FRC 2015 Game Manual By the Strategy Team Deven Shah, Lorraine Zhang, Alex Wu, Rohit Thotakura, Joe DeGuzman, Vishaka Nayak, Mihir Nayak, George Pan, Akansha Iyengar, Arghya Iyengar, Pooja Rao, Matt Morrison

Game Summary ● Alliances compete independently to score points by stacking bins on scoring platforms, capping the stacks with recycling cans, and by disposing of the litter. ● Field Dimensions: 27ft by 54ft bisected by small step which can not be climbed or crossed by robots ● Alliances compete on their own side with dimensions of 26ft by 27ft

Game Summary Continued ● 15 second autonomous period o Robots work to move Yellow Totes and Recycling Containers to area between scoring platforms called the auto zone o More points are rewarded if Totes are stacked in a single stack

Game Summary Continued

● Teleop Period o Alliances work together to put as many Totes on the scoring platform as possible o More points are awarded for recycle containers places on totes o The higher the recycling container the more points that are awarded

Game Summary Continued ● Alliance can earn cooperation points by coordinating with the other alliance ● During the match if there are 4 totes on the step at the same time cooperation points are given ● Cooperation points are double if at least 4 of the totes are stacked in a single stack

Game Summary Continued ● Points are awarded for litter that is either placed in the recycling bins or in the landfill zone ● Any litter that is left on the side of the field is considered unprocessed and points are given to the other alliance

Game Summary Continued

Team Updates ● Team Updates between kickoff and stop build day will be posted every tuesday and friday ● Team updates between stop build day and the week before FRC Championship will be posted each tuesday

Team Updates Continued ● Additions will be highlighted ● Subtractions will be striked through ● Clarity will be added in a bold italic

The Field

Completely carpeted Bound by GUARDRAILS (included): transparent polycarbonate shields supported by aluminum extrusions, prevent robots from exiting field Contain 4 gates: at least 3ft 2 in wide Two ALLIANCE WALLS: 6ft 6 in tall, contain 3 PLAYER STATIONS and 2 HUMAN PLAYER STATIONS Field bisected by STEP: white, wooden, 6.25in tall, 2ft 1in wide 0.25in thick HDPE sheets in alliance colors on either side form 0.375in lips: prevent totes from being easily pushed off step

2 SCORING PLATFORMS per alliance 1ft 8in wide, 2in tall, 15ft 7in long Plywood covered in white HDPE White HDPE ramps along 3 sides, not part of platform 1 LANDMARK per alliance in auto zone, 4in by 4in “+” sign, centered, 15ft 7in from alliance wall. Alliance color’s gaffer’s tape. NOT A VISION TARGET, but drive team reference

1 BACKSTOP adjacent to each scoring platform 1.40 Schedule aluminum pipe, black with white gaffer’s tape graduations as shown to help determine level for recycling containers

AUTO ZONE: 6ft 6in wide, spans entire field. Bounded by 2in alliance color gaffer’s tape (not included) LANDFILL ZONE: 4ft 3in from step, spans entire field. Bounded by step, guardrails, and 2in white gaffer’s tape (all not included) STAGING ZONES: 3 per alliance. 8ft 11in from landmark, 4ft wide, 1ft 9in wide. Middle zone is centered, 2ft 9in gap between zones. Bounded by alliance color gaffer’s tape (included). Used to position recycling containers and yellow totes.

Yellow totes marked with 8 strips 2in retro- reflective on long sides as shown:

2.2- Alliance Stations Each alliance station contains: – one bin which has litter in it – totes (mentioned in 2.3)

Player Stations made from a 3ft. tall diamond plate panel base topped with a 3 ft. 6in. tall transparent plastic panel Shelf  5 ft. 9 in. wide and 1 ft. deep Contains: – One ethernet cable – one 120VAC NEMA 5-15R power outlet – One Emergency Stop (E-Stop) button

2.2.1 contd. – One team sign – One team LED Alliance color Robot status E-Stop status Solid LED Blinking LED Off LED

2.2.1 contd. – One timer (in the middle Player Station only) – Competition arena hardware and wiring – One Phillips Color Kinetics iColor Flex LMX LED light string

Human Player Station Connect the end player stations to the guardrails 2 6ft. 6in. Tall by 3ft. 7in. Wide Panels adjacent have tote chute and litter chute – Tote chute: 1ft in. tall by 6.5 in. wide, bottom of opening located 1 ft. 6.5 in. above carpet – Litter chute: 6in. By 6 in. opening, with bottom of opening 4 ft. 6 in. above carpet

Human Player Zone Red and blue located on each end of the field, behind alliance wall and each bounded by the edge of carpet, human player station, starting line, and white gaffers tape

Totes 2 types: yellow and gray Dimensions: 26.9 in. long, 16.9 in. wide, 12.1 in tall Rigid plastic, ~7.8 pounds Lids secured with cable ties

Staging Zone Locations

Gray tote locations on the step

Gray tote locations in alliance zone

Recycling Containers 32 gallon green rubbermaid recycling containers Have “single stream recycling” style lids Dimensions: 28.8 in tall (height includes lid), diameter of 21.9 in Weighs about 8.65 pounds Lids weigh about 2 pounds Dimensions of lid: 4.75 inches

2.3.3 Litter Pool Noodle (4 ft. 10 in.(length) x 2.6 in.(Diameter)) Start: 10 Noodles in White Bin White Bin: – Dimensions: 30.5 in. tall x in. (diameter) – Location: carpet, behind Middle Player Station, Back edge of carpet tangent to bin Replacing of Noodle: – Length of Noodle Shortened (length determined by referee) – Other (determined by referee)

2.4 The FIELD Management System(FMS) Play Station connects to Operator Console w/ Ethernet Cable & Operator Console with FMS Ports Available: (*2=bi-directional, 1=uni-directional) – (*2)TCP 1180: Camera data(roboRIO  Driver Station (DS)) when the camera is connected the roboRIO via USB – (*2)TCP 1735: SmartDashboard – (*1)UDP 1130: Dashboard  ROBOT, control data – (*1)UDP 1140: ROBOT  Dashboard, status data – (*2)HTTP 80 and HTTP 443: Camera connected via ROBOT switch – (*2)UDP/TCP 554: Real-Time Streaming Protocol for h.264 camera streaming – (*2)UDP/TCP : Team Use

The Game/Scoring RECYCLE RUSH is played by: ● 2 Alliances of 3 Teams Points earned by: ● Stacking Totes on Scoring Platforms, ● Placing Recycling Containers on top of scored, stacked Gray Totes ● Disposing of Litter in Recycling Containers, Landfill Zone, or opposite side of the Field. ● *(except for unprocessed Litter) if the actions of one Alliance cause any of the other Alliance’S game elements to no longer be in scoring position, the affected Alliance will be credited points for the displaced game elements at the conclusion of the MATCH.

Match Timing ● The Total Match time is 2 minutes at 30 seconds. ● The auto period is the first 15 seconds ● The Teleop is the the remaining 2 minutes and 15 seconds

During Autonomous Period... Points are awarded for: ● Robot Sets- ALL Robots on an Alliance move themselves to and are completely in their auto zone at the end of the auto period. Tote Sets- ALL 3 yellow Totes from an Alliance are fully contained by the auto zone, but do not meet the requirements of a stacked tote set, at the end of auto.

During Autonomous Period (Cont.)... ● Container Sets- Any 3 Recycling Containers are fully contained by the auto zone at the end of auto. ● Stacked Tote Sets- 3 Yellow Totes from an Alliance are arranged such that, at the end of auto ❖ the Yellow Totes are stacked one on top of another in a single column, ❖ only the bottom-most Yellow tote is in contact with the auto zone, ❖ the entire structure is fully contained by the auto zone ❖ the entire structure is free of contact from Robots

Coopertition Teams can receive points for: ● Coopertition Set- at least 4 yellow totes are fully supported by the step ● Coopertition Stack- at least 4 yellow totes are arranged ❖ they are stacked one on top of another in a single column, ❖ the structure is fully supported by the step ❖ the entire structure is free of contact from robots for at least three seconds

Teleop During teleop, points are awarded for scored totes, Recycling Containers, and Litter. ● A gray tote is scored if it is fully supported by a scoring platform and no portion of the tote extends above the top of the backstop. ● A Recycling Container is scored if it is fully supported by only scored gray totes. Points for a scored Recycling Container are awarded based on the lowest level in which any portion of the Recycling Container resides

Teleop Cont. Each Litter can be scored in one of three ways: ● In or on a scored Recycling Container, ● In the red or blue landfill zone, or ● As unprocessed Litter on either the red or blue side of the field. *Litter is considered scored in a landfill zone when it is fully contained within a landfill zone, with each Alliance credited for the Litter scored in the landfill zone on their side of the field.

Unprocessed Litter bonus for each Litter that is fully contained by the opposite side of the field and not scored in the landfill zone or scored in a Recycling Container.

Points ROBOT SET- 4 TOTE SET- 6 CONTAINER SET- 8 STACKED TOTE SET- 20 Action Valu Scored Gray Tote - 2 per Tote Scored Recycling Container - 4 per LEVEL Litter Scored in/on a Recycling Container- 6 per Recycling Container Litter Scored in a Landfill Zone-1 per Litter Unprocessed Litter Bonus -4 per Litter Coopertition Set* 20 for each Alliance Coopertition Stack* 40 for each Alliance

Penalties in the Game If any of the rules are violated: – Offending team will receive a foul – Get 6 points deducted from their ALLIANCES’ team

Match Logistics Any game elements that are thrown out of the field remain out for the remainder of the match Any damaged game elements won’t be replaced until the end of the match – No arena fault if the match begins w/ damaged game elements; responsibility of the drivers to check arena for damaged elements prior to start of match During a field reset period, all elements will be returned to their respective starting positions where they are to remain until start of match

Match Logistics When drive team loads robot onto field, they may choose to remove the yellow tote from the staging zone and place it, instead, in the alliance station If they choose to leave on the field, then they must leave it as positioned by the field staff If one or more robots do not show, then the alliance may choose whether or not to leave the yellow tote on the field or place it in the alliance station

Safety FIRST Guys -Robots with unsafe designs or mechanisms are prohibited from participating -When the player station LEDs are green, drive teams are permitted to enter the field. The violation of not following this rule is a yellow card. -drive teams cannot step on the step and can only enter through the gates(yellow card) -drive teams cannot extend body parts into the field( red card) -only one alliance member its allowed in the human player zone at a time (foul) - a human player may not be in contact with a tote and chute door simultaneously

Pre Match and Post Match -The robot must pass inspection before entering the field -The robot is allowed on the when if: -it is fully supported by the floor -it is completely outside the auto zone and land fill zone -Drive teams may not leave other items on the field. Otherwise, the match will not start. -Drive teams can bring only any kind of HAND tool to fix/ assemble their robot on the field (referee may give a yellow card) -Repeated or significant delays will result in the offending robot being disabled

More Pre/Post Match -Drive teams may not cause significant or repeated delays to field reset at the end of the match (yellow card) -Drive teams must be in the alliance station and behind the starting line otherwise the match will not start -Drive teams may not rearrange totes or litter prior to the start of the match unless it is a yellow tote -Robots will not be re-enabled after the end of the match, nor will teams be able to tether the robot (red card)

General Rules -Everyone must be civil to everybody, including mentors, team members, and opposing team members (salty behavior may result in a yellow or red card if repeated) -Robots may not push or react against the white step horizontal step. Incidental interactions with the totes or recycling containers are allowed.(foul. if repeated, offending robot will be disabled) -robots may not contact anything beyond the step in the middle of the field. If the robot is stuck while reaching over, the prolonged contact will not be counted as a foul. Contact as a result of interaction over the step is allowed. Grabbing totes from the other side over the step will result in a foul.

Auto Rules Drive teams remain behind starting line (foul) and do not touch operator console (yellow card) Control devices with drivers/human players must be disconnected from operator console (foul) Drive team cannot directly or indirectly interact with robots or operator consoles (foul and yellow card) (examples: webcam, Kinect)

Robot Actions Cannot exceed height of 6ft 6in (height of alliance wall) during match (foul, disabled if strategic) Cannot cause totes, recycling containers, litter to completely transfer to opposite side of field (foul, disabled if strategic/egregious) Cannot intentionally detach/leave parts on field (red card) Cannot destruct/inhibit robots by attachment, damage, tipping, entanglements (foul and yellow card, red card if egregious) Cannot contact anything outside of field (includes objects in control e.g. totes) (disabled)

Human Actions Drive teams wear buttons visibly at all times in arena, alliance captain displays identifier during playoff matches (match delayed until corrected) Only drive teams allowed in alliance stations (match delayed until corrected) Drive team remains fully in alliance station for entire match (foul, red card for alliance if strategic) Coaches cannot touch totes or litter (foul) Robot can only be operated by drivers/human players of that team (disabled) Litter can only be introduced to field during teleop through litter chute or over alliance wall during last 20 seconds (foul per litter) Totes can only be introduced to field through tote chute (foul per tote)

Tournament Overview Played by two 2 alliances of 3 teams each  objective = gain points by stacking totes, placing recycling containers on top of totes, and disposing litter Practice Matches, Qualification Matches, Playoff Matches (changed from “Elimination Matches”) 2 minutes of setup, 2 ½ minutes of gameplay per match, 1 minute field reset period

Practice Matches Played on first day of event Opportunity to operate robot on the field prior to qualification matches Practice matches are not guaranteed at all district events Filler Lines  used to fill open spots at events for practice matches  teams wanting additional practice matches may join a Filler Line under the following requirements…

Filler Line Req’s A.Robots in the Filler Line must have passed Inspection; 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; E. If a Team is queued up for their Practice match, they may not also join the Filler Line.

5.4.1 Alliance Selection Process ● Team chooses alliance representative to arena, called alliance captain ● Alliance captain invites team seated below them to join their alliance ● Round 1: In descending order (1 to 8) each alliance captain invites a single team. Representatives say if they accept or not o accepts:becomes a part of that alliance o declines: not eligible to be picked again alliance captain can ask another team ● Process continues until eight teams make successful invitation ● Round 2: Same exact as round 1 except in reverse order, (Team 8 picks first, Team 1 last)

5.4.2 Backup Team ● Of the remaining eligible teams Highest seeded teams (up to 8) should be ready to play as backup team, in the case of an emergency with the robot ● Team with robot problem remains on alliance for awards, but is not allowed to return for play ● If backup team is part of championship alliance, that alliance would have four teams

5.4.3 Playoff Advancement ● 8 Alliances will play 2 matches during quarterfinals ● Top 4 alliances will advance to semi-finals where they will play 3 matches ● Top 2 alliances will advance to finals where winner is decided ● Advancement of the quarterfinal and semifinal rounds is based on average score of 2 games (QF) and 3 games (SF) ● Scores are set to 0 at beginning of semifinals and finals after quarterfinals and semifinals ● In case of tie, this table is used

5.4.3 Playoff Advancement cont. ● final matches-teams do not earn match points o they earn win, loss, or tie ● no tie breaker rules awarding additional points during final matches ● Third match will be played if both alliances have a Win ● Additional matches if needed

5.4.4 Playoff Match Format ● Order:

5.4.5 Pit Crews ● Extra team members maintain robot between field and pit area ● Max 3 pit crew members per team who can help with robot maintenance ● Pit crew members cannot be in alliance station

Safety glasses and closed-toed shoes while in the arena Wireless ROBOT is only permitted on the Field or Practice Field ROBOTS musty be operated by tether when outside the Field/Practice Field ROBOTS must use the provided Practice Field radio for communication if operating wirelessly Do not set up own wireless communication (EX: hot spot) Do not interfere with any other Team's wireless communication While transferring the ROBOT throughout the event, the ROBOT must not exceed a volume of 28 in. wide x 42 in. long x 78 in. tall Safety and Security Rules

During practice matches, the ROBOT may be determined unsafe and may be prohibited further participation until the ROBOT passes inspection If a ROBOT will not report for a match, the Lead Queuer should be informed and at least one member of the DRIVE TEAM should report to the field for the match to avoid receiving a RED CARD A team can play only if their ROBOT has passed inspection (Violation: before match starts: ROBOT is not eligible to participate in the match. After match starts: entire alliance receives a RED CARD for that match) At the time of inspection, the ROBOT must be present with all mechnisms, configurations, and decoration that will be used on the ROBOT during the event The ROBOT Bill of Materials, listing all items on the ROBOT and their relevant costs, must be presented at the time of inspection Inspections must take place with RIOBOT powered off, pneumatic unpressurized, and other stored energy devices in their lowest potential energy states Eligibility and Inspection

Referee Interaction The Head REFEREE has the ultimate authority in the ARENA during the event IF a DRIVE TEAM needs clarification on a ruling or score, one pre-college student from that TEAM should address the Head REFEREE after the the FIELD Reset signal. A DRIVE TEAM member signals their desire to speak with the Head REFEREE by standing in the corresponding RED or BLUE Question BOX

Yellow and Red Cards Head referee stands in front of player station with card for rule violation or egregious behavior (robot or team member) 2 yellow cards=red card (hold up yellow and red) Red card=disqualification Yellow cards clear after qualification matches Red cards: entire alliance for playoff matches (0 points, lose if finals)

Arena Faults Broken field elements, power failure, errors by field staff, etc. Affect outcome: match replayed

Timeouts and Backup Teams No timeouts in practice/qualifications 1 timeout per alliance in playoffs: 6 min Field timeouts issued if alliance plays back-to- back during playoffs Coupon must be submitted 2 min before match starts Backup team coupon must be submitted 2 min before end of timeout or 2 min after field reset (w/o timeout) No timeouts/backup teams after playoff match stopped by head referee

Arena open 1 hour before qualification matches start: teams can survey/measure field. Allowed in alliance stations: operator console, non powered signaling devices, decorations, equipment for a disability, items for tracking strategy that do not attach to console, field, or another alliance member, do not communicate outside of arena or have wireless electronic communication, or affect the outcome

Championships 8 alliances of 4 teams each May use any 3 of 4 during playoffs