing a POWER CUBE on the top of the SCALE to block
the opponent ALLIANCE RUNGS is an egregious violation of
G20.

G21.

Keep POWER CUBES in bounds. With the exception of feeding POWER CUBES through thelower opening of the EXCHANGE, ROBOTS may not intentionally eject POWER CUBES from the
FIELD.
Violation: FOUL per POWER CUBE. Repeated violations of this rule are likely to escalate rapidly
to YELLOW or RED CARDS.

G22.

One POWER CUBE per ROBOT. ROBOTS may not control more than one (1) POWER CUBE ata time.
Violation: FOUL per additional POWER CUBE. Repeated violations of this rule are likely toescalate rapidly to YELLOW or RED CARDS

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Moving or positioning a POWER CUBE to gain advantage is considered“control.” Examples include, but are not limited to:A. “carrying” (holding a POWER CUBE inside a ROBOT)
B. “herding” (intentionally pushing a POWER CUBE to a desired
location or direction)
C. “trapping” (holding a POWER CUBE against a FIELD element in an
attempt to shield or guard it)
D. “launching” (shooting POWER CUBES into the air, kicking across thefloor, or throwing in a forceful way)
Examples of interaction with POWER CUBES that are not “control”
include, but are not limited to:E. “bulldozing” (inadvertent contact with POWER CUBES while in thepath of the ROBOT moving about the FIELD)
F. “deflecting” (being hit by a POWER CUBE that bounces into or off ofa ROBOT)
G. “plowing” (brief contact with a large quantity of POWER CUBES
while attempting to break up a pile, or gain access to an area of the
FIELD. Sustained contact or contact after the brief plowing action will
be subject to “herding”)
H. “nudging” (contact with a POWER CUBE that is on a PLATE while
attempting to place additional POWER CUBES on that PLATE)
If a POWER CUBE becomes lodged in or on a ROBOT, it will beconsidered controlled by the ROBOT. It is important to design your
ROBOT so that it is impossible to inadvertently or unintentionally control
more than the allowed maximum.
G23.

POWER CUBES in opponent’s POWER CUBE ZONE – off limits. ROBOTS may not remove
POWER CUBES, or cause POWER CUBES to be removed, from the opponent’s POWER CUBE
ZONE. A POWER CUBE has been removed from the POWER CUBE ZONE when it starts fully
contained by the POWER CUBE ZONE, and ends completely outside of the POWER CUBE
ZONE. A POWER CUBE removed through transitive contact with another POWER CUBE and/or
an opponent ROBOT is a violation of this rule.
Violation: FOUL per POWER CUBE removed

G24.

POWER CUBES stay on PLATES. Strategies aimed at removing POWER CUBES from
PLATES are prohibited.
Violation: TECH FOUL per POWER CUBE removed
Examples of actions that violate this rule include, but are not limited to:

G25.

•

using an arm to sweep POWER CUBES off a PLATE.

•

launching a POWER CUBE at a stack on an opponent’s PLATE,
causing the stack to topple.

PLATES are moved by POWER CUBES, not ROBOTS. Except via the weight of placed
POWER CUBES, ROBOTS may not directly or transitively cause or prevent the movement of
PLATES. Movement, or prevention of movement, of PLATES because of momentary ROBOT
action resulting in minimal PLATE displacement is not a violation of this rule. A ROBOT forced to

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SCALE by the opposing ALLIANCE either intentionally or accidentally) is not a violation of thisrule.
Violation: FOUL per instance plus an additional TECH FOUL for every five (5) seconds in which
the situation is not corrected. Repeated or extended violations of this rule are likely to escalate
rapidly to YELLOW or RED CARDS.
The intent of G25 is to make it clear that PLATES are to move solely
because of POWER CUBE weight and not because of a ROBOT
deliberately trying to move PLATES (either by using its own manipulator,
or a POWER CUBE as an extension of the ROBOT, to push or hold a
PLATE).
The “momentary” and “minimal” language in G25 is subjective but
necessary because ROBOTS may cause PLATE movement (or prevent
PLATE movement) as they place POWER CUBES and bump PLATES,
get hit, etc.
Generally, “momentary” means near instantaneous, or in other words,
contact for less than approximately one (1) second and “minimal” meansa displacement of fewer than approximately three (3) in. However,
REFEREES are not expected to measure, and be accountable to, realtime PLATE displacement or precise timing from their vantage points.
Example 1: A ROBOT may not hold the SCALE PLATE in a “balanced”
state.

Example 2: A ROBOT may not hold a plate up.

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7.5 AUTO Period Rules
A01.

Behind the lines. During AUTO, DRIVE TEAM members in ALLIANCE STATIONS andPORTALS may not contact anything in front of the STARTING LINES, unless for personal or
equipment safety.
Violation: FOUL per item contacted.
Pointing, gesturing or otherwise extending across the STARTING LINE
such that contact is not made with carpet or other ARCADE elements is
not a violation of this rule.
One example of an exception for equipment safety is if an OPERATORCONSOLE starts to slide from, or has already fallen off of, the PLAYERSTATION 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.

A02.

During AUTO, let the ROBOT do its thing. During AUTO, DRIVE TEAMS may not directly or
indirectly interact with ROBOTS or OPERATOR CONSOLES unless for personal safety,
OPERATOR CONSOLE safety, or pressing an E-Stop for ROBOT safety.
Violation: FOUL and YELLOW CARD.
Making an adjustment to the OPERATOR CONSOLE or interacting with
the ROBOT after the assignment of PLATE colors is a violation of thisrule. Teams can use the information from the FMS to determine PLATE
color assignments using preprogrammed instructions (see Section 3.10).

A03.

Disconnect or set down controllers. During AUTO, any control devices worn or held by the
DRIVERS and/or HUMAN PLAYERS must be disconnected from the OPERATOR CONSOLE.
Violation: FOUL.
For the purposes of the 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.

A04.

Stay out of your opponent’s side of the FIELD. During AUTO, no part of a ROBOT’S
BUMPERS may pass from the NULL TERRITORY to the opponent’s side of the FIELD.
Violation: FOUL. If contact is made with an opponent ROBOT in their side of the FIELD (either
direct contact or transitive contact through a POWER CUBE), TECH FOUL. Violations of this rule
are likely to escalate rapidly to YELLOW or RED CARDS.

A05.

POWER CUBES are off-limits. During AUTO, DRIVE TEAMS may not contact any POWERCUBES, unless for personal safety.
Violation: FOUL per POWER CUBE.

7.6 Human Action Rules
H01.

COACHES and other Teams: hands off the controls. A ROBOT shall be operated solely by
the DRIVERS and/or HUMAN PLAYERS of that Team.
Violation: Offending ROBOT will be DISABLED.
Exceptions may be made before a MATCH for major conflicts, e.g.
religious holidays, major testing, transportation issues, etc.

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H02.

Wireless devices not allowed. During a MATCH, DRIVE TEAMS may not use electronic
devices which have the capability of receiving communications from persons outside of the
ARCADE (e.g. cell phones or wearable technology).
Violation: YELLOW CARD.

H03.

Don’t trick the sensors. Teams may not interfere with any automated scoring hardware.
Violation: RED CARD for the ALLIANCE.
A POWER CUBE must rest on any of its six (6) faces when placed withina column of the VAULT. Failure to do so may result in a violation of H03.

H04.

By invitation only. Only DRIVE TEAMS for the current MATCH are allowed in their respective
ALLIANCE STATIONS or PORTALS.
Violation: MATCH will not start until the situation is corrected.

H05.

Identify yourself. DRIVE TEAMS must wear proper identification while in the ARCADE. Proper
identification consists of:
A. All DRIVE TEAM members wearing their designated buttons above the waist in aclearly visible location at all times while in the ARCADE.
The COACH wearing the "Coach" labeled DRIVE TEAM button
The DRIVERS and HUMAN PLAYERS each wearing a DRIVE TEAM button
The TECHNICIAN wearing the “Technician” labeled DRIVE TEAM button
B. During a Playoff MATCH, the ALLIANCE CAPTAIN clearly displaying the designated
ALLIANCE CAPTAIN identifier (e.g. hat or armband).
Violation: MATCH will not start until the situation is corrected. Those not displaying identificationmust leave the ARCADE.

H06.

No wandering. DRIVE TEAM members may not contact anything outside the zone in which they
started the MATCH (e.g. the ALLIANCE STATION, PORTAL, designated area for the
TECHNICIAN) during the MATCH. Exceptions will be granted for inadvertent, momentary, andinconsequential infractions and in cases concerning safety.
Violation: FOUL. If strategic, RED CARD.

H07.

You can’t bring/use anything you want. The only equipment that may be brought to the
ARCADE and used by DRIVE TEAMS during a MATCH is listed below. Regardless if equipment
fits criteria below, it may not be employed in a way that breaks any other rules, introduces asafety hazard (e.g. a step stool or large signaling device in the confined space of the PORTAL
are safety concerns), blocks visibility for FIELD STAFF or audience members, or jams orinterferes with the remote sensing capabilities of another Team, or the FIELD, including visionsystems, acoustic range finders, sonars, infrared proximity detectors, etc. (e.g. including imagery
that, to a reasonably astute observer, mimics the Vision Targets used on 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,

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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 ARCADE under allowances B-G must meet all of the following conditions:do not connect or attach to the OPERATOR CONSOLE
do not connect or attach to the FIELD or ARCADE
do not connect or attach to another ALLIANCE member (other than items in
category G)
do not communicate with anything or anyone outside of the ARCADE.
do not communicate with the TECHNICIAN
do not include any form of enabled wireless electronic communication (e.g. radios,
walkie-talkies, cell phones, Bluetooth communications, Wi-Fi, etc.)
do not in any way affect the outcome of a MATCH, other than by allowing the
DRIVE TEAM toa. plan or track strategy for the purposes of communication of thatstrategy to other ALLIANCE members orb. use items allowed per part B to communicate with the ROBOT(provided A02 is not violated).
Violation: MATCH will not start until situation remedied. If discovered or used inappropriately
during a MATCH, YELLOW CARD.
H08.

Don’t abuse ARCADE access. Team members (except DRIVERS, HUMAN PLAYERS, andCOACHES) who are granted access to restricted areas in and around the ARCADE (e.g. via
TECHNICIAN button, event issued Media badges, etc.) may not coach or use signaling devices
during the MATCH. Exceptions will be granted for inconsequential infractions and in cases
concerning safety.
Violation: YELLOW CARDThe TECHNICIAN’s role is help the team prepare the ROBOT so it canperform at its full potential during a MATCH. The TECHNICIAN is not an
additional COACH, DRIVER or HUMAN PLAYER.

H09.

Don’t mess with the POWER CUBES. Teams may not modify POWER CUBES in any way.
Violation: RED CARD.
Opening the zipper pockets on a POWER CUBE to add additional
weight, or cracking / bending a POWER CUBE, are examples ofviolations.

H10.

It doesn’t support you. Teams may not sit or stand on POWER CUBES.
Violation: Behavior will be discussed with Team or individual. Violations of this rule are likely toescalate rapidly to YELLOW or RED CARDS.

H11.

COACHES, no POWER CUBES. During a MATCH, COACHES may not touch POWER CUBES
unless for safety purposes.
Violation: TECH FOUL per instance.

H12.

COACHES, stay clear of the VAULT. During a MATCH, COACHES may not touch any
component of the VAULT (including the buttons) unless for safety purposes.

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Violation: TECH FOUL per instance
H13.

POWER CUBES only enter the FIELD as designated. DRIVE TEAMS may only deliberately
cause POWER CUBES to leave an ALLIANCE STATION or PORTAL
A. during TELEOP,
B. by a HUMAN PLAYER or DRIVER, andC. through a PORTAL wall or the RETURN
Violation: FOUL per POWER CUBE. If strategic, RED CARD.
An example of a strategic violation of this rule would be transferring a
POWER CUBE from an ALLIANCE’S PORTAL to the opponent’s
ALLIANCE STATION in order for it to be used in the opponent’s VAULT.
Note that H13 prohibits returning a POWER CUBE to the FIELD throughthe lower opening on the EXCHANGE wall, only the upper (RETURN)
opening.

H14.

POWER CUBES stay in the VAULT. POWER CUBES may not be removed from the VAULT.
Violation: FOUL. If strategic (i.e. re-used in a different column within the VAULT or introduced to
the FIELD), RED CARD.
A POWER CUBE is considered in the VAULT when the LEDs in thecorresponding column indicate its presence.

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8 ROBOT Rules
This section of the 2018 FIRST® Robotics Competition Game Manual presents legislation relevant to theconstruction of a 2018 FIRST® Robotics Competition ROBOT. ROBOTS must pass Inspection at each
FIRST® Robotics Competition event to confirm compliance before being allowed to compete, per Section
9 Eligibility & Inspection.

8.1 Overview
The rules listed below explicitly address legal parts and materials and how those parts and materials may
be used on a 2018 ROBOT. 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 any Kickoff Kit Checklists, distributed via FIRST® Choice, or paid for completely (except shipping) witha Product Donation Voucher (PDV).
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 theInspectors 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 mostbasic configuration, which cannot be disassembled without damaging or destroying the part or altering its
fundamental function. A MECHANISM is a COTS or custom assembly of COMPONENTS that provide
specific functionality on the ROBOT. A MECHANISM can be disassembled (and then reassembled) into
individual COMPONENTS without damage to the parts.
Many rules in this section reference Commercial-Off-The-Shelf (COTS) items. A COTS item must be astandard (i.e. not custom order) part commonly available from a VENDOR for all teams for purchase. To
be a COTS item, the COMPONENT or MECHANISM must be in an unaltered, unmodified state (with the
exception of installation or modification of any software). Items that are no longer commercially available
but are functionally equivalent to the original condition as delivered from the VENDOR are considered
COTS and may be used.
•

Example 1: A Team orders two (2) ROBOT grippers from
RoboHands Corp. and receives both items. They put one in theirstoreroom 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 forthem. The produced part is NOT a COTS item, because it is notcommonly 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 tofabricate 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 finishedgearbox itself would be a FABRICATED ITEM, and not a COTS item.

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•

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

•

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

•

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

A VENDOR is a legitimate business source for COTS items that satisfies all of 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 licensewith 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 orcollection of Teams. While there may be some individuals affiliated with both a Teamand the VENDOR, the business and activities of the Team and VENDOR must becompletely separable.
C. must be able to ship any general (i.e., non-FIRST unique) product within fivebusiness 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 atonce from the same VENDOR) may cause atypical delays in shipping due tobackorders 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 areasonable period during the season (less than 1 week). (Note that this criterion may
not apply to custom-built items from a source that is both a VENDOR and afabricator. For example, a VENDOR may sell flexible belting that the Team wishes toprocure to use as treads on their drive system. The VENDOR cuts the belting to acustom length from standard shelf stock that is typically available, welds it into a loop
to make a tread, and ships it to a Team. The fabrication of the tread takes the
VENDOR two weeks. This would be considered a FABRICATED ITEM, and the twoweek ship time is acceptable.) Alternately, the Team may decide to fabricate thetreads themselves. To satisfy this criterion, the VENDOR would just have to ship alength of belting from shelf stock (i.e. a COTS item) to the Team within five businessdays 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 numberof 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

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provide them with the best prices and level of service available. Teamsalso 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, Radio Shack, McMaster-Carr, etc.). Remember,
FIRST Robotics Competition events are not always near home – whenparts 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. length ofaluminum which has been cut into 5 ft. (~152 cm) pieces by the Team forstorage or transport is neither COTS (it’s not in the state received fromthe VENDOR), nor a FABRICATED ITEM (the cuts were not made toadvance the part towards its final form on the ROBOT).
Teams may be asked to provide documentation proving legality of non-2018 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 ametric-equivalent part’s legality, please e-mail your question to frcparts@firstinspires.org for an official
ruling. To seek approval for alternate devices for inclusion in future FIRST Robotic Competition seasons,please contact frcparts@firstinspires.org with item specifications.
Teams should acknowledge the support provided by the corporate Sponsors and Mentors with anappropriate 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.

8.2 General ROBOT Design
R01.

The ROBOT (excluding BUMPERS) must have a FRAME PERIMETER, contained within the
BUMPER ZONE, that is comprised of fixed, non-articulated structural elements of the ROBOT.
Minor protrusions no greater than ¼ in. (~6.3 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 aroundthe ROBOT (excluding BUMPERS) at the BUMPER ZONE described in
R24 and pull it taut. The string outlines the FRAME PERIMETER.
Example: A ROBOT’s chassis is shaped like the letter ‘V’, with a large
gap between chassis elements on the front of the ROBOT. When
wrapping a taut string around this chassis, the string extends across the
gap and the resulting FRAME PERIMETER is a triangle with three sides.
Note: to permit a simplified definition of the FRAME PERIMETER andencourage a tight, robust connection between the BUMPERS and the
FRAME PERIMETER, minor protrusions such as bolt heads, fastener

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ends, rivets, etc. are excluded from the determination of the FRAME
PERIMETER.
R02.

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 incontact with the wall.
The allowance for minor protrusions in R02 is intended to allow
protrusions that are both minor in extension from the FRAME
PERIMETER and cross sectional area.

R03.

In the STARTING CONFIGURATION, the maximum ROBOT size (excluding BUMPERS) must be
constrained to a volume of 33 in. by 28 in. by 55 in. tall (~83 cm by ~71 cm by ~139 cm tall).
Minor protrusions permitted in R01 and R02 (that are less than ¼ in. (~6.3 mm) such as bolt
heads, fastener ends, weld beads, and rivets) are exempt from the 33 in. and 28 in. limits.
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.
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, bag, vehicle, etc.

R04.

ROBOTS may not extend more than 16 in. (~40 cm) beyond their FRAME PERIMETER (seeFigure 8-1), except during the ENDGAME (see G05).
Figure 8-1: FRAME PERIMETER Extension

R05.

The ROBOT weight must not exceed 120 lbs. When determining weight, the basic ROBOT
structure and all elements of all additional MECHANISMS that might be used in different
configurations of the ROBOT shall be weighed together (see I03).

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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 quickconnect/disconnect pair (including no more than 12 in. (~30 cm) of cable per leg, theassociated cable lugs, connecting bolts, and insulation)

8.3 ROBOT Safety & Damage Prevention
R06.

Traction devices must not have surface features such as metal, sandpaper, hard plastic studs,
cleats, hook-loop fasteners or similar attachments that could damage the ARCADE. 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.

R07.

Protrusions from the ROBOT and exposed surfaces on the ROBOT shall not pose hazards to the
ARCADE elements (including the POWER CUBES) or people.
If the ROBOT includes protrusions that form the “leading edge” of the
ROBOT as it drives and the protrusions have a surface area of less than
1 in.2 (~6 cm2), it will invite detailed Inspection. For example, forklifts,
lifting arms, or grapplers may be carefully inspected for these hazards.

R08.

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 R08 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 DRIVERS and/or COACHES
and/or interfere with their ability to safely control their ROBOT
B. Speakers, sirens, air horns, or other audio devices that generatesound at a level sufficient to be a distraction
C. Any devices or decorations specifically intended to jam or interferewith the remote sensing capabilities of another ROBOT, including
vision systems, acoustic range finders, sonars, infrared proximity
detectors, etc. (e.g. including imagery on your ROBOT that, to areasonably astute observer, mimics the retro-reflective features ofvision targets described in Section 3.9 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. Thesematerials may not be machined in any way at an event.

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L. Tire sealant
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 andpossible disablement of the device.
Teams should provide MSD Sheets for any materials they use that might
be considered questionable during ROBOT Inspection.
R09.

ROBOTS must allow removal of POWER CUBES 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 POWER CUBES and ROBOTS can be quickly, simply, andsafely removed.

R10.

Lubricants may be used only to reduce friction within the ROBOT. Lubricants must notcontaminate the ARCADE or other ROBOTS.

8.4 Budget Constraints & Fabrication Schedule
R11.

The total cost of all items on the ROBOT shall not exceed $4000 USD. All costs are to be
determined as explained in Section 8.4 Budget Constraints & Fabrication Schedule. Exceptions
are as follows:
A. individual items that are less than $5 USD each, as purchasable from a VENDOR,
andB. KOP items
Teams should be prepared to disclose to Inspectors the cost of any nonKOP item and the total cost of the ROBOT.
Per I05, Teams must be prepared to display a Cost Accounting
Worksheet (CAW) to Inspectors during Inspection. The CAW may bedisplayed in either printed or electronic form.
If the item is a KOP item, it does not need to be on the CAW.
Individual COMPONENTS or MECHANISMS, not excluded in R11, thatare retrieved from previous ROBOTS and used on 2018 ROBOTS musthave their undepreciated cost included in the 2018 CAW and applied tothe overall cost assessment.

R12.

No individual, non-KOP item shall have a value that exceeds $500 USD. The total cost of
COMPONENTS purchased in bulk may exceed $500 USD as long as the cost of an individual
COMPONENT does not exceed $500 USD.
If a COTS item is part of a modular system that can be assembled inseveral possible configurations, then each individual module must fit
within the price constraints defined in R12.
If the modules are designed to assemble into a single configuration, andthe assembly is functional in only that configuration, then the total cost of
the complete assembly including all modules must fit within the priceconstraints defined in R12.

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In summary, if a VENDOR sells a system or a kit, a team must use theentire system/kit Fair Market Value and not the value of its
COMPONENT pieces.
Example 1: VENDOR A sells a gearbox that can be used with a numberof different gear sets, and can mate with two different motors they sell. A
team purchases the gearbox, a gear set, and a motor (which are notoffered together as an assembly or kit), then assembles them together.
Each part is treated separately for the purpose of CAW costing, since thepurchased pieces can each be used in various configurations.
Example 2: VENDOR B sells a robotic arm assembly that the teamwants to use. However, it costs $700 USD, so they cannot use it. The
VENDOR sells the “hand”, “wrist”, and “arm” as separate assemblies, for$200 USD each. A team wishes to purchase the three items separately,
then reassemble them. This would not be legal, as they are really buying
and using the entire assembly, which has a Fair Market Value of $700
USD.
Example 3: VENDOR C sells a set of wheels or wheel modules that areoften used in groups of four. The wheels or modules can be used inother quantities or configurations. A team purchases four and uses themin the most common configuration. Each part is treated separately for the
purpose of CAW costing, since the purchased pieces can be used invarious configurations.
R13.

The CAW cost of each non-KOP item must be calculated based on the unit fair market value forthe material and/or labor, except for labor provided by Team members (including sponsor
employees who are members of the team), members of other Teams, event provided Machine
Shops and shipping.
Example 1: A Team orders a custom bracket made by a company to theTeam's specification. The company’s material cost and normally charged
labor rate apply.
Example 2: A Team receives a donated sensor. The company would
normally sell this item for $52 USD, which is therefore its fair market
value.
Example 3: Special price discounts from National Instruments and other
FIRST Suppliers are being offered to Teams. The discounted purchaseprice of items from these sources may be used in the additional partsaccounting calculations.
Example 4: A Team purchases steel bar stock for $10 USD and has it
machined by a local machine shop. The machine shop is not considereda team Sponsor, but donates two (2) hours of expended labor anyway.
The Team must include the estimated normal cost of the labor as if itwere paid to the machine shop, and add it to the $10 USD.
Example 5: A Team purchases steel bar stock for $10 USD and has it
machined by a local machine shop that is a recognized Sponsor of theTeam. If the machinists are considered members of the Team, their laborcosts do not apply. The total applicable cost for the part would be $10
USD.

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It is in the best interests of the Teams and FIRST to form relationships
with as many organizations as possible. Teams are encouraged to be
expansive in recruiting and including organizations in their team, as that
exposes more people and organizations to FIRST. Recognizing
supporting companies as Sponsors of, and members in, the Team is
encouraged, even if the involvement of the Sponsor is solely through the
donation of fabrication labor.
Example 6: A Team purchases steel bar stock for $10 USD and has it
machined by another Team. The total applicable cost for the part would
be $10 USD.
Example 7: A Team purchases a 4 ft. by 4 ft. (~122 cm by 122 cm) sheetof aluminum, but only uses a piece 10 in. by 10 in. (~25 cm by 25 cm) on
their ROBOT. The Team identifies a source that sells aluminum sheet in
1 by 1 ft. pieces. The Team may cost their part on the basis of a 1 by 1 ft.
piece, even though they cut the piece from a larger bulk purchase. They
do not have to account for the entire 4 by 4 ft. bulk purchase item.
R14.

Physical ROBOT elements created before Kickoff are not permitted. Exceptions are:
A. OPERATOR CONSOLE,
B. BUMPERS (a protective assembly designed to attach to the exterior of the ROBOT
and constructed as specified in Section 8.5 Bumper Rules),C. battery assemblies per R05-B,
D. FABRICATED ITEMS consisting of one COTS electrical device (e.g. a motor or
motor controller) and attached components associated with any of the following
modifications:Wires modified to facilitate connection to a ROBOT (including removal ofexisting connectors)
Connectors and any materials to secure and insulate those connectors
addedMotor shafts modified and/or gears, pulleys, or sprockets added
Please note that this means that FABRICATED ITEMS from ROBOTS
entered in previous FIRST competitions may not be used on ROBOTS in
the 2018 FIRST® Robotics Competition (other than those allowed per
R14-B through R14-D). 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.
Example 1: A Team designs and builds a two-speed shifting
transmission during the fall as a training exercise. After Kickoff, theyutilize all the design principles they learned in the fall to design their
ROBOT. To optimize the transmission design for their ROBOT, they
improve the transmission gear ratios and reduce the size, and build two
new transmissions, and place them on the ROBOT. All parts of thisprocess are permitted activities.
Example 2: A Team re-uses a 2018-legal motor from a previous ROBOT
which has had connectors added to the wires. This is permitted, per
exception D, because the motor is a COTS electrical COMPONENT.

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R15.

Software and mechanical/electrical designs created before Kickoff are only permitted if the source
files (complete information sufficient to produce the design) are available publicly prior to Kickoff.
Example 1: A Team realizes that the transmission designed and built in
the fall perfectly fits their need for a transmission to drive the ROBOT
arm. They build an exact copy of the transmission from the original
design plans, and bolt it to the ROBOT. This would be prohibited, as thetransmission – 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 the2011 competition. Over the summer of 2011 they refined and improved
the control software (written in C++) to add more precision andcapabilities. They decided to use a similar system for the 2018
competition. They copied large sections of unmodified code over into thecontrol software of the new ROBOT (also written in C++). This would bea violation of the schedule constraint, and would not be allowed.
Example 3: The same Team decides to use LabVIEW as their softwareenvironment for 2018. Following Kickoff, they use the previouslydeveloped 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 would be 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 during the fall. Aftercompleting 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 2018 ROBOT.

R16.

All ROBOT elements (including items intended for use during the competition in alternative
configurations of the ROBOT), with the exception of the WITHHOLDING ALLOWANCE per R22,
BUMPERS, and COTS items, must be bagged and sealed, by 04:59 UTC on Stop Build Day,
Wednesday, February 21, 2018.
PLEASE NOTE: THIS TIME IS DICTATED IN UTC (UNIVERSALCOORDINATED TIME). YOU WILL NEED TO CONVERT TO YOURLOCAL TIMEZONE. THIS WILL RESULT IN A TIME ON THE
PREVIOUS DAY (TUESDAY, FEBRUARY 20, 2018) FOR MANYTIMEZONES.
To bag your ROBOT:•

Locate the “Bag and Tag” kit from your Kickoff Kit which contains twoplastic bags large enough to contain your ROBOT and at least ten
tags with individual serial numbers.

•

Set the bag on the floor, leaving room for the ROBOT in the center.

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R17.

•

Place the ROBOT in the center of the bag and pull the bag up
around the ROBOT. Be careful not to catch the bag on the corners or
sharp edges.

•

Tightly seal the bag with your next numbered tag.

•Complete the ROBOT Lock-up Form to verify the date and time thatthe bag was sealed. The ROBOT Lock-up Form must be signed byan adult, 18 years old or older, who is not a student on the team.
This form must be brought with you to all events.

For convenience, Teams may disassemble their ROBOT and use up to three (3) bags to “Bagand Tag” the pieces. Each bag must have its own numbered tag and entry on the ROBOT Lockup Form.
Note: The KOP only contains two (2) bags. Teams wishing to use three(3) bags must acquire the third bag themselves.
When transporting their ROBOT, Teams may use any transportation
method they wish (at their own risk and expense), as long as the ROBOT
remains sealed in the bag.

R18.

If you are attending another event, such as a FIRST Championship or another Regional or District
event, you must re-seal your ROBOT in the bag with a new tag and enter the new tag number on
the ROBOT Lock-up Form prior to leaving the event.

R19.

Teams must stay “hands-off” their bagged ROBOT elements during the following time periods:
A. between Stop Build Day and their first event,B. during the period(s) between their events, andC. outside of Pit hours while attending events.
Modifying parts at night offsite (e.g. pits have closed and you bring a
MECHANISM back to the hotel to fix it) is a violation of R19-C.
Additional time is allowed as follows:
D. After Kickoff, there are no restrictions on when software may be developed.
E. On days a team is not attending an event, they may continue development of any
items permitted per R22, including items listed as exempt from R22, but must do so
without interfacing with the ROBOT.
F. ROBOTS may be unbagged for unofficial pre-inspection, with a certified 2018 LRI
present. No work on or operation of the ROBOT is permitted beyond what isnecessary to emulate the Inspection process. The purpose of this unofficial preinspection is to identify, in advance, potential issues with the ROBOT that may befound during the official inspection that takes place at the event. The ROBOT Lockup Form must be used to track the unbagging and rebagging of the ROBOT during
this period. In the “Explanation” column of the form, enter “LRI Pre-Inspection.”
G. ROBOTS may be unbagged and operated briefly after “Stop Build Day” for brief
display purposes only, or for any other purpose that could be reasonably considered‘display only’ provided the following requirements are met:
The ROBOT Lock-up Form must be used to track the unbagging andrebagging of the ROBOT during this period. In the “Explanation” column ofthe form, enter “Robot Display”.

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No activity that could be considered “work on” or “practice with” the ROBOTis allowed.
Brief displays of robot functions, driving for example, are allowed, but not tothe extent that they could be considered practice
The intent of this option is to allow Teams to briefly show off their
ROBOT (e.g. to their community, sponsors, judges, or potential
sponsors) after “Stop Build Day”. The intent is not to allow 'exhibition
matches', or other similar activities, as this would be considered practice.
Unbagging a ROBOT and putting it on display for many hours (i.e., morethan four (4)) at a time is not considered a “brief” display.
A good way to avoid turning a ROBOT display period in to a practicesession is to have non-DRIVE TEAM members operate the ROBOT, andonly for as short a time as necessary to show the ROBOT’S capabilities.
If you have any questions about the ROBOT Display option, please email
frcparts@firstinspires.org.
H. Teams attending 2-day events may access their ROBOTS using the ROBOT Access
Period.
Teams attending 2-day events will not have as much time to work on
their ROBOTS at events as Teams attending traditional 3-day Regional
events. Due to this, teams are granted an additional “Robot Access
Period” to un-bag their ROBOT between the “Stop Build Day” and their
2-day district events. 2-day events for the 2018 season include District
Qualifier events for the following areas:

R20.

•

FIRST Chesapeake District (DC, MD, VA)•

FIRST Israel District (IS)•FIRST Mid-Atlantic District (DE, NJ, Eastern PA)•

FIRST North Carolina District (NC)•FIRST in Michigan District (MI)•Ontario District (ON)•

Indiana FIRST District (IN)•NE FIRST District (CT, MA, ME, NH, RI, VT)•

Pacific Northwest (AK, OR, WA)•

Peachtree District (GA)

Teams permitted to use the ROBOT Access Period per R19-H may only unlock their ROBOT fora total of six (6) hours during the 7-day period preceding any 2-day event in which their Team will
be competing with their ROBOT.
The six hours may be broken up in any way the team wishes, with the exception that no single
access period may be shorter than two (2) hours.
The ROBOT must be locked up between sessions which must be documented on the ROBOT
Lock-up Form.

R21.

If the ROBOT is accessed before the event, the unbagging must be noted on the ROBOT Lockup form and the ROBOT must be rebagged. The ROBOT must remain sealed in the bag until:

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A. Your ROBOT Lock-up Form has been checked and approved by an Inspector and
B. The pits have officially been opened for ROBOT work.
R22.

At each Event, Teams may have access to a WITHHOLDING ALLOWANCE. The
WITHHOLDING ALLOWANCE is a static set of FABRICATED ITEMS that shall not exceed 30
lbs. (~13 kg.), brought to an event (or ROBOT Access Period) in addition to the bagged items, tobe used to repair and/or upgrade their ROBOT. With permission from another Team, Teams may
also have access to FABRICATED ITEMS that are part of that other Team’s WITHOLDINGALLOWANCE to repair and/or upgrade their ROBOT. The WITHHOLDING ALLOWANCE may
only be brought into the Venue when the Team initially loads in at the Event. Items made at an
Event do not count towards this weight limit.
Teams should be prepared to show their WITHOLDING ALLOWANCE
items, and potentially have them weighed, during load-in.
This means teams may not store FABRICATED ITEMS outside the pits
to be brought to the event at a later time. This set may be changed
between events (i.e. a Team may leave a different set of items out of the
bag and/or fabricate new items to bring to their next event) provided thetotal weight of FABRICATED ITEMS brought to the next event does notexceed thirty (30) lbs. (~13 kg.).
There is no restriction on the quantity of COTS items or items which do
not meet the definitions of COTS or FABRICATED ITEMS (e.g. raw
materials) that may be accessed by a Team at an Event.
For Teams attending 2-Day Events, these FABRICATED ITEMS may be used during the ROBOT
Access Period and/or brought to the Event, but the total weight may not exceed 30 lbs. (~13 kg.)FABRICATED ITEMS constructed during the ROBOT Access Period and bagged with the
ROBOT are exempt from this limit.
Items specified as exempt from R14 are also exempt from the WITHOLDING ALLOWANCE limit.
Example 1: A team creates 10 lbs (~4 kg.) of FABRICATED ITEMS after
Stop Build Day. During their first ROBOT Access Period before their firstevent, they install these items on the ROBOT and bag them with the
ROBOT. The team may bring up to 20 lbs. (~9 kg.) of FABRICATEDITEMS (which may be items removed from the ROBOT before bagging
at the end of the ROBOT Access Period) with them to the event.
Example 2: A team creates 30 lbs (~13 kg.) of FABRICATED ITEMS
after Stop Build Day. During their first ROBOT Access Period before theirfirst event, they install these items on the ROBOT and bag them with the
ROBOT. The team may not bring any FABRICATED ITEMS (including
any initially bagged on Stop Build Day and removed during the ROBOT
Access Period) with them to the event.

8.5 BUMPER Rules
A BUMPER is a required assembly which attaches to the ROBOT frame. BUMPERS are importantbecause they protect ROBOTS from damaging/being damaged by other ROBOTS and FIELD elements.
Criteria used in writing these rules included 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

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•
R23.

Maximize use of relatively ubiquitous materials

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 oneach side of each outside corner (see Figure 8-2) and must extend to within ¼ in. of the FRAME
PERIMETER corner. If a FRAME PERIMETER side is shorter than 6 in. (~16 cm), that entire side
must be protected by BUMPER (see Figure 8-3). A round or circular FRAME PERIMETER, orsegment of the FRAME PERIMETER, is considered to have an infinite number of corners,
therefore the entire frame or frame segment must be completely protected by BUMPER(S).
The dimension defined in R23 is measured along the FRAME
PERIMETER. The portion of the BUMPER that extends beyond thecorner of the FRAME PERIMETER is not included in the 6 in. (~16 cm)
requirement. See Figure 8-2 below.

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Figure 8-2: BUMPER corner examples

Figure 8-3: BUMPER around full side/corner.

R24.

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.

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This measurement is intended to be made as if the ROBOT is resting ona flat floor (without changing the ROBOT configuration), not relative tothe 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 virtuallytransposed onto a flat floor, and its BUMPERS are in the BUMPER
ZONE, it meets the requirements of R24.
Example 2: A ROBOT deploys a MECHANISM which lifts the BUMPERS
outside the BUMPER ZONE (when virtually transposed onto a flat floor).
This violates R24.
R25.

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

R26.

BUMPERS (the entire BUMPER, not just the cover) must be designed for quick and easy
installation and removal to facilitate inspection and weighing.
As a guideline, BUMPERS should be able to be installed or removed bytwo (2) people in fewer than five (5) minutes.

R27.

Each ROBOT must be able to display Red or Blue BUMPERS to MATCH their ALLIANCE color,as assigned in the MATCH schedule distributed at the event (as described in Section 10.1
MATCH Schedules). BUMPER Markings visible when installed on the ROBOT, other than thefollowing, are prohibited:
A. those required per R28,
B. hook-and-loop fastener or snap fasteners backed by the hard parts of the BUMPER,
andC. solid white FIRST logos between 4¾ in. (~13 cm) and 5¼ in. wide (~13 cm) (i.e.
comparable to those distributed in the 2017 Kickoff Kit) and available in 2018 FIRST
Choice.

R28.

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 Arabic numerals at least 4 in. (~11 cm) high, at least ½ in. (~12.7 mm) instroke width, and be either white in color or outlined in white with a minimum 1/16 in.
(~1.6mm) outline
The ½ in. stroke width requirement applies to the majority of the stroke.
Font elements less than ½ in. such as serifs, rounded edges, small
hairlines or gaps, etc. are permitted as long as the majority of the strokemeets the sizing requirement and the numbers are unambiguous.
B. must not wrap around sharp corners (less than 160 degrees) of the FRAME
PERIMETER
C. may not substitute logos or icons for numerals
There is no prohibition against splitting Team numbers onto different
sections of BUMPER. The intent is that the Team’s number is clearlyvisible and unambiguous so that Judges, REFEREES, Announcers, andother Teams can easily identify competing ROBOTS.
This marking is intended to display the Team number only, not tointentionally change the surface characteristics of the BUMPER.

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Excessive material usage as part of any Team number marking will invite
close scrutiny.
R29.

Each set of BUMPERS (including any fasteners and/or structures that attach them to the
ROBOT) must weigh no more than 20 lbs (~9 kg).
If a multi-part attachment system is utilized (e.g. interlocking brackets on
the ROBOT and the BUMPER), then the elements permanently attachedto the ROBOT will be considered part of the ROBOT, and the elements
attached to the BUMPERS will be considered part of the BUMPER. Eachelement must satisfy all applicable rules for the relevant system.

R30.

BUMPERS must be constructed as follows (see Figure 8-6):
A. be backed by ¾ in. (nominal) thick (~19mm) by 5 in. ± ½ in. (~127 mm ± 12.7 mm)tall plywood or solid, robust wood. Small clearance pockets and/or access holes in
the plywood backing are permitted, as long as they do not significantly affect thestructural integrity of the BUMPER.
Particle board or chipboard is not likely to survive the rigors of FIRST
Robotics Competition gameplay and thus not compliant with R30-A.
Note: ¾” plywood is now often marked according to the actual dimension(23/32”) not the nominal size. Plywood sold as 23/32” meets therequirements of R30-A.
B. hard BUMPER parts allowed per R30-A, R30-E, R30-F, and R30-G must not extend
more than 1 in. (~25 mm) beyond the FRAME PERIMETER with the exception ofminor protrusions such as bolt heads, fastener ends, rivets, etc. (Figure 8-4 andFigure 8-6).
Figure 8-4: Hard Parts of BUMPER Corners

C. use a stacked pair of approximately 2½ in. (nominal) round, petal, or hex “poolnoodles” (solid or hollow) as the BUMPER cushion material (see Figure 8-6). All pool
noodles used in a BUMPER set (e.g. Red set of BUMPERS) may not be deformed

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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 8-7). To assist in applying the fabric covering, soft fasteners
may be used to attach the pool noodles to the wood backing, so long as the crosssection in Figure 8-6 is not significantly altered (e.g. tape compressing the pool
noodles).
All pool noodles used on a ROBOT must be the same in order tomaintain the desired interaction between ROBOTS in the cases of
BUMPER-to-BUMPER contact. BUMPERS containing pool noodles ofvastly different construction may cause a “ramp” effect when interactingwith other BUMPERS.
Noodle compression as a result of smoothing BUMPER fabric is notconsidered deformed. Any compression beyond that, e.g. for the
purposes of flattening the noodle, is deformation and a violation of R30C.
D. be covered with a rugged, smooth cloth. (multiple layers of cloth and seams are
permitted if needed to accommodate R27, provided the cross section in Figure 8-6 is
not significantly altered).
Silk and bedding are not considered rugged cloths, however 1000D
Cordura is. Tape (e.g. gaffer’s tape) matching the BUMPER color isallowed to patch small holes on a temporary basis.
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 aluminum angle, as shown in Figure 8-6 or other fasteners (e.g.
staples, screws, etc.) to clamp cloth.
F. optionally use aluminum brackets (i.e. angle or sheet metal) to attach BUMPER
segments to each other (see Figure 8-5).
Figure 8-5: Hard Parts of BUMPER Corners

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

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Figure 8-6: BUMPER Vertical Cross Section

R31.

Corner joints between BUMPERS must be filled with pool noodle material. Examples of
implementation are shown in Figure 8-7.
Figure 8-7: Soft Parts of BUMPER Corners

R32.

BUMPERS must be supported by the structure/frame of the ROBOT (see Figure 8-8). To beconsidered supported, a minimum of ½ in. (~12.7 mm) at each end of each BUMPER wood

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segment must be backed by the FRAME PERIMETER (≤¼ in. gap). “Ends” exclude hard
BUMPER parts which extend past the FRAME PERIMETER permitted by R30, part 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 8-8: BUMPER support examples

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8.6 Motors & Actuators
R33.

The only motors and actuators permitted on 2018 ROBOTS include the following (in any
quantity):
Table 8-1: Motor allowances

Motor NameCIM

West Coast Products RS775 Pro

Banebots

AndyMark 9015
VEX BAGVEX mini-CIM
AndyMark PG

Part Numbers Available
FR801-001
M4-R0062-12
AM802-001A
217-2000
PM25R-44F-1005
PM25R-45F-1004
PM25R-45F-1003
PMR25R-45F-1003
PMR25R-44F-1005
am-0255
217-4347
M7-RS775-18
RS775WC-8514
M5 – RS550-12
RS550VC-7527
RS550
am-0912217-3351
217-3371
am-2161 (alt. PN am-2765)
am-2194 (alt. PN am-2766)

Select Automotive Motors(Window, Door, Windshield wiper,
Seat, Throttle)
Snow Blower Motor
AndyMark NeveRest
AndyMark RedLine Motor

Variousam-2235
am-3104
am-3775
am-3740
Nidec Dynamo BLDC Motor
DM3012-1063
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)
Hard drive motors or fans that are: included in any Kickoff Kit, distributed via
FIRST Choice, part of a legal motor controller (including manufacturer
provided accessories), or 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
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 shouldmake 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

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amounts of current from many motors at the same time could lead todrops 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, see roboRIO Brownout and Understanding
Current Draw.
R34.

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 thephysical connection of the motor to the ROBOT and actuated part.
B. The electrical input leads may be trimmed to length as necessary and connectors or
splices to additional wiring may be added.
C. The locking pins on the window motors (P/N: 262100-3030 and 262100-3040) may
be removed.
D. The connector housings on window, door, windshield wiper or seat motors and Boschmotors (P/N: 6004 RA3 353-01) may be modified to facilitate lead connections.
E. Servos may be modified as specified by the manufacturer (e.g. re-programming or
modification for continuous rotation).
F. The wiring harness of the Nidec Dynamo BLDC Motor may be modified as
documented by FIRST in the "Nidec Dynamo BLDC Motor with Controller"
Screensteps article.
The intent of this rule is to allow teams to modify mounting tabs and thelike, not to gain a weight reduction by potentially compromising thestructural integrity of any motor. The integral mechanical and electricalsystem of the motor is not to be modified.
Note that for the previous KOP Window motors and the Bosch motor, thegearbox is considered integral to the motor, thus the motor may not be
used without the gearbox.

R35.

With the exception of servos, fans, or motors integral to sensors of COTS computing devices
permitted in R33, 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
DMC 60 Motor Controller (P/N: 410-334-1)
Nidec Dynamo BLDC Motor with Controller to control integral actuator only (P/N 840205-000, am-3740)
Jaguar Motor Controller (P/N: MDL-BDC, MDL-BDC24, and 217-3367)
connected to PWM only
SD540 Motor Controller (P/N: SD540x1, SD540x2, SD540x4, SD540Bx1,
SD540Bx2, SD540Bx4, SD540C)
Spark Motor Controller (P/N: REV-11-1200)
Talon Motor Controller (P/N: CTRE_Talon, CTRE_Talon_SR, and am-2195)
Talon SRX Motor Controller (P/N: 217-8080, am-2854, 14-838288)
Victor 884 Motor Controller (P/N: VICTOR-884-12/12)

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Victor 888 Motor Controller (P/N: 217-2769)
Victor SP Motor Controller (P/N: 217-9090, am-2855, 14-868380)
Victor SPX Motor Controller (P/N: 217-9191, 17-868388, am-3748)
B. Relay Modules
Spike H-Bridge Relay (P/N: 217-0220 and SPIKE-RELAY-H)
C. Pneumatics controllers
Pneumatics Control Module (P/N: am-2858, 217-4243)
R36.

Each power regulating device may control electrical loads per Table 8-2. Unless otherwise noted,
each power regulating device shall control one and only one electrical load.
Table 8-2: Power regulating device allotments

Electrical Load
CIM
AndyMark 9015
WCP RS775 Pro
VEX BAG/MiniCIM
Banebots
AndyMark RedLine
Motor
Automotive
Window/Door/Windshield
Wiper/Seat/Throttle
MotorsAndyMark PG
Snow-Blower Motor
NeverRest
Nidec Dynamo BLDC
Motor with Controller

Motor Controller

Relay Module

Pneumatics
Controller

Yes

No

No

Yes
(up to 2 percontroller)

Yes

No

Yes (integrated
controller only)No

No

Compressor

No

Yes

Yes

Pneumatic Solenoid
ValvesNo

Yes1

Electric Solenoids

No

Yes1

CUSTOM CIRCUITS2

Yes

Yes1

Yes (1 perchannel)Yes (1 perchannelYes (1 perchannel)1 Multiple low-load, pneumatic solenoid valves, electric solenoids or CUSTOM CIRCUITS may beconnected to a single relay module. This would allow one (1) relay module to drive multiple
pneumatic actions or multiple CUSTOM CIRCUITS. No other electrical load can be connected toa relay module used in this manner.
2 A CUSTOM CIRCUIT is any electrical COMPONENT of the ROBOT other than motors,
pneumatic solenoids, roboRIO, PDP, PCM, VRM, RSL, 120A breaker, motor controllers, relay
modules (per R35-B), wireless bridge, or batteries.

R37.

Servos must be connected to, and only to, one of the following:
A. PWM ports on the roboRIO
B. PWM ports on a WCP Spartan Sensor Board (P/N: WCP-0045)

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C. REV Servo Power Module (P/N: REV-11-1144)

8.7 Power Distribution
R38.

The only legal source of electrical energy for the ROBOT during the competition, the ROBOT
battery, must be a non-spillable sealed lead acid (SLA) battery with the following specifications:A. Nominal voltage: 12V
B. Nominal capacity at 20-hour discharge rate: minimum 17Ah, maximum 18.2Ah
C. Shape: Rectangular
D. Nominal Dimensions:7.1 in. x 3 in. x 6.6 in., +/- .1 in. for each dimension (~ 180 mm x
76mm x 168 mm, +/- 2.5 mm for each dimension)
E. Nominal weight: 11lbs. to 14.5 lbs. (~5 kg. to 6.5 kg.)
F. Terminals: Nut and bolt style
Examples of batteries which meet these criteria include:
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)
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.)
R39.

COTS USB battery packs with a capacity of 100Wh or less (20000mAh at 5V) and 2.5 Amp max
output per port, or batteries integral to and part of a COTS computing device or self-contained
camera (e.g. laptop batteries, GoPro style camera, etc.) may be used to power COTS computing
devices and any peripheral COTS input or output devices connected to the COTS computing
device provided they are:A. securely fastened to the ROBOT.
B. connected only using unmodified COTS cables
C. charged according to manufacturer recommendations

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R40.

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

R41.

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

R42.

No batteries other than those allowed per R38 and R39 are allowed on the ROBOT, whether or
not they are being used to supply power.
This means teams may not use additional batteries as extra weight on
their ROBOTS, for example.

R43.

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

R44.

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.

R45.

Non-electrical sources of energy used by the ROBOT, (i.e., stored at the start of a MATCH), shallcome only from the following sources:
A. compressed air stored in the pneumatic system that has been charged in compliancewith R85 and R87,
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, andE. air-filled (pneumatic) wheels.

R46.

The one (1) ROBOT battery, a single pair of Anderson Power Products (or APP) 2-pole SB typeconnectors, the one (1) main 120-amp (120A) surface mount circuit breaker (Cooper Bussman
P/N: CB185-120 or CB185F-120), and the one (1) CTR Electronics Power Distribution Panel(PDP, P/N: am-2856, 217-4244, 14-806880) shall be connected with 6 AWG (7 SWG or 16 mm 2)
copper wire or larger, with no additional devices or modifications, as shown in Figure 8-9.

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Figure 8-9: Electrical connection diagram“SB type” refers to SB type only (e.g. SB-50, SB-120, etc.), not SBS or
any other part type beginning with SB. All batteries supplied by FIRST(such as Spare Parts and international batteries) will have a Red or Pink
SB50 connector installed which may not be removed.
The pink connectors included in the 2018 KOP mate with the Red SB50
connector.
R47.

All circuits, with the exceptions of those listed in R52 and R54, must connect to, and have powersourced solely by, a single protected 12VDC WAGO connector pair (i.e. the Load Terminals, as
shown in Figure 8-9) of the one (1) CTR Electronics Power Distribution Panel, not the M6 capscrews.

R48.

All wiring and electrical devices, including all Control System COMPONENTS, shall be electricallyisolated from the ROBOT frame. The ROBOT frame must not be used to carry electrical current.
R48 is checked by observing a >3kΩ resistance between either the (+) or(-) post within the APP connector that is attached to the PDP and any
point on the ROBOT.
The Victor-SP and Talon-SRX motor controller cases are electricallyisolated. They may be mounted directly to ROBOT frame
COMPONENTS.
Note that some cameras, decorative lights and sensors (e.g. the Axis
206 camera, some encoders, some IR sensors, etc.) have grounded
enclosures. These devices must be electrically isolated from the ROBOT
frame to ensure compliance with R48.

R49.

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

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Examples considered not “quickly and safely accessible” include
breakers covered by an access panel or door, or mounted on,underneath or immediately adjacent to moving components.
It is strongly recommended that the 120A circuit breaker location beclearly and obviously labeled so it can be easily found by FIELD STAFF
during a MATCH.
R50.

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

R51.

Any active electrical item that is not an actuator (specified in R33) or core Control System item
(specified in R72) is considered a CUSTOM CIRCUIT. CUSTOM CIRCUITS shall not produce
voltages exceeding 24V.

R52.

The roboRIO power input must be connected to the dedicated supply terminals on the PDP
shown in Figure 8-10. No other electrical load shall be connected to these terminals.
Figure 8-10: roboRIO power source

R53.

The Wireless Bridge (Radio) power must be supplied directly by the 12V 2A output of a CTR
Electronics Voltage Regulator Module (VRM) (P/N: am-2857, 217-4245) and must be the only
load connected to those terminals.
Figure 8-11: Radio power source

Note that this wiring is different from the wiring for the radio used in2015, but is identical to the wiring from 2016 and 2017. When using a2015 VRM with the OM5P-AN or OM5P-AC radio, the radio should beconnected as described above, not to the terminals labeled “Radio”.
Note that this prohibits using any active POE Injector device to power theradio, 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”.
R54.

The VRM supplying power to the Wireless Bridge per R53 must be connected to the designatedsupply terminals at the end of the PDP, and not the main WAGO connectors along the sides ofSection 8 ROBOT Rules
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the PDP as shown in Figure 8-12. With the exception of a single CTR Electronics Pneumatics
Control Module (PCM, P/N: am-2858), no other electrical load shall be connected to these PDP
terminals.
Figure 8-12: VRM and PCM power source

Please reference Wiring the FRC Control System for Wireless Bridge
wiring information.
R55.

Only one wire shall be connected to each WAGO connector on the PDP.
If multi-point distribution of circuit power is needed (e.g. to provide power
to multiple PCMs and/or VRMs from one 20A circuit), then all incoming
wires may be appropriately spliced into the main lead (e.g. using an
insulated terminal block, crimped splice or soldered wire splice), and thesingle main lead inserted into the WAGO connector to power the circuit.

R56.

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

R57.

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

R58.

Each branch circuit must be protected by one and only one circuit breaker on the PDP per Table
8-3. No other electrical load can be connected to the breaker supplying this circuit.
Table 8-3: Branch circuit protection requirements

Branch Circuit

Circuit Breaker
Value

Quantity Allowed
Per Breaker

Motor Controller

Up to 40A

1

CUSTOM CIRCUIT

Up to 40A

Fans permitted per Table 8-1 and notalready part of COTS computing devices

Up to 20A

No limit

Relay Module

Up to 20A

1

PCM – with compressor

20A

1

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

20A

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R58 does not prohibit the use of smaller value breakers in the PDP or
any fuses or breakers within CUSTOM CIRCUITS for additional
protection.
R59.

All circuits shall be wired with appropriately sized insulated copper wire (SIGNAL LEVEL cables
don’t have to be copper):Table 8-4: Wire sizes

Application

Minimum Wire Size
12 AWG(13 SWG or 4 mm2)
14 AWG(16 SWG or 2.5 mm2)

31 – 40A protected circuit
21 – 30A protected circuit
6 – 20A protected circuit
Between the PDP dedicated terminals and the VRM or PCM
Compressor outputs from the PCM
Between the PDP and the roboRIO≤5A protected circuit
VRM 2A circuits
roboRIO PWM port outputs
SIGNAL LEVEL circuits (i.e. circuits which draw ≤1A continuousand have a source incapable of delivering >1A, including but notlimited to roboRIO non-PWM outputs, CAN signals, PCM
Solenoid outputs, VRM 500mA outputs and Arduino outputs)

18 AWG(19 SWG or 1 mm2)
22 AWG(22 SWG or 0.5 mm2)
24 AWG(24 SWG or .25mm2)
26 AWG(27 SWG or 0.14 mm2)
28 AWG(29 SWG or .08 mm2)

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 R59.
R60.

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.

R61.

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.
Wires that are originally attached to legal devices are considered part of the device and by default
legal. Ethernet cable used in POE cables may use a different color standard. Such wires are
exempt from R61.

R62.

CUSTOM CIRCUITS shall not directly alter the power pathways between the ROBOT battery,
PDP, motor controllers, relays (per R35-B), motors and actuators (per R33), pneumatic solenoid
valves, or other elements of the ROBOT control system (items explicitly mentioned in R72).
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 isinconsequential.
A noise filter may be wired across motor leads or PWM leads. Suchfilters will not be considered CUSTOM CIRCUITS and will not be
considered a violation of R62 or R79.

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Acceptable signal filters must be fully insulated and must be one of thefollowing:•

A one microfarad (1 µF) or less, non-polarized, capacitor may be
applied across the power leads of any motor on your ROBOT (asclose to the actual motor leads as reasonably possible).

•

A resistor may be used as a shunt load for the PWM control signal
feeding a servo.

8.8 Control, Command & Signals System
R63.

ROBOTS must be controlled via one (1) programmable National Instruments roboRIO (P/N:
am3000), with image version FRC_2018_v16 or later.
There are no rules that prohibit co-processors, provided commands
originate from the roboRIO to configure, enable, and specify all operating
points for all power regulating devices. This includes motor controllers
legally wired to the CAN-bus.

R64.

One (1) OpenMesh Wireless Bridge (P/N: OM5P-AN or OM5P-AC), that has been configured withthe 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.

R65.

The roboRIO Ethernet port must be connected to the Wireless Bridge port labeled “18-24 vPOE,”
closest to the power connector (either directly, via a network switch, or via a CAT5 Ethernet
pigtail).
Note: Placing a switch between the roboRIO and radio may impede theability for FIELD STAFF to troubleshoot roboRIO connection issues on
the FIELD. Teams may be asked to try directly connecting from the radio
to roboRIO as part of troubleshooting efforts.

R66.

Communication between the ROBOT and the OPERATOR CONSOLE is restricted as follows:
A. Network Ports:
HTTP 80: Camera connected via switch on the ROBOT, bi-directional
HTTP 443: Camera connected via switch on the ROBOT, bi-directional
UDP/TCP 554: Real-Time Streaming Protocol for h.264 camera streaming,bi-directional
UDP 1130: Dashboard-to-ROBOT control data, uni-directional
UDP 1140: ROBOT-to-Dashboard status data, uni-directional
UDP/TCP 1180-1190: Camera data from the roboRIO to the Driver Station(DS) when the camera is connected the roboRIO via USB, bi-directional.
TCP 1735: SmartDashboard, bi-directional
UDP/TCP 5800-5810: Team Use, bi-directional
Teams may use these ports as they wish if they do not employ them as outlined
above (i.e. TCP 1180 can be used to pass data back and forth between the ROBOT
and the DS if the Team chooses not to use the camera on USB).
B. Bandwidth: no more than 7 Mbits/second.
Note that the 7 Mbit limit will be strictly enforced by the Wireless Bridge.

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The FMS Whitepaper has more details on how to check and optimize
bandwidth usage.
While FIRST® makes every effort to provide a wireless environment thatallows teams access to a full 7 Mbits/second data rate (with about 100
Kbit used for ROBOT control and status), at some events wirelessconditions may not accommodate this.
R67.

The roboRIO, Driver Station software, and Wireless Bridge must be configured to correspond tothe correct Team number, per the procedures defined in Getting Started with the 2018 Control
System.

R68.

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

R69.

No form of wireless communication shall be used to communicate to, from, or within the ROBOT,
except those required per R64 and R68.
Devices that employ signals in the visual spectrum (e.g. cameras) andnon-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) aren’t wireless communication devices and thus R69
doesn’t apply.

R70.

The Wireless Bridge must be mounted on the ROBOT such that the diagnostic lights are visible to
ARCADE personnel.
Teams are encouraged to mount the wireless bridge away from noise
generating devices such as motors, PCM(s), and VRM(s).

R71.

ROBOTS must use at least one (1), but no more than two (2), diagnostic Robot Signal Lights(RSL) (P/N: 855PB-B12ME522).
Any RSL must be:
A. mounted on the ROBOT such that it is easily visible while standing three 3 ft. (~ 100cm) in front of the ROBOT,
B. connected to the “RSL” supply terminals on the roboRIO,
C. wired for solid light operation, by placing a jumper between the “La” and “Lb”
terminals on the light per Figure 8-13.
Please see Wiring the 2018 FRC Control System for connection details.
Figure 8-13: RSL jumper wiring

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R72.

The Driver Station software, roboRIO, Power Distribution Panel, Pneumatics Control Modules,
Voltage Regulator Modules, RSL, 120A breaker, motor controllers, relay modules (per R35-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 thefollowing exceptions:
Please note that the Driver Station application is a separate applicationfrom 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 replacedwith a 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 OPERATORCONSOLE 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 the Victor SP, Victor SPX, or Talon SRX 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.
Please note that while repairs are permitted, the allowance isindependent of any manufacturer’s warranty. Teams make repairs attheir own risk and should assume that any warranty or RMA options areforfeited. Be aware that diagnosing and repairing COMPONENTS suchas these can be difficult.
R73.

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).

R74.

Every relay module (per R35-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 R75). They shall not be controlled by signals from any other source, withthe exception of the Nidec Dynamo motor controller which must also be connected to theroboRIO Digital I/O.

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R75.

If a motor is controlled via the MXP, its power regulating device must be connected by one of thefollowing methods:
A. directly to any PWM pins,
B. via a network of PASSIVE CONDUCTORS used to extend the PWM pins, or
C. via one approved ACTIVE DEVICE:
Kauai Labs navX MXPRCAL MXP Daughterboard
REV Robotics RIOduino
REV Robotics Digit Board
West Coast Products Spartan Sensor Board
Huskie Robotics HUSKIE 2.0 Board
A PASSIVE CONDUCTOR is any device or circuit whose capability islimited 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 thatconnecting an ACTIVE DEVICE, such as a sensor to one MXP pin does
not prevent other MXP pins from being used in accordance with R75-B.

R76.

Each CAN motor controller must be controlled with signal inputs sourced from the roboRIO andpassed via either a PWM (wired per R74) or CAN-bus (either directly or daisy-chained via another
CAN-bus device) signal, but both shall not be wired simultaneously on the same device.
As long as the CAN bus is wired legally so that the heartbeat from theroboRIO 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 R63.

R77.

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

R78.

The PDP CAN interface must be connected to the CAN-bus on the roboRIO (either directly or
daisy-chained via another CAN-bus device).
For documentation on how to wire the CAN-bus connections of the PDP
see Wiring the 2018 FRC Control System.

R79.

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

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

8.9 Pneumatic System
R80.

To satisfy multiple constraints associated with safety, consistency, Inspection, and constructive
innovation, no pneumatic parts other than those explicitly permitted in Section 8.9 Pneumatic
System shall be used on the ROBOT.

R81.

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 R88), and rated forpressure of at least 70psi (~483 kPa)
Any pressure specification such as “working,” “operating,” “maximum,”etc. may be used to satisfy the requirements of R81.
It is recommended that all pneumatic items be rated by their
manufacturers for a working pressure of at least 60 psi (~414 kPa).

R82.

All pneumatic COMPONENTS must be used in their original, unaltered condition. Exceptions are
as follows:
A. tubing may be cut,
B. wiring for pneumatic devices may be modified to interface with the control system,
C. assembling and connecting pneumatic COMPONENTS using the pre-existing
threads, mounting brackets, quick-connect fittings, etc.,
D. removing the mounting pin from a pneumatic cylinder, provided the cylinder itself is
not modified,E. labeling applied to indicate device purpose, connectivity, functional performance, etc.
Do not, for example, paint, file, machine, or abrasively remove any partof a pneumatic COMPONENT – this would cause the part to become aprohibited item. Consider pneumatic COMPONENTS sacred.

R83.

The only pneumatic system items permitted on ROBOTS include the items listed below.
A. Items available in the KOP (except as noted in K),
B. Pneumatic pressure vent plug valves functionally equivalent to those provided in the
KOP,
Parker valves PV609-2 or MV709-2 are recommended.
C. Pressure relief valves functionally equivalent to those provided in the KOP,
Norgren 16-004-011, 16-004-003 or McMaster-Carr 48435K714
recommended.
To be considered functionally equivalent the valve must be preset or
adjustable to 125 psi (~862 kPA) and capable of relieving at least 1 scfm(~472 cm3/s).

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D. Solenoid valves with a maximum ⅛ in. (nominal, ~6 mm) NPT, BSPP, or BSPT port
diameter,
E. Additional pneumatic tubing, with a maximum ¼ in. (nominal, ~6 mm) outside
diameter,F. Pressure transducers, pressure gauges, passive flow control valves (specifically“needle valve”), manifolds, and connecting fittings (including COTS pneumatic Utubes),
G. Check and quick exhaust valves, provided that the requirements of R95 are still met.
H. Shutoff valves which relieve downstream pressure to atmosphere when closed (mayalso be known as 3-way or 3-way exhausting valves).
I.

Pressure regulators with the maximum outlet pressure adjusted to no more than 60
psi (~413 kPa),J. Pneumatic cylinders, pneumatic linear actuators, and rotary actuators,
K. Pneumatic storage tanks (with the exception of White Clippard tanks P/N: AVT-PP41), andL. Compressors compliant with R85.
The following devices are not considered pneumatic devices and are notsubject 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
D. pneumatic devices not used with pressurized air
R84.

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 8-14.
A. One (1) FRC legal Compressor (per R85)
B. Pressure relief valve (per R83-C) connected via legal rigid fittings (e.g. brass, nylon,
etc.)
C. Nason pressure switch, P/N SM-2B-115R/443
D. At least one Pressure vent plug
E. “Stored” pressure gauge (upstream from Primary Regulator, must show psi or kPa)
F. “Working” pressure gauge (downstream from Primary Regulator, must show psi or
kPa)
G. “Working” pressure regulator

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Figure 8-14: Pneumatic circuitry

R85.

Throughout an event, compressed air on the ROBOT must be provided by its one compressor.
Compressor specifications must not exceed nominal 1.10 cfm (~519 cm3/s) flow rate @ 12VDC.
A ROBOT’S compressor may be substituted by another compressor, but
a ROBOT may only have one designated compressor at a time, and allcompressed air on the ROBOT must be sourced from a single
compressor.
For example, a team can’t charge the circuit with an off-board
compressor before the MATCH and then use a different on-board
compressor to “top off” that circuit during the MATCH.

R86.

The compressor (permitted per R85) may be located off-board the ROBOT, however thecompressor must still be controlled and powered by the ROBOT when used.
The compressor may be mounted on the ROBOT, or it may be left off the
ROBOT and used to pre-charge compressed air in storage tanks on the
ROBOT provided the additional restrictions of R91 are met.
The intent of this rule is to permit teams to take advantage of the weightsavings associated with keeping the compressor off-board. However,using the compressor off-board of the ROBOT does NOT permit noncompliance with any other applicable rules.

R87.

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

R88.

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

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Norgren regulator P/N: R07-100-RNEA or Monnier P/N: 101-3002-1
recommended.
R89.

Only the compressor, relief valve, pressure switch, pressure vent plug, pressure gauge, storage
tanks, tubing, pressure transducers, 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.

R90.

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

R91.

If the compressor is not included on the ROBOT (under the provisions of R87) the “stored”
pressure gauge and pressure switch may be located on-board (Figure 8-15) or off-board (Figure8-16) (but must be together), provided all other pneumatic rules are satisfied.
Figure 8-15: Off board compressor with stored pressure gauge and pressure switch on the ROBOT

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R92.

If the stored pressure gauge is kept off-board the ROBOT with the compressor, then only lowpressure (60 psi (~413 kPa) or less) “working” air can be stored on the ROBOT. The “working”
pressure gauge must be installed on-board the ROBOT at all times (Figure 8-16).
Figure 8-16: Off board compressor with stored pressure gauge and pressure switch off the ROBOTR93.

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. If using an off-board compressor, an
additional relief valve must be included on the ROBOT.
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.

R94.

The pressure switch requirements are:
A. It must be Nason P/N: SM-2B-115R/443
B. It must be connected to the high-pressure side of the pneumatic circuit (i.e. prior to
the pressure regulator) to sense the “stored” pressure of the circuit.
C. The two wires from the pressure switch must be connected directly to the pressure
switch input of the PCM controlling the compressor or, if controlled using the roboRIO
and a Spike relay, to the roboRIO.
D. If connected to the roboRIO, the roboRIO must be programmed to sense the state of
the switch and operate the relay module that powers the compressor to prevent overpressuring the system.

R95.

Any pressure vent plug must be:
A. connected to the pneumatic circuit such that, when manually operated, it will vent tothe atmosphere to relieve all stored pressure in a reasonable amount of time, andB. placed on the ROBOT so that it is visible and easily accessible.
If the compressor is not used on the ROBOT, then an additional pressure vent plug must beconnected to the high-pressure portion of the pneumatic circuit off-board the ROBOT with thecompressor (see R87).

R96.

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

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8.10 OPERATOR CONSOLE
R97.

The Driver Station software provided on the National Instruments website is the only application
permitted to specify and communicate the operating mode (i.e. Autonomous/Teleoperated) andoperating state (Enable/Disable) to the ROBOT. The Driver Station software must be revision
18.0 or newer.
Teams are permitted to use a portable computing device of their choice(laptop computer, tablet, etc.) to host the DRIVER Station software while
participating in competition MATCHES.

R98.

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

R99.

Devices hosting the Driver Station software must only interface with the Field Management
System (FMS) via the Ethernet cable provided at the PLAYER STATION (e.g. not through aswitch). Teams may connect the FMS Ethernet cable to their Driver Station device directly via an
Ethernet pigtail, or with a single-port Ethernet converter (e.g. docking station, USB-Ethernet
converter, Thunderbolt-Ethernet converter, etc.). The Ethernet port on the OPERATORCONSOLE 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 thedevice’s port and, with proper strain relief employed, will protect the port
from accidental damage.

R100. The OPERATOR CONSOLE must not
A. be longer than 60 in. (~152 cm)
B. be deeper than 14 in. (~35 cm) (excluding any items that are held or worn by the
DRIVERS during the MATCH)
C. extend more than 6 ft. 6 in. (~198 cm) above the floor
D. attach to the ARCADE (except as permitted by G19)
There is a 54 in. (~137 cm) long by 2 in. (nominal) wide strip of hookand-loop tape (“loop” side) along the center of the PLAYER STATION
support shelf that should be used to secure the OPERATOR CONSOLE
to the shelf, per G19. See Section 3.6.1 PLAYER STATION for details.
Please note that while there is no hard weight limit, OPERATORCONSOLES that weigh more than 30 lbs. (~13 kg.) will invite extra
scrutiny as they are likely to present unsafe circumstances.
R101. Other than the system provided by the ARCADE, no other form of wireless communications shallbe 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 isallowed.

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R102. OPERATOR CONSOLES shall not be made using hazardous materials, be unsafe, cause anunsafe condition, or interfere with other DRIVE TEAMS or the operation of other ROBOTS.

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9 Inspection & Eligibility Rules
This section describes the rules governing MATCH participation. A Team has participated in a MATCH if
any member of their DRIVE TEAM is in the ALLIANCE STATION or PORTAL, 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 to ensure compliance with the rules.
ROBOTS are permitted to participate in scheduled Practice MATCHES prior to passing Inspection.
However, the FIRST Technical Advisor (FTA), LRI, or Head REFEREE may determine at any time that
the ROBOT is unsafe, per safety rules, and may prohibit further participation in Practice MATCHES until
the condition is corrected and/or the ROBOT passes Inspection.
Prior to the start of a MATCH, any ROBOT which is unable or ineligible to participate in that MATCH asdetermined 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 I02.
I01.

The ROBOT must be built by the Team to play FIRST® POWER UPSM. The ROBOT is anelectromechanical assembly built by the FIRST® Robotics Competition Team to perform specifictasks when competing in FIRST® POWER UPSM. The ROBOT must include all of the basic
systems required to be an active participant in the game – power, communications, control,
BUMPERS, and movement. The ROBOT implementation must obviously follow a design
approach intended to play FIRST POWER UP (e.g. a box of unassembled parts placed on the
FIELD, or a ROBOT designed to play a different game, does not satisfy this definition).
I01 requires that the ROBOT a Team uses in competition was built bythat Team, but isn’t intended to prohibit assistance from other Teams(e.g. fabricating elements, supporting construction, writing software,developing game strategy, contributing COMPONENTS and/or
MECHANISMS, etc.)

I02.

Get inspected before playing a Qualification/Playoff MATCH. A Team is only permitted toparticipate in a Qualification or Playoff MATCH and receive Ranking or MATCH Points
respectively if their ROBOT has passed an initial, complete Inspection.
Violation: If prior to the start of the MATCH, the Team is 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.

I03.

Bring it all to Inspection. At the time of Inspection, the ROBOT must be presented with all
MECHANISMS (including all COMPONENTS of each MECHANISM), configurations, anddecorations that will be used on the ROBOT without re-inspection. It is acceptable, however, for a
ROBOT to play MATCHES with a subset of the MECHANISMS that were present during
Inspection. Only MECHANISMS that were present during the Inspection may be added, removed

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or reconfigured between MATCHES. If MECHANISMS are changed between MATCHES, thereconfigured ROBOT must still meet all Inspection criteria.
I04.

Unless the change is listed below, any change to a ROBOT must get re-inspected. If a
ROBOT is modified after it has passed its most recent Inspection, that ROBOT must be reInspected before the ROBOT is eligible to participate in a MATCH. Exceptions are listed in A
through F (unless they result in a significant change to the ROBOT’S size, weight, legality, or
safety).
A. addition, relocation, or removal of fasteners (e.g. cable ties, tape, and rivets)
B. addition, relocation, or removal of labeling or marking
C. revision of ROBOT code
D. replacement of a COTS COMPONENT with an identical COTS COMPONENTE. replacement of a MECHANISM with an identical MECHANISM (size, weight,
material)
F. additions, removals, or reconfiguration of ROBOT with a subset of MECHANISMS
already inspected per I02.
When in doubt, the Team should ask to be re-Inspected.
Inspectors prioritize ROBOTS that have not yet completed initialinspection over ROBOT changes.
While every effort will be made to re-inspect Teams in a timely manner,
Teams need to consider that they may need to play with the previously
inspected configuration if re-inspection cannot be completed before a
MATCH. Teams should work with Inspectors when making changes tominimize the chance of this occurring.
Example 1: Team A’s ROBOT has passed Inspection, but burns out amotor controller during a MATCH. Team A replaces it with an identical
motor controller. Team A does not have to get their ROBOT reInspected per exception I04-D.
Example 2: Team B would like to add weight to their ROBOT to lower
their center of gravity. Team B adds a large amount of fasteners to their
ROBOT as ballast. Team B must get their ROBOT re-Inspected because
they have significantly changed their weight per I04.
Example 3: Team D has decided to move their motor controller to adifferent location on their ROBOT, and must use a different length wire to
make the proper connections. Team D must get their ROBOT reInspected because rewiring is not an exception in I04.
Example 4: Team E decides to relocate their battery on their ROBOT tochange their center of gravity. Team E must be re-Inspected as therelocation of COMPONENTS or MECHANISMS is not an exception I04.
Example 5: Team F realizes they can gain necessary functionality bybuilding a new MECHANISM at an event and adding it to their ROBOT.
Their ROBOT must be re-Inspected.
If an observation is made that another Team’s ROBOT may be in
violation of the ROBOT rules, please approach FIRST officials to review

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the matter in question. This is an area where Gracious Professionalism®
is very important.
I05.

Document your costs. A Cost Accounting Worksheet (CAW), listing all items on the ROBOT
except those listed in R11 and their relevant costs per Section 8.4 Budget Constraints &Fabrication Schedule, must be presented at the time of Inspection.
Teams are encouraged to use the CAW Template posted on the FIRST
website. Please note that while CAWs must be shown to Inspectors,
Teams are not required to submit their CAWs to the Inspectors.

I06.

ROBOTS are off for Inspection, mostly. For the safety of all those involved, Inspections musttake place 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 theInspection process where it is absolutely required to validate certain system functionality andcompliance with specific rules (firmware check, etc.). Inspectors may allow the ROBOT to be
powered up beyond the parameters above if both criteria below are met.
A. The ROBOT design requires power or a charged stored energy device in order toconfirm that the ROBOT meets volume requirements, and
B. The Team has included safety interlocks that mitigate unexpected release of such
stored energy.
The Team may be asked to demonstrate these interlocks during theinspection process.

I07.

No student, no Inspection. At least one student Team member must accompany the ROBOT
for any Inspection efforts.
Exceptions may be made for major conflicts, e.g. religious holidays,
major testing, transportation issues, etc.

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10 Tournaments
Each 2018 FIRST Robotics Competition event is played in a tournament format. Each tournamentconsists of three sets of MATCHES called Practice MATCHES (not necessarily played at all District
Events), Qualification MATCHES, and Playoff MATCHES.
Practice MATCHES provide each Team with an opportunity to operate its ROBOT on the FIELD prior to
the start of the Qualification MATCHES.
Qualification MATCHES allow each Team to earn a seeding position that may qualify them forparticipation in the Playoff MATCHES.
Playoff MATCHES determine the event Champions.

10.1 MATCH Schedules
A MATCH schedule is used to coordinate MATCHES at an Event. Figure 10-1 details information shownon each Schedule.
Figure 10-1: Sample MATCH Schedule10.2 Practice MATCHES
Practice MATCHES are played on the first day of each event. The Practice MATCH schedule is available
as soon as possible, but no later than the start of Practice MATCHES. It will also be published andavailable online at the FIRST Robotics Event Results site, except during exceptional circumstances.
Practice MATCHES are randomly assigned, and teams may not switch scheduled Practice MATCHES.
Each Team is assigned an equal number of Practice MATCHES unless the number of Teams multiplied
by number of Practice MATCHES is not divisible by six. In this case, the FIELD Management System(FMS) randomly selects some Teams to play an extra Practice MATCH.
Practice MATCHES are not guaranteed at District Events due to event schedule constraints.

Filler LineA 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, firstserved 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

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T01.

Teams wanting additional Practice MATCHES may not join the Filler Line unless all criteria listed
below are met:
A. ROBOTS in the Filler Line must have passed Inspection (this requirement may be
waived for events with open Practice MATCH schedules);B. DRIVE TEAMS must join the Filler Line with their ROBOT;
C. Teams may not work on their ROBOT while in the Filler Line;
D. Teams may not occupy more than one spot in the Filler Line; andE. If a Team is queued for their Practice MATCH, they may not also join the Filler Line.

10.3 Measurement
The ARCADE will be open for at least thirty (30) minutes prior to the start of Qualification MATCHES,
during which time Teams may survey and/or measure the FIELD and bring ROBOTS on the FIELD toperform 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.
T02.

During the period when the ARCADE is open for measurement, ROBOTS can be enabled, butcannot move, nor can they interact with (e.g. shoot, push, pickup, etc.) POWER CUBES, the
SWITCHES, or SCALE.
Violation: Discussion with Team, if repeated or egregious YELLOW CARD.

10.4 Qualification MATCHES
Schedule
The Qualification MATCH schedule is made available as soon as possible, but no later than one (1) hour
before Qualification MATCHES are scheduled to begin. Teams receive one (1) hard copy and it isavailable online at https://frc-events.firstinspires.org, except during exceptional circumstances. Each
Qualification schedule consists of a series of rounds in which each Team plays one (1) MATCH per
round.

MATCH Assignment
FMS assigns each team two (2) ALLIANCE partners for each Qualification MATCH using a predefinedalgorithm, and teams may not switch Qualification MATCH assignments. The algorithm employs thefollowing criteria, listed in order of priority:
1. maximize time between each MATCH played for all Teams
2. minimize the number of times a Team plays opposite any Team
3. minimize the number of times a Team is allied with any Team
4. minimize the use of SURROGATES (Teams randomly assigned by the FMS to play an
extra Qualification MATCH)
5. provide even distribution of MATCHES played on Blue and Red ALLIANCE
6. provide even distribution of MATCHES played in each PLAYER STATION number.
All Teams are assigned the same number of Qualification MATCHES, equal to the number of rounds,
unless the number of Teams multiplied by number of MATCHES is not divisible by six. In this case, the
FMS randomly selects some Teams to play an extra MATCH. For the purpose of seeding calculations,those Teams are designated as SURROGATES for the extra MATCH. If a Team plays a MATCH as a
SURROGATE, it is indicated on the MATCH schedule, it is always their third Qualification MATCH, andSection 10 Tournaments
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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.

Qualification Ranking
Ranking Points (RP) are units credited to a Team based on their ALLIANCE’S performance inQualification MATCHES. Ranking Points are awarded to each eligible Team at the completion of each
Qualification MATCH per Table 4-1.
Exceptions to Ranking Point assignment are as follows:
A. A SURROGATE receives zero (0) Ranking Points.
B. A DISQUALIFIED Team, as determined by the Head REFEREE, receives zero (0)Ranking Points in a Qualification MATCH or causes their ALLIANCE to receive zero(0) MATCH points in a Playoff MATCH.
C. A “no-show” Team is either DISQUALIFIED from or issued a RED CARD for that
MATCH (see C06). A Team is declared a no-show if no member of the DRIVE TEAM
is in the ALLIANCE STATION or PORTAL 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), thentruncated to two (2) decimal places, is their Ranking Score (RS).
All Teams participating in Qualification MATCHES are ranked by Ranking Score. If the number of Teamsin attendance is ‘n’, they are ranked ‘1’ through ‘n’, with ‘1’ being the highest ranked Team and ‘n’ being
the lowest ranked Team.
Teams are ranked in order, using the sorting criteria defined in Table 10-1
Table 10-1: Qualification MATCH Ranking Criteria

Order Sort

Criteria

1stRanking Score

2nd

Cumulative PARKING and CLIMBING score

3rd

Cumulative sum of AUTO points

4th

Cumulative sum of OWNERSHIP points

5th

Cumulative sum of VAULT points

6th

Random sorting by the FMS

10.5 Playoff MATCHESIn Playoff MATCHES, Teams do not earn Ranking Points; they earn a Win, Loss or Tie. Within eachseries of the Playoff MATCH bracket, the first ALLIANCE to win two (2) MATCHES will advance.
In the case where the Quarterfinal or Semifinal MATCH scores for both ALLIANCES are equal, the Win isawarded to the ALLIANCE per criteria listed in Table 10-2. A DISQUALIFIED Team, as determined by the
Head REFEREE, causes their ALLIANCE to receive zero (0) MATCH points in a Playoff MATCH.
In Finals MATCHES, the Champion ALLIANCE is the first ALLIANCE to win two (2) MATCHES. In thecase where an ALLIANCE hasn’t won two (2) MATCHES after three (3) MATCHES, the Playoffs proceedwith up to three (3) additional Finals MATCHES, called Overtime MATCHES, until an ALLIANCE has won
two (2) Finals MATCHES. In the case where the Overtime MATCH scores for both ALLIANCES areequal, the win for that Overtime MATCH is awarded based on the criteria listed in Table 10-2.

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Table 10-2: Quarterfinal, Semifinal, and Overtime Tiebreaker Criteria

Order Sort
1st
2nd

Criteria
Fewer FOUL and TECH FOUL points awarded to the other
ALLIANCE (i.e. the ALLIANCE that played the cleaner MATCH)
Cumulative PARKING and CLIMBING score

3rd

Cumulative sum of AUTO points

4th

Cumulative sum of OWNERSHIP points

5th

Cumulative sum of VAULT points

6th

MATCH is replayed

ALLIANCE Selection Process
At the end of the Qualification MATCHES, the top eight (8) seeded Teams become the ALLIANCE Leads.
The seeded ALLIANCES are designated, in order, ALLIANCE One, ALLIANCE Two, etc., down to
ALLIANCE Eight. Using the ALLIANCE selection process described in this section, each ALLIANCE Leadchooses two (2) other Teams to join their ALLIANCE.
If a Team declines the ALLIANCE Lead position or doesn’t send a student representative for ALLIANCE
selection, they are ineligible to participate in the Playoff Tournament. If the declining/absent Team would
have been an ALLIANCE Lead, all lower ranked ALLIANCE Leads are promoted one spot. The next
highest-ranked Team moves up to become the ALLIANCE Eight Lead.
Each Team chooses a student Team representative who proceeds to the ARCADE at the designatedtime (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 ALLIANCECAPTAIN.
The ALLIANCE selection process consists of two (2) rounds during which each ALLIANCE CAPTAIN
invites a Team seeded below them in the standings to join their ALLIANCE. The invited Team must notalready have declined an invitation.
Round 1: In descending order (ALLIANCE One to ALLIANCE Eight), each ALLIANCE CAPTAIN invites asingle Team. The invited Team’s representative steps forward and either accepts or declines theinvitation.
If the Team accepts, it becomes a member of that ALLIANCE. If an invitation from a top eight ALLIANCE
to another ALLIANCE Lead is accepted, all lower ALLIANCE Leads are promoted one spot. The next
highest-seeded, unselected Team moves up to become the ALLIANCE Eight Lead.
If the Team declines, that Team is not eligible to be picked again or to be a BACKUP TEAM (see Section
10.5.2 BACKUP TEAMS), and the ALLIANCE CAPTAIN extends another invitation to a different Team. If
an invitation from a top eight ALLIANCE to another ALLIANCE Lead is declined, the declining Team may
still invite Teams to join their ALLIANCE; however, it cannot accept invitations from other ALLIANCES.
The process continues until ALLIANCE Eight makes a successful invitation.
Round 2: The same method is used for each ALLIANCE CAPTAIN’S second choice except the selection
order is reversed, with ALLIANCE Eight picking first and ALLIANCE One picking last. This process resultsin eight (8) ALLIANCES of three (3) Teams each.
Of the remaining eligible Teams, the highest seeded Teams must either accept or decline to be included
in a pool of available Teams until there are up to eight (8) Teams that accept to be added into the pool.
FIELD STAFF will coordinate the assembly of this BACKUP pool immediately after the top ranked

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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.

BACKUP TEAMSIn the Playoff MATCHES, it may be necessary for an ALLIANCE to replace one of its members due to afaulty ROBOT. ROBOT faults include but are not limited to:
1. mechanical damage,
2. electrical issues, or
3. software problems.
In this situation, the ALLIANCE CAPTAIN has the option to bring in only the highest seeded Team fromthe 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 BACKUPTEAM.
The resulting ALLIANCE is then composed of four (4) Teams. The replaced Team remains a member ofthe ALLIANCE for awards, but cannot return to play, even if their ROBOT is repaired.
Each ALLIANCE is allotted one (1) BACKUP TEAM Coupon during the Playoff MATCHES. If a second
ROBOT from the ALLIANCE becomes inoperable, then the ALLIANCE must play the following MATCHES
with only two (2) (or even one (1)) ROBOTS.
Example: Three (3) Teams, A, B and C, form an ALLIANCE going into
the Playoff MATCHES. The highest seeded Team not on one of the eight(8) ALLIANCES is Team D. During one of the Playoff MATCHES, Team
C’s ROBOT suffers damage to its mechanical arm. The ALLIANCECAPTAIN decides to bring in Team D to replace Team C. Team C andtheir ROBOT are not eligible to play in any subsequent Playoff
MATCHES. The new ALLIANCE of Teams A, B, and D are successful inadvancing to the Finals and win the event. Teams A, B, C, and D are allrecognized as members of the Winning ALLIANCE and receive awards
In the case where a BACKUP TEAM is part of the Winning or Finalist ALLIANCE, there will be a four (4)Team Winning or Finalist ALLIANCE.

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 10-2.
ALLIANCE Leads are assigned to PLAYER STATION 2, the first picks are assigned to their left in
PLAYER STATION 1, and second picks are assigned to the ALLIANCE Lead’s right in PLAYERSTATION 3. If a BACKUP TEAM is in play, they will be assigned to the PLAYER STATION that was
assigned to the DRIVE TEAM they’re replacing. Teams cannot change assignments.
For Quarterfinal MATCHES, the higher seeded ALLIANCE is assigned to the Red ALLIANCE. Beyond the
Quarterfinal MATCHES, the ALLIANCE on the top of each MATCH in Figure 10-2 are assigned to the
Red ALLIANCE, regardless of whether they are the higher seeded ALLIANCE in that particular MATCH.

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Figure 10-2: 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 10-3: Playoff Order

Quarterfinal
Round 1

Quarterfinal
Round 2

Quarterfinal
Round 3

Semifinals

FinalsQuarterfinal 1(1 vs.8)

Quarterfinal 5(1 vs.8)

Quarterfinal
Tiebreaker 11

Semifinal 1

Final 1

Quarterfinal 2(4 vs.5)

Quarterfinal 6(4 vs.5)

Quarterfinal
Tiebreaker 21

Semifinal 2

FIELD
TIMEOUT

Quarterfinal 3(2 vs.7)

Quarterfinal 7(2 vs.7)

Quarterfinal
Tiebreaker 31

Semifinal 3

Final 2

Quarterfinal 4(3 vs.6)

Quarterfinal 8(3 vs.6)

Quarterfinal
Tiebreaker 41

Semifinal 4

FIELD
TIMEOUTFIELDTIMEOUT1FIELD
TIMEOUT1

Semifinal
Tiebreaker 11

Final
Tiebreakers(Overtime) 1

Any Replays
due to ties1

Semifinal
Tiebreaker 21
FIELD
TIMEOUT1

Any Replays
due to ties1

Any Replays
due to ties1
1 - if required

10.6 REFEREE Interaction
The Head REFEREE has the ultimate authority in the ARCADE 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 C08, one (1) pre-college student from that
DRIVE TEAM should address the Head REFEREE after the ARCADE Reset Signal (e.g. LED lights turngreen). A DRIVE TEAM member signals their desire to speak with the Head REFEREE by standing in thecorresponding Red or Blue Question Box, which are located on the floor near each end of the scoringtable. 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 and TECH FOULS, FIRST instructs REFEREES to not self-track
details about FOULS and TECH FOULS; as a result, we don’t expect REFEREES to recall details about
what FOULS or TECH FOULS were made, when they occurred, and against whom.

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

10.7 YELLOW and RED CARDS
In addition to rule violations explicitly listed throughout the 2018 Game and Season Manual, YELLOWCARDS and RED CARDS are used in FIRST® Robotics Competition to address Team and ROBOT
behavior that does not align with the mission of FIRST®.
As noted in Section 4.4 Rule Violations and C01, the Head REFEREE may assign a YELLOW CARD asa warning, or a RED CARD for DISQUALIFICATION in MATCH for egregious behavior inappropriate at a
FIRST Robotics Competition event.
T03.

Egregious or repeated violations of any rule or procedure is prohibited.
Violation: The Head REFEREE may assign a YELLOW CARD as a warning, or a RED CARD for
DISQUALIFICATION in MATCH.

A YELLOW or RED CARD is indicated by the Head REFEREE standing in front of the Team’s PLAYERSTATION and holding a YELLOW and/or RED CARD in the air.
YELLOW CARDS are additive, meaning that a second YELLOW CARD is automatically converted to a
RED CARD. A Team is issued a RED CARD for any subsequent incident in which they receive anadditional 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 PLAYERSTATION 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 YELLOWCARD into subsequent MATCHES, except as noted below. A RED CARD results in DISQUALIFICATION.
Once a Team receives a YELLOW or RED CARD, its Team number will be 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 10-3: Audience Screen Graphic Showing YELLOW CARD Indicators

All YELLOW CARDS are cleared at the conclusion of Qualification MATCHES, providing teams a cleanslate at the beginning of Playoff MATCHES.
During the Playoff MATCHES, if a Team receives a YELLOW or RED CARD, it results in the entire
ALLIANCE receiving the YELLOW or RED CARD for that MATCH. If two different Teams on the same
ALLIANCE are issued YELLOW CARDS, the entire ALLIANCE is issued a RED CARD. A RED CARD
results in zero (0) points for that MATCH, and the ALLIANCE loses the MATCH. If both ALLIANCES
receive RED CARDS, the ALLIANCE which committed the action earning the RED CARD firstchronologically loses the MATCH.

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YELLOW and RED CARDS are applied based on the following:
Table 10-4: YELLOW and RED CARD application

Time YELLOW or RED CARD earned:
prior to the start of Qualification MATCHES

during the Qualification MATCHES

between the end of Qualification MATCHES
and the start of Playoff MATCHES
during the Playoff MATCHES

MATCH to which CARD is applied:Team’s first Qualification MATCH
Team’s current (or just-completed) MATCH. In thecase where the Team participated as a
SURROGATE in the current (or just completed)
MATCH, the card is applied to the Team’s
previous MATCH (i.e. the Team’s second
Qualification MATCH.)
ALLIANCE’S first Playoff MATCH
ALLIANCE’S current (or just-completed) MATCH.

10.8 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 or if there is an ARCADE FAULT. An ARCADE
FAULT is an error in ARCADE operation that includes, but is not limited to:
A. broken FIELD elements due tonormal, expected game play or
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 theoutcome of the MATCH for their ALLIANCE is not an ARCADE FAULT.
B. power failure to a portion of the FIELD (tripping the circuit breaker in the PLAYERSTATION is not considered a power failure)
C. improper activation by the FMS
D. errors by FIELD staff (except those listed in Section 4.6)
If, in the judgment of the Head REFEREE, an ARCADE 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 thejudgement 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, forexample, that a Team which was BYPASSED during the MATCH which is to be replayed, is BYPASSED
for the replay MATCH.
POWER CUBES not detected because of logo-side-up placement in the
VAULT, per Section 3.6.3 VAULT, do not result in an ARCADE FAULT.
Note that an ARCADE FAULT that does not affect MATCH outcome in
the judgement of the Head REFEREE does not lead to a MATCH replay.
Examples include, but are not limited to:

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A. 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 ARCADE soundC. mismatch between the timer on the Audience Screen and the FIELD
Timer
D. any adjustment or delay in assignment of a penalty (including thosemade after the MATCH)

10.9 TIMEOUTS and BACKUP TEAMSA TIMEOUT is a period of up to six (6) minutes between MATCHES which is used to pause Playoff
MATCH progression.
During a TIMEOUT, the ARCADE Timer will display the time remaining in the TIMEOUT. Both
ALLIANCES will enjoy the complete six (6) minute window. If an ALLIANCE completes their repairs
before the ARCADE 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 in the 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. FIELDTIMEOUTS are the same time duration as TIMEOUTS.
Figure 10-4: TIMEOUT Timeline

T04.

An ALLIANCE may not call more than one (1) TIMEOUT during the Playoff MATCHES.
Teams are expected to have their ROBOTS staged on the FIELD by theend of the TIMEOUT. Teams that cause a significant delay to the start ofa MATCH after a TIMEOUT are subject to G02.

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T05.

If an ALLIANCE wishes to call a TIMEOUT, the ALLIANCE CAPTAIN must submit their
TIMEOUT coupon to the Head REFEREE within two (2) minutes of the ARCADE reset signal
preceding their MATCH. If there is no preceding MATCH, the TIMEOUT coupon must be
submitted no later than two (2) minutes before the scheduled MATCH time. The TIMEOUT will
begin two (2) minutes after the ARCADE reset signal (i.e. at the end of the TEAM TIMEOUT
Coupon Window depicted in Figure 10-4)

T06.

There are no cascading TIMEOUTS. If an ALLIANCE calls a TIMEOUT during a FIELDTIMEOUT, the FIELD TIMEOUT will expire two (2) minutes after the ARCADE reset signal andthe ALLIANCE’S TIMEOUT will begin.
If an ALLIANCE wishes to call a TIMEOUT during a FIELD TIMEOUT, it
must still do so within two (2) minutes of the ARCADE reset signal
preceding their MATCH, per T05.

T07.

TIMEOUTS are not transferrable between ALLIANCES.
While TIMEOUTS are not transferrable between ALLIANCES, meaning
an ALLIANCE cannot hand their designated TIMEOUT coupon toanother ALLIANCE to use, an ALLIANCE may use their own coupon forany purpose they wish.

T08.

If during a TIMEOUT an ALLIANCE CAPTAIN determines that they need to call up a BACKUPTEAM, they must submit their BACKUP TEAM coupon to the Head REFEREE while there are stillat least two (2) minutes remaining on the ARCADE Timer. After that point, they will not beallowed to utilize the BACKUP TEAM.
Alternatively, an ALLIANCE CAPTAIN may choose to call up a BACKUP TEAM without using
their TIMEOUT by informing the Head REFEREE directly within two (2) minutes of the Head
REFEREE issuing the ARCADE reset signal preceding their MATCH. If there is no preceding
MATCH, the BACKUP TEAM coupon must be submitted no later than two (2) minutes before thescheduled 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 member.
The Head REFEREE will not accept the BACKUP TEAM coupon unless it lists the number of theTeam 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.

T09.

An ALLIANCE may request neither a TIMEOUT nor a BACKUP TEAM after a Playoff MATCH is
stopped by the Head REFEREE (e.g. due to an ARCADE FAULT or a safety issue). The sole
exception is if the replay is due to an ARCADE FAULT that rendered a ROBOT inoperable.
If a Playoff MATCH is replayed per T09, the Head REFEREE has theoption of calling a FIELD TIMEOUT.

10.10 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 havethree (3) additional pit crew members who can also help with needed ROBOT repairs/maintenance
T10.

Pit Crew members may not be in the ALLIANCE STATION or PORTAL during a MATCH.
Violation: MATCH will not start until the situation is corrected. Those not displaying identificationmust leave the ARCADE.

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10.11 FIRST Championship Additions and Exceptions
At the 2018 FIRST Championship events, Teams are split into six (6) Subdivisions. Each Subdivision
plays a standard Tournament as described in Section 10 Tournaments to produce the Subdivision
Champions. Those six (6) Subdivision Champions proceed to the Championship Playoffs, on the Einstein
FIELDS, to determine the 2018 FIRST® Robotics Competition Championship Winners, per Section
10.11.3..
There is no provision for BACKUP TEAMS at the Championship.

Four ROBOT ALLIANCES
Before each Subdivision Playoff Tournament, ALLIANCES will be selected per the process as describedin Section 10.5.1 ALLIANCE Selection Process, however the process will continue with a 3rd round of
selection as follows.
Round 3: The same method is used for each ALLIANCE CAPTAIN’S third choice except the selection
order is reversed again, with ALLIANCE One picking first and ALLIANCE Eight picking last. This process
results in eight (8) ALLIANCES of four (4) Teams each.
ALLIANCES may start with any three (3) of the four (4) ROBOTS on their ALLIANCE during Subdivision
Playoff MATCHES and during the Championship Playoffs. The list of three (3) Teams participating in the
MATCH and their selected PLAYER STATIONS is called the LINEUP. One representative from the Teamnot 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).
T11.

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 there is no preceding MATCH, the LINEUP is due
no later than two (2) minutes before the scheduled MATCH time.
Violation: The LINEUP is the same as the ALLIANCE’S previous MATCH. If any of these three (3)ROBOTS are unable to play, the ALLIANCE must play the MATCH with only two (2) (or even one(1)) ROBOTS
If an ALLIANCE fails to submit a LINEUP per the process defined in T11
and the MATCH is their first of the Subdivision Playoffs or theChampionship Playoffs, the LINEUP will be the ALLIANCE Lead, first
ALLIANCE selection, and second ALLIANCE selection. If any of thesethree (3) ROBOTS are unable to play, the ALLIANCE must play the
MATCH with only two (2) (or even one (1)) ROBOTS.
The LINEUP will be kept confidential until the FIELD is set for the MATCH, at which point each
ALLIANCE’S LINEUP will appear on the Team Signs.

T12.

Once the LINEUP has been declared, it cannot be changed unless there is a TIMEOUT. If there
is a TIMEOUT, the ALLIANCE CAPTAIN may submit a different LINEUP, but must do so while
there are still more than two (2) minutes remaining in the TIMEOUT.
Example: Four (4) Teams, A, B, C and D, form an ALLIANCE going into
the Playoff MATCHES on their Subdivision FIELD. During one of thePlayoff 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 Teams A, B, or D. All four (4) ALLIANCE members are also
eligible to play MATCHES during the Championship Playoffs should the
ALLIANCE win the Subdivision Tournament.

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T13.

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

FIRST Championship Pit Crews
FIRST will distribute buttons to the ALLIANCE CAPTAINS during the ALLIANCE CAPTAIN meeting,which takes place on the Subdivision FIELDS. These buttons will provide the necessary access to the
ARCADE for pit crew members.
T14.

Only Team members wearing proper buttons are allowed on the ARCADE floor during
Subdivision and Championship Playoff MATCHES
Violation: MATCH will not start until the situation is corrected. Those not displaying identificationmust leave the ARCADE.
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 get the Team’s buttons to the pit crew members.

FIRST Championship Playoffs
The six (6) Subdivision Champions play a round-robin style tournament to determine the 2018 FIRST
Robotics Competition Champions. In this format, each Subdivision Champion plays one MATCH against
each of the other Subdivision Champions. The order of MATCHES is shown in Table 10-5.

MATCH

Round

Table 10-5: Championship MATCH order1
1

Houston
Mass
Red

Blue

CarverTuring2
3

Hopper5

Turing3

CarverNewtonTuringGalileo89115

NewtonGalileo

Galileo

CarverRoebling

CarverRoebling

Galileo

HopperRoebling

EnergyRed

Blue

Archimedes

Tesla

Tesla

HopperNewton

Mass

Curie

Roebling

14
15

Galileo

Hopper

12
13

Blue

Roebling

10
4

Red

Newton6
7

EnergyNewton42

DetroitBlue

CarsonDarwinArchimedes

DarwinCarsonCurie

Darwin

Curie

Curie

Archimedes

Darwin

Tesla

Curie

Tesla

Daly
Daly

Archimedes

Daly

Tesla

CarsonHopperCarver
Daly

CarsonCarsonArchimedes

TuringTuring
Daly

Red

DarwinIn 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.

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A. The winning ALLIANCE receives two (2) Championship Points
B. The losing ALLIANCE receives zero (0) Championship Points
C. In the event of a tied score, each ALLIANCE receives one (1) Championship Point
Exceptions to A-C are as follows:
D. A DISQUALIFIED Team, as determined by the Head REFEREE, causes their
ALLIANCE to receive zero (0) Championship points.
The total number of Championship Points earned by a Team throughout the round robin MATCHES
divided by the number of round robin Matches in which they’ve been scheduled is their ChampionshipScore (CS).
All Teams participating in round robin Matches are ranked by Championship Score. If the number ofTeams in attendance is ‘n’, they are ranked ‘1’ through ‘n’, with ‘1’ being the highest ranked Team and ‘n’being the lowest ranked Team.
Table 10-6: Einstein Tournament Ranking Criteria

Order Sort

Criteria

1stChampionship Score

2nd

Cumulative PARKING AND CLIMBING points
Cumulative sum of AUTO points
Cumulative sum of OWNERSHIP points
Cumulative sum of VAULT points• If tie affects which ALLIANCES advance to Playoffs, a tiebreaker
MATCH is played between the affected ALLIANCES.
• If tie is between ALLIANCES advancing to Playoffs, FMS randomly
seeds tied alliances to determine ALLIANCE color.

3rd
4th
5th
6th

The two 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, theyearn a Win, Loss or Tie. The first ALLIANCE to win two (2) MATCHES is declared the 2018 FIRST
Robotics Competition Champions.
T15.

During the Einstein Finals, if the MATCH score of each ALLIANCE is equal, the MATCH is
replayed.
If an Einstein Finals MATCH is replayed per T15, the LINEUP can bechangedFIRST Championship TIMEOUTS
There are no TIMEOUTS for teams in the Einstein tournament.

10.12 Advancement Between Tournaments
Teams advance through the season depending on the events at which they compete: Regional or District.
This section details how teams advance from Regional events to the FIRST Championship, or from
District qualifying events, to their District Championship, to the FIRST Championship.
T16.

A team is considered to have already earned a FIRST Championship invitation prior to theDistrict, Regional, or District Championship if they are:A. pre-qualified or

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A FIRST® Robotics Competition Team listed in the Championship
Eligibility Criteria document is pre-qualified for the FIRST Championshipif the Team meets one of the following criteria:
A. member of the FIRST® Hall of Fame
B. an original and sustaining team since 1992
C. a 2017 FIRST Championship winner
D. a 2017 FIRST Championship Engineering Inspiration AwardwinnerE. a 2017 FIRST Championship Chairman’s Award Finalist
B. met the criteria outlined in T17 at a prior event.

Regional Events
T17.

A Team competing at a Regional Event qualifies for the FIRST Championship by meeting one of
the following criteria:
A. Winning a qualifying award:
Regional Chairman’s Award
Engineering Inspiration Award
Rookie All-Star Award
B. A member of the Winning ALLIANCE
C. Earning a Wild Card

Wild Cards
Wild cards are used to qualify additional teams for the FIRST Championship from Regional events.
T18.

All Regional events have a minimum of one (1) Wild Card slot. Additional Wild Cards are
generated as follows:
A. Any team competing at a Regional event that has already qualified for the FIRSTChampionship prior to the Regional, per T16, and earns an additional spot, per T17,
generates one (1) Wild Card.
B. Any team earning two (2) qualifying spots at a single Regional per T17 (e.g. by being
on the Winning Alliance and earning the Chairman’s Award) generates one (1) Wild
Card.
C. A team who has already earned a spot at FIRST Championship prior to their current
Regional, per T16, and earns two qualifying spots, per T17, will generate two Wild
Card slots.
Wild Card slots are distributed to the Finalist ALLIANCE, in the order of team selection per
Section 10.5.1 ALLIANCE Selection Process, until either all Wild Card slots generated at thatevent are distributed or the Finalist ALLIANCE is out of teams, whichever comes first.

T19.

If a member of the Finalist ALLIANCE has already qualified for the FIRST Championship, per
T16, they are skipped and the next member of the ALLIANCE is awarded the available Wild Card.

T20.

Unused Wild Card slots will not be backfilled or replaced.

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A Team may decline a Wild Card, but this does not pass the Wild Cardslot down to the next available Team. The Wild Card goes unused.
T21.

Teams selected from the FIRST Championship Waitlist to participate at the FIRST Championshipdo not generate Wild Cards.

District Events
District teams are ranked throughout the season based on the points they earn at their first two home
District events they attend, as well as at their District Championship. Points are awarded to teams asfollows:
Table 10-7: District point assignment

Category

Qualification Round
Performance

ALLIANCE CAPTAINS
Draft Order Acceptance
Playoff Advancement

Judged Team Awards

Team Age

Points(For a typically sized District event, this will result in a minimum offour (4) points being awards for Qualification round performance.
For events of all sizes, a maximum of twenty-two (22) points will
be awarded.)
Equal to 17 minus the ALLIANCE CAPTAIN number(e.g. 14 points for ALLIANCE #3 Captain)
Equal to 17 minus the Draft Order Acceptance Number(e.g. 12 points for the Team that is 5th to accept an invitation)
Points awarded based on team participation in individual playoffrounds, and whether or not the ALLIANCE advances. See details
below.
• 10 points for Chairman’s Award• 8 points each for Engineering Inspiration and Rookie All StarAwards• 5 points each for all other judged Team awards• 10 points for Rookie Teams• 5 points for second-year Teams

Points earned at District Championships are multiplied by three (3) and then added to points earned at
District events, to determine the final season point total for the Team

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If there is a tie in the season point total between teams, those items are broken using the following sorting
criteria:
Table 10-8: District Team sort criteria

Order Sort

Criteria

1st

Total Playoff Round Performance Points
Best Playoff Round Finish at a single event
Total ALLIANCE Selection Results Points
Highest Qualification Round Seed or Draft Order Acceptance(i.e. Highest ALLIANCE Selection points at a single event)Total Qualification Round Performance Points
Highest Individual MATCH Score, regardless of whether thatscore occurred in a Qualification or Playoff MATCH
Second Highest Individual MATCH Score, regardless of whether
that score occurred in a Qualification or Playoff MATCH
Third Highest Individual MATCH Score, regardless of whether
that score occurred in a Qualification or Playoff MATCH
Random Selection

2nd
3rd
4th
5th
6th
7th
8th
9th

10.12.3.1 Qualification Round Performance
The calculation of Qualification performance points is done using the equation (an inverse error function)in the table above. The equation utilizes the following variables:•••

R – the qualification rank of the team at the event at the conclusion of Qualification
MATCHES (as reported by FMS)
N – the number of FIRST Robotics Competition teams participating in the Qualification
rounds at the event
Alpha (α) – a static value (1.07) used to standardize the distribution of points at events

This formula generates an approximately normal distribution of Qualification Round Performance points at
an event, based on rank, with most teams getting a moderate number of points, and fewer teams getting
the highest or lowest numbers of points available.
Table 10-9 displays sample Qualification Round Performance points for variously ranked teams at a forty(40) team event. The system will automatically generate the appropriate points for each team based on
their rank and the number of teams at the event.
Table 10-9 Sample Qualification Round Point assignments

Rank
Points

1
22

2
21

3
20

4
19

…
…

19
13

20
13

21
12

…
…

37
6

38
6

39
5

40
4

10.12.3.2 ALLIANCE Selection Results
This attribute measures both individual Team qualification round seeding performance and recognition bypeers.
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 aredesigned 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 aredesirable. Giving points for ALLIANCE selection also supports come-from-behind Teams. A Team taking
several MATCHES to optimize their performance may be recognized as a late bloomer by a top seeded
Team, even if that performance isn’t reflected in the rankings because of poor performance in early
MATCHES. These points also have the potential to recognize Teams employing a minority strategy with

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their ROBOT. Teams with unique or divergent ROBOT capabilities that complement the strengths of other
ALLIANCE members may be selected to fill a strategic niche.
Note also that ALLIANCE CAPTAINS are given the same number of points as the Team drafted in thesame 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 ALLIANCECAPTAINS, which gives Teams out of the top eight the chance to experience being ALLIANCECAPTAINS themselves.

10.12.3.3 Playoff Round PerformanceThis attribute measures Team performance as part of an ALLIANCE.
All Teams on the ALLIANCE winning a particular playoff series, who participate in MATCHES with their
ROBOTS, receive five (5) points per MATCH won. In most cases, Teams receive ten (10) points at eachof the Quarterfinal, Semifinal, and Final levels, unless a BACKUP ROBOT is called in to play.

10.12.3.4 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, theTeam’s experience in being selected for awards, especially the Chairman’s Award, the Engineering
Inspiration Award, and the Rookie All Star Award, is beyond measure, and could not be fully captured inits 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 Robots®,” with the emphasis on our culturalawards, 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.

10.12.3.5 Team AgeThis attribute recognizes the difficulty in being a Rookie or second-year Team.
Points are awarded to Rookie and second year Teams in recognition of the unique challenges Teams
face in those early years, and to increase the chance that they will make it to the District Championship tocompete with their ROBOTS. Like our dedicated Rookie awards, these additional points are intended torecognize 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.

10.12.3.6 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 aslot 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.

10.12.3.7 District Championship Eligibility
T22.

A Team competing in a District qualifies for their District Championship by meeting one of thefollowing criteria:

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A. District Chairman’s Award winner
B. District Ranking; based on total points earned at their first two home District events
as detailed in Section 10.12.3 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 the2018 season.
If a team declines an invitation to the District Championship, the next
highest uninvited team on the list is invited, and so on, until the event
capacity is filled.
C. District Engineering Inspiration winner (qualifies to compete for the award only)
D. District Rookie All Star winner (qualifies to compete for the award only)
The capacity of each District Championship is shown in Table 10-10. Each District determines the numberof teams which qualify for their District Championship. These limits are based on factors including but notlimited to the total number of teams in the District, available venue capacity, etc.
Table 10-10: 2018 District Championship Capacities

District Championship
FIRST Chesapeake District Championship
FIRST Israel District Championship
FIRST Mid-Atlantic District Championship
FIRST North Carolina State Championship
FIRST Ontario Provincial ChampionshipIndiana State ChampionshipMichigan State Championship
New England District Championship
Pacific Northwest District Championship
Peachtree District State Championship2018 TeamCapacity
60
45
60
32
80
32
160
64
64
45

10.12.3.8 FIRST Championship Eligibility for District Teams
Districts receive the percentage of 'available slots' at their assigned FIRST Championship location,rounded up to the nearest whole slot, equal to the percentage of teams they have in their District
compared to the total of all FIRST Robotics Competition teams in the current season who would normallybe assigned to their FIRST Championship location. 'Available slots' are calculated by taking the total
number of slots at each FIRST Championship location, subtracting the number of pre-qualified teams
assigned to that location, and also subtracting a 10% allowance for waitlisted teams, as Districts are stillallowed to send waitlisted teams to the FIRST Championship. Further, this overall calculation uses a‘snapshot’ of teams that have registered and paid as of a specific day a week or so after season payment
due.
These slots are guaranteed to the Districts and populated with the following teams:•••

qualifying award winners from the District Championship (Chairman’s Award, EngineeringAward, and Rookie All Star winners),
teams on the District Championship Playoff Winning Alliance (including any Back-Up teams
participating),
qualifying award winners among district teams who traveled to Regionals,

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•teams on the final District ranking list, as deep in the ranking list as the District needs to go tofill their allocation.

If a District team earns a slot to the FIRST Championship within the season, but is not able to attend, thetop ranked team who has not yet been offered a slot is given the opportunity, and so on, until all slots arefilled. Slots for pre-qualified teams will not be backfilled.
Table 10-11 outlines the District Championship allocations for 2018. Districts determine the number of
Dean’s List, Chairman’s, Rookie All Star, and Engineering Inspiration Awards to present at theirChampionship, within a range established by FIRST. The team counts are based on the teamrepresentation of the respective District at the respective Championship. For the awards, ranges aredeveloped by using ratios agreed upon by FIRST and District Leadership. These ranges allow eachDistrict to represent their own community as they see fit. For the Chairman’s Award, the ratios range fromone (1) Chairman’s Award Team for every eighteen (18) Championship District Teams to one (1)Chairman’s Award Team for every nine (9) Championship District Teams. For the Dean’s List Award, theratios range from one (1) Dean’s List Finalist for every nine (9) Championship District Teams to one (1)Dean’s List Finalist for every six (6) Championship District Teams.
Table 10-11: District slot allocations for FIRST Championship

Chairman’s
Award

Engineering
Inspiration
Award

Rookie All
Star Award

Max Ratio

Min Ratio

District Selection

Min

Max

District Selection

Min

Max

District Selection

2

2

4

4

1

2

2

1

2

1

10

5

10

15

15

1

2

1

1

2

2

1

2

2

2

4

4

1

2

2

1

2

1

1
2
2

1
4
3

1
4
3

2
4
3

2
6
5

2
5
5

1
1
1

2
2
2

1
2
1

1
1
1

2
2
2

1
2
1

13

1

1

1

2

2

2

1

2

2

1

2

1

12

1

1

1

2

2

2

1

2

2

1

2

1

28

2

3

3

3

5

5

1

2

2

1

2

2

14

1

2

2

2

2

2

1

2

2

1

2

2

Min Ratio

6

Max Ratio

9

18

9

1

3

5

District Selection

FIRST Championship
Normalized Slots

FIRST Championship
Slots
FIRST Championship
Detroit
FIRST
21
Chesapeake
FIRST in
89
Michigan
FIRST Mid22
Atlantic
Indiana FIRST
9NE FIRST
37
Ontario29
FIRST Championship
Houston
FIRST Israel
15
FIRST North
14
Carolina
Pacific
32
Northwest
Peachtree
16

Dean’s ListAward

All Districts, regardless of Championship Slot allocation, may award one (1) or two (2) Engineering
Inspiration and Rookie All-Star Awards.

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Chairman’s Award and Dean’s List Award maximums and minimums are determined by ratios applied toa given District’s Championship Slot allocations. However, Districts assigned to Houston have relatively
larger Championship slot allocations for a given team count compared to Districts assigned to Detroit, andwe did not want these larger allocations to skew award allocations. So, for the purposes of award
allocations only, Championship slots for Houston Districts were ‘normalized’, as shown in the table,
reducing the slots allocated to what they would have been if both Championship geographies had thesame total number of FIRST Robotics Competition teams. This ‘normalized’ slot allocation was then used
to determine award minimums and maximums. As noted, these normalized slot values are used only foraward allocations. The Houston-assigned Districts still retain the full Championship Slots Allocated (thelarger number) shown in the table.

10.12.3.9 District Championships with Multiple Divisions
Some District Championships will have multiple divisions. 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 isdetermined.
Figure 10-5 FIRST in Michigan District Championship Playoff Bracket

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Figure 10-6 Ontario District Championship Plaoyff Bracket•••

Teams participating in District Championship Playoffs earn Playoff round performance District
points as described in Section 10.12.3.3.
If an ALLIANCE in a District Championship Playoff has not yet adopted a BACKUP ROBOT
per Section 10.5.2, the ALLIANCE CAPTAIN may bring in only the highest seeded team fromtheir Division’s pool of available teams to join its ALLIANCE.
Team assignments to the Divisions are determined using an algorithm developed by FIRST
in Michigan to balance Divisions with respect to team strengths.

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11 Glossary
Term
ACTIVE DEVICEALLIANCE
ALLIANCE
CAPTAIN
ALLIANCE
STATION
ALLIANCE WALL

ARCADE

ARCADE FAULT
AUTO
AUTO LINE
AUTO-RUN
AUTO QUESTBACKUP TEAMBOOSTBRICKSBUMPERBUMPER ZONEBYPASSEDCAW
CLIMBING
COACH

Definition
any device capable of dynamically controlling and/or converting a source ofelectrical energy by the application of external electrical stimulus
cooperatives of up to four (4) FIRST® Robotics Competition Teams
The designated student representative from each ALLIANCE in a Playoff
MATCH
a 22 ft. (~671 cm) wide by 10 ft. (~305 cm) deep by 10 ft. (~305 cm) tall volume
formed by, and including three (3) PLAYER STATIONS, an EXCHANGE wall,and 2 in. ALLIANCE colored gaffers tapethe structure that separates ROBOTS from DRIVE TEAMS (except the
TECHNICIAN) and consists of three (3) PLAYER STATIONS, and an
EXCHANGE wall
all elements of the game infrastructure that are required to play FIRST®
POWER UPSM: the FIELD, SWITCHES, the SCALE, VAULTS, carpet, the
POWER CUBES, and all equipment needed for FIELD control, ROBOT control,and scorekeeping
an error in ARCADE operation that includes, but is not limited to those listed in
Section 10.8 MATCH Replays.
the first fifteen (0:15) seconds of a MATCH in which ROBOTS operate without
any DRIVE TEAM control or input
a line of 2 in. (~5 cm), black gaffers tape that is the width of the FIELD and is 10
ft. (~305 cm) from each ALLIANCE WALL to the leading edge of the tape.
The action of a ROBOT that breaks the vertical plane of the AUTO LINE with its
BUMPER at any point in the AUTO stage
An action by which an ALLIANCE completes three (3) AUTO-RUNS and has
OWNERSHIP of their SWITCH at T=0 of the AUTO stage
The Team whose ROBOT and DRIVE TEAM replaces another ROBOT and
DRIVE TEAM on an ALLIANCE during the Playoff MATCHES
a POWER UP which Doubles the points being earned by the ALLIANCE for
OWNERSHIP of their SWITCH, SCALE, or bothgraphics depicting golden squares surrounded by a black outline that extends
12 in. (~30cm) above the horizontal surface of the PLATFORM
a required assembly which attaches to the ROBOT frame. BUMPERS areimportant because they protect ROBOTS from damaging/being damaged byother ROBOTS and FIELD elements
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
any ROBOT which is unable or ineligible to participate in that MATCH asdetermined by the FTA, LRI, or Head REFEREE resulting in a ROBOT which isdisabled
Cost Accounting Worksheet
A ROBOT fully supported by the SCALE (either directly or transitively) with
BUMPERS fully above the BRICKS at T=0, not in direct contact with their
PLATFORM, and not at all in the opponent’s PLATFORM ZONEa precollege student or adult mentor member of the DRIVE TEAM a guide oradvisorSection 11 GlossaryV2

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COMPONENTCOTS

CUSTOM CIRCUITDISABLEDDISQUALIFIEDDRIVERDRIVE TEAMENDGAMEEXCHANGE

EXCHANGE ZONEFABRICATED ITEMFACE THE BOSS

FENCE

FIELD
FIELD STAFF
FMS

FORCE
FOUL
FRAME
PERIMETERFTAGUARDRAIL
HUMAN PLAYER

any part in its most basic configuration, which cannot be disassembled without
damaging or destroying the part or altering its fundamental function
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)
any electrical COMPONENT of the ROBOT other than motors, pneumaticsolenoids, roboRIO, PDP, PCM, VRM, RSL, 120A breaker, motor controllers,
relay modules (per R35-B), wireless bridge, or batteries
a state in which a ROBOT is commanded to deactivate all outputs, rendering
the ROBOT inoperable for the remainder of the MATCH
the state of a Team in which they receive zero (0) Match points in aqualification MATCH or causes their ALLIANCE to receive zero (0) Matchpoints in a Playoff MATCH
a precollege student member of the DRIVE TEAM an operator and controller ofthe ROBOTa set of up to five (5) people from the same FIRST Robotics Competition Team
responsible for Team performance for a specific a MATCH
The final thirty (30) seconds of the TELEOP stagea polycarbonate wall 6 ft. 5 ¾ in. (~197 cm) tall by 4 ft. (~122 cm) wide locatedbetween PLAYER STATION 1 and PLAYER STATION 2 and used by
ROBOTS to deliver POWER CUBES to HUMAN PLAYERS
A rectangular area 4 ft. (~122 cm) wide by 3 ft. (~91 cm) deep and infinitely tallvolume bounded by the EXCHANGE wall and 2 in. (~5 cm) ALLIANCE coloredgaffers tape. The EXCHANGE ZONE includes the tape, but excludes the wall
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 ROBOTAn action where All three (3) ALLIANCE ROBOTS have CLIMBED or two (2)ROBOTS have CLIMBED and the ALLIANCE has played the LEVITATEPOWER UPA structure surrounding a SWITCH made of aluminum shielded bypolycarbonate. The FENCE is 12 ft. 9 ½ in. (~390 cm) wide by 4 ft. 8 in. (~142cm) deep by 1 ft. 6 ¾ in. (~48 cm) tall.
a 27 ft. (~823 cm) by 54 ft. (~1646 cm) carpeted area, bound by and including
the inward-facing surfaces of the GUARDRAILS, PORTALS, EXCHANGE walls
and ALLIANCE WALLSREFEREES, FTAs, or other staff working around the FIELD
the electronics core responsible for controlling the FIRST Robotics Competition
playing field. The FMS encompasses all field electronics, including thecomputers, REFEREE touchscreens, wireless access point, sensors, stacklights, E-Stops, etc.
A POWER UP which earns OWNERSHIP points from an ALLIANCE’S
SWITCH, SCALE, or both regardless of PLATE positiona penalty assessed by a REFEREE upon a rule violation resulting in 5 points
credited towards the opponent’s total scorethe polygon contained within the BUMPER ZONE, that is comprised of fixed,
non-articulated structural elements of the ROBOTa FIRST Technical Advisor
a system that consists of transparent polycarbonate supported on the top andbottom by aluminum extrusion. The GUARDRAIL prevents ROBOTS frominadvertently exiting the FIELD during a MATCH
a pre-college student DRIVE TEAM member responsible for managing
a POWER CUBE manager

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KOP
LEVITATE
LINEUPLRI
MATCH
MECHANISM
MXP

NULL TERRITORYOPERATORCONSOLEOUTRIGGERSOWNERSHIP
PARKINGPASSIVECONDUCTORSPCM
PDP
PLAYER STATION
PLATE
PLATFORM

PLATFORM ZONEPORTAL

POWER CUBE

POWER CUBE PILE

Kit of Parts, the collection of items listed on any Kickoff Kit Checklists,
distributed via FIRST® Choice, or paid for completely (except shipping) with a
Product Donation Voucher (PDV)A POWER UP which earns an ALLIANCE an additional CLIMBING ROBOTThe list of three (3) Teams participating in the MATCH and their selected
PLAYER STATIONS
Lead ROBOT Inspector
a two (2) minute and thirty (30) second period of time in which ALLIANCES play
FIRST POWER UP
a COTS or custom assembly of COMPONENTS that provide specificfunctionality on the ROBOT. A MECHANISM can be disassembled (and thenreassembled) into individual COMPONENTS without damage to the parts
MyRIO eXpansion Port, the expansion port on the roboRIO
one of two, 7 ft. 11 ¼ in. (~242 cm) wide by 6 ft. (~183 cm) deep and infinitely
tall volumes formed by 2 in. (~5 cm), white gaffers tape and the GUARDRAILS.
The NULL TERRITORY includes the gaffers tape, but excludes the
GUARDRAILS. The ALLIANCE’S NULL TERRITORY for a MATCH
corresponds to the SCALE PLATE color in that NULL TERRITORY and does
not change when the FORCE POWER UP is played
the set of COMPONENTS and MECHANISMS used by the DRIVERS and/or
HUMAN PLAYER to relay commands to the ROBOT
supports for the TOWER constructed from aluminum shielded by polycarbonate
a state of the ALLIANCE’S SWITCH or SCALE where it is tilted in favor of an
ALLIANCE colored PLATE, such that the outside edge of the ALLIANCE
colored PLATE is at or less than a specified height above the carpet
A ROBOT fully supported by the SCALE (either directly or transitively), not at allin the opponent’s PLATFORM ZONE, and has not CLIMBED
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.)
Pneumatic Control Module
Power Distribution Panelone (1) of three (3) assigned positions in an ALLIANCE WALL from where a
DRIVE TEAM operates their ROBOTOne (1) of the two (2) assemblies at the extreme ends of the SWITCHES and
SCALE which are 3 ft. (~91 cm) wide and 4 ft. (~122 cm) deep
one of two (2) 8 ft. 8 in. (~264 cm) wide by 3 ft. 5 ¼ in. (~105 cm) deep and 3 ½
in. (~9 cm) tall surfaces located at the base of the SCALE and covered with
ALLIANCE colored HDPEa 11 ft. 1 ½ in. (~339 cm) wide by 9 ft. 11 ¾ in. (~304 cm) deep and infinitely
tall volume bounded by 2 in. (~5 cm) ALLIANCE colored gaffers tape, the facesof the OUTRIGGERS, TOWER, and the SWITCH. The PLATFORM ZONE
includes the gaffers tape, but excludes the SWITCH and the faces of the
OUTRIGGERS AND TOWER
a 4 ft. (~122 cm) wide by 12 ft. 11 in. (~394 cm) deep infinitely tall volume
bounded by, and including, 2 in. (~5 cm). ALLIANCE colored gaffers tape and
the PORTAL wall.
The game piece used to affect the position of the SCALE and SWITCH
PLATES, and can be traded in for POWER UPS. A POWER CUBE is a 1 ft. 1
in. (~33 cm) wide by 1 ft. 1 in. (~33 cm) deep by 11 in. (~27 cm) tall HDPE milkcrate covered in a yellow nylon (600 Denier) cover
The collection of POWER CUBES in a pyramid formation, with six on thebottom, three in the middle, and one on top, justified toward the SWITCH

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POWER CUBEZONEPOWER UPRED CARD
RETURNREFEREE

ROBOT

RP

RS
RSL
RUNG

SCALE
SIGNAL LEVELSTARTINGCONFIGURATIONSTARTING LINE
SURROGATESWITCHTECH FOULTECHNICIANTELEOPTIMEOUT
TOWER
VAULT

A rectangular area 3 ft. 9 in. (~114 cm) wide by 3 ft. 6 in. (~107 cm) deep,bounded by the SWITCH and 2 in. (~5 cm) ALLIANCE colored gaffers tape.
The POWER CUBE ZONE includes the gaffers tape, but excludes the SWITCH
advantages an ALLIANCE can earn and play throughout the TELEOP stage ofthe MATCH
a penalty assessed for egregious ROBOT or Team member behavior, or ruleviolations, which results in a Team being DISQUALIFIED for the MATCH
a 1ft. 2 in. (~36 cm) square, centered above the lower opening and is located 1
ft. 8 in. (~51 cm) above the carpet
an official who is certified by FIRST to enforce the rules of FIRST POWER UP
an electromechanical assembly built by the FIRST® Robotics Competition
Team to perform specific tasks when competing in FIRST® POWER UPSM. The
ROBOT must include all of the basic systems required to be an active
participant in the game – power, communications, control, BUMPERS, andmovement. The ROBOT implementation must obviously follow a design
approach intended to play FIRST POWER UP
Ranking Point, a unit credited to a Team based on their ALLIANCE’S
performance in Qualification MATCHES
Ranking Score, the total number of Ranking Points earned by a Teamthroughout their Qualification MATCHES divided by the number of MATCHES
they’ve been scheduled to play (minus any SURROGATE MATCH), thentruncated to two (2) decimal places
ROBOT Signal Light
One of two (2) 1 ft. 1 in. (~33 cm) long 1 ¼ in. Schedule 40 aluminum pipe
supported by 2 in. (~5 cm) box tubing. Each RUNG extends 8 ¼ in. (~21 cm).
from the vertical face of the SCALE supports and 7 ft. (~213 cm) from thecarpet to the top of the RUNG
A FIELD assembly that features an arm, RUNGS, PLATES, OUTRIGGERS,PLATFORMS, and TOWER
circuits which draw ≤1A continuous and have a source incapable of delivering>1A, including but not limited to roboRIO non-PWM outputs, CAN signals, PCM
Solenoid outputs, VRM 500mA outputs and Arduino outputs
the physical configuration and orientation of the ROBOT at the beginning of the
MATCH where no part of the ROBOT shall extend outside the verticalprojection of the FRAME PERIMETER, with the exception of its BUMPERS andminor protrusions such as bolt heads, fastener ends, rivets, cable ties, etc.
a line of 2 in. (~5 cm), white gaffers tape that runs the width of the carpet and is
2 ft. 6 in. (~76 cm) behind the ALLIANCE WALL diamond platea Team randomly assigned by the FIELD Management System to play an extra
Qualification MATCH
One of two (2) FIELD assemblies centered across the width of the FIELD, withthe center of the SWITCH located 14 ft. (~427 cm) from the ALLIANCE
STATION
25 points credited towards the opponent’s total scorea precollege student member of the DRIVE TEAM who is a resource for
ROBOT troubleshooting, setup, and removal from the FIELD
the second stage in a MATCH and is two minutes and fifteen seconds (2:15)
long
a period of up to six (6) minutes between MATCHES which is used to pause
Playoff MATCH progression
the central structure of the SCALE constructed from aluminum shielded bypolycarbonate which supports the RUNGS and SCALE PLATES
an aluminum and plastic structure used by HUMAN PLAYERS to turn POWERCUBES in to POWER UPS

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VENDOR
VRM
WITHHOLDINGALLOWANCEYELLOW CARD

a legitimate business source for COTS items that satisfies criteria listed in
Section 8.1 Overview
Voltage Regulator Modulea static set of FABRICATED ITEMS that shall not exceed 30 lbs. (~13 kg.),brought to an event (or ROBOT Access Period) in addition to the bagged items,
to be used to repair and/or upgrade their ROBOT
a warning issued by the Head REFEREE for egregious ROBOT or Team
member behavior or rule violations. A subsequent YELLOW CARD within thesame tournament phase will lead to a RED CARD.

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