If a robot is in its depot and possesses two minerals, it does not count as possessing a
third if the robot accidently hits a mineral already in the depot
A team marker falling off the robot does not count as being launched, and thus is not
awarded a penalty
If the opposing alliance is scoring in their depot, and not in their landing zone, it
is legal to drive under to lander to reach their crater, and not considered blocking since
no robot of the other team is trying to reach the lander
If a robot accidentally drops a mineral onto a robot of the opposing alliance, the robot
on which the mineral is dropped now possesses the mineral and will count as a penalty if the
robot already possesses two minerals
When the match has begun, the drive team captain may move around inside their alliance
station in order to talk to their alliance partner, as long as it doesn’t interfere with the
scoring referee and field personnel
A robot applying pressure to the side of an the crater rim doesn’t count as grabbing the
crater and thus does not violate any rules
Launching game elements only applies when the elements are outside of the robot; minerals
may be moved around inside the robot
Rules and Resource Update #3
10 December 2018
Self-contained video recording devices (GoPro or similar) are allowed providing
they are used only for non-functional post-match viewing and the wireless capability
is turned off
Video cameras must be powered by an internal battery
Any combination of a Mini USB cable, a USB hub, and an OTG Micro Adapter may be used
to connect the Robot Controller Android device to the Robot electronics in the following
ways: 1)Built-in USB input port of the Core Power Distribution Module; 2)Built-in USB input
port of the REV Expansion Hub; 3)A USB hub that connects to the built-in USB input port of
the REV Expansion Hub. If a powered hub is used, it must draw its energy from either i. A
commercial USB battery pack; and 4)A 5V auxiliary power port on a REV Expansion Hub
Non-powered USB hubs connected to the Core Power Distribution Module are allowed
Anderson PowerPole, and similar crimp or quick connect style connectors are required to
connect downstream electronics with the Core Power Distribution Module and are recommended
for joining electrical wires throughout the Robot
Installed connectors (such as battery-pack connectors, battery charger connectors, and
Core Power Distribution Module power input connectors) may be replaced with Anderson PowerPole
or any compatible connector
Power and motor control wires must use consistent color coding with different colors used
for the positive (red, white, brown, or black with a stripe) and negative/common (black or
Wire and cable management products of any type are permitted
Wire insulation materials of any type are permitted when used to insulate electrical
wires or secure motor control wires to motors (for example, electrical tape, heat shrink, etc.)
Power, motor control, servo, encoder, and sensor wires and their connectors may be
extended, modified, custom made, or COTS subject to the following constraints: 1)Power wires are
18 AWG or larger; 2)Motor control wires as follows: ii 22 AWG or larger for TETRIX Max 12V DC
motors and REV Robotics Core Hex (REV41-1300) 12V DC motors ii 18 AWG or larger for all other
12V DC; 3)PWM (servo) wires are 20 AWG or 22 AWG; and 4)Sensor wires should be the same size or
larger than the original wiring
Logic Level Converters that are used to connect a REV Expansion Hub to a 5V-compatible I2C
sensor or a 5V-compatible digital sensor are allowed
Exactly one Logic Level Converter per I2C device and one Logic Level Converter per digital
sensor are allowed and should only draw power from the REV Expansion Hub
Electrically grounding the Control System electronics to the frame of the Robot is only
permitted using a FIRST-approved, commercially manufactured Resistive Grounding Strap
Teams that have electronics with Powerpole-style connectors may also use the REV Robotics
Anderson Powerpole to XT30 Adapter (REV-31-1385) in conjunction with the REV Robotics Resistive
Grounding Strap. No other grounding straps or adapters are permitted
Rules and Resource Update #3
29 November 2018
No updates to game manuals
If a gold mineral is dragged out of its sample place and then caught underneath the
robot at a later point, the alliance still scores the 25 points, despite the mineral
being in contact with the robot
Penalties may be given out to any robot that ,even accidentally, removes more than 2
minerals from the crater
The robot is allowed to lean against the lander while supported by the lander bracket
Using wheels to help guide the robot down the lander counts as incidental contact and
is thus legal
If the robot is only attached to the lander, with virtually no other types of contact,
The outside edge of the crater rim is the boundary for marking inside and completely
inside the crater
Robots are allowed to be rested on other objects as long as it’s easily removable
If part of the robot (for example the earm) is over the crater boundary at the end of
the match, the robot is considered “partially” in and will receive partial points
A team marker that uses stored mechanical energy to launch itself from the lander to
the depot does not receive an additional 15 points
The team marker can not be rolled, it must be placed without a noticeable horizontal
Team markers with wheels are only allowed if the marker disengages from the robot in
Robots are allowed to park in the crater during the autonomous period
A single mineral may knock of both of their alliances gold minerals during autonomous
The team marker is counted as scored or not the moment it becomes stationary
If a robot places its marker in the depot but it is knocked out by their alliance partner
before the end of autonomous, it still counts
If the above situation occurs and the alliance partner successfully places their marker
in the depot, the depot is considered fully claimed
Rules and Resource Update #2
9 October 2018
A critical update has been made to the navigation targets to correct a scaling issue on two of the images.
A robot may control or possess a maximum of two minerals at a time. However, due to the density of minerals
within the crater, robots may temporarily exceed this limit while collecting minerals that are in the Crater.
Robots are required to shed excess minerals before performing any other gameplay activities. Within the crater,
plowing through any quantity of minerals is allowed but herding or directing multiple minerals beyond the allotted
maximum to gain a strategic advantage is not allowed.
Robots in a crater are not eligible to score minerals. Violations of this rule will result in a minor penalty
per offense. Additional occurrences of violations of this rule will escalate to yellow cards quickly.
Robots may not obstruct another robot’s path of travel in the area between the lander and a crater for more
than 5 seconds. If a referee determines this rule is violated, the offending alliance will receive a minor penalty
for every five seconds that they are in violation of this rule. This rule only applies during the driver-controlled
The robot main power switch must control all power provided by the robot main battery pack. FIRST requires teams
to use either the TETRIX (part # W39129), MATRIX (part # 50- 0030), or REV (REV-31-1387) power switch. The robot main
power switch MUST be mounted or positioned to be readily accessible and visible to competition personnel. A main robot
power label must be placed near the main power switch of the robot.
UVC compatible cameras are allowed for computer vision-related tasks. It is recommended that UVC compatible cameras
be connected to the robot controller through a powered USB hub that is in turn connected to the robot controller through
an OTG adapter.
Rules and Resource
13 September 2018
Before the match, the robot must be completely latched to the lander support bracket on their
alliance’s specific side. The lowest point on the robot and team marker may not be any closer
than 4 inches to the floor.
Alternatively, the robot must be in the landing zone within the vertical projection of the
lander support bracket. A portion of the robot must be below the bracket. The robot cannot
start in the opposing alliances landing zone.
Once the robots are either latched or deployed and the autonomous programs have been
initialized, the referee will signal the drive team to tell them that once the robot is set,
drive teams may no longer touch the robots until the conclusion of the match.
Additionally, drive teams may no longer touch their driver stations or controllers until
the autonomous period has ended, except to start the autonomous program.
Prior to the match, two silver and one gold sample will be randomly placed in each sampling
The autonomous period in which robots are controlled by a preloaded autonomous program, lasts
for thirty seconds and starts at the countdown of a timer.
During the autonomous period, robots that begin on the lander may lower themselves onto the
playing field. Each robot that is in contact with the floor and the lander earns 30 points.
Additionally, each robot that successfully places their team marker in their alliance’s depot
earns 15 points. You are not allowed to launch, shoot, or throw the marker into the depot,
only place it.
If a depot is claimed, then minerals cannot be taken from the depot by the opposing alliance
during the driver-controlled period.
Each robot parked in a crater at the end of an autonomous period earns 10 points.
At the end of the autonomous period, each sample field that has its gold mineral out of the
corresponding taped area and the 2 silver minerals remaining in place will earns 25 points
for the alliance that moved the gold mineral.
Minerals that are placed in depot or cargo hold during the autonomous period are scored the
same way they are during the driver-controlled period.
Following the autonomous period, each alliance has 5 seconds plus a 3 second countdown to prepare
their driver stations for the driver-controlled period.
During the drive-control period, minerals placed into an alliances depot earn 2 points each.
Minerals removed from an alliances depot deduct 2 points each.
Gold minerals placed in the gold cargo hold in the lander earn 5 points.
Silver minerals placed in the silver cargo hold in the lander earn 5 points.
Gold minerals in the silver cargo hold and silver minerals in the gold cargo hold are
considered contaminants and are worth 0 points.
To be considered scored, a mineral must be completely in the area defined by either the depot
or the cargo hold.
The last 30 seconds of the driver-controlled period are called the end game. Driver-controlled
period scoring can still take place during the end game.
At the end of the game, each robot that deployed during pre-game or in the course of game play
and is latched into either of their alliance’s specific lander support brackets at the end of
the match scores 50 points.
Each robot that is parked in any crater at the end of the match earns 25 points.
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