Driver Controlled Period - Answer Thread

[Administrator]

Answers to questions posted pertaining to the Driver Controlled Period.

[Air Jordan]

<GS2> Particle Scoring Eligibility & Game Manual Part 1 Section 5.3.1

Section 5.3.1 of the Game Manual Part 1 asks teams to reflect on their Robot's design and the question: “If everybody did this, would the game play be impossible? If the answer to the question is yes, the design component is probably not allowed."


VELOCITY VORTEX is played with Particles that are Scored in goals and recycled back to the Playing Field for continuous game play. The Game Design Committee's intent is for open recycling, where Scored Particles return to random locations on the Playing Field Floor so that both Robots on an Alliance have an equal opportunity to access, Control, or Possess their Alliance's Scored Particles. A closed recycling game strategy that denies a reasonable opportunity for an Alliance Partner Robot to access, Control, or Possess a Scored Particle is not in the spirit of the FIRST Tech Challenge and is not allowed. Game play with closed recycling of Particles would be impossible and unfair to Alliance Partners. Therefore, Robot designs and/or game strategies that deny their Alliance Partner equal access to Scored Particles, is considered to be a violation of rule <GS2>.

[Air Jordan]

&lt;GS15&gt; Starting the End Game Achievements Early - Lifting the Cap Ball

Question: Is it legal to intentionally lift the cap ball during the Driver-Controlled Period for transportation purposes? In Game Manual 2, rule <GS15> states that "Robots may not Intentionally perform any End Game scoring achievements prior to the start of the End Game," but also states "Intentional Controlled movement of an Alliance’s own Cap Ball is allowed at all times." So assuming we're not setting up for scoring, would we be allowed to lift the ball above the floor just enough to have complete control over it for transportation around the field?

Thanks!

Answer: Intentionally lifting the Cap Ball any height above the Playing Field Floor is an act of Scoring an achievement that is reserved for the End Game. Intentionally lifting the Cap Ball before the start of the End Game violates rule <GS15>.

[Air Jordan]

&lt;GS10&gt; Blocking Access - Cab Ball Blocking Access to Particles

We had our first qualifying tournament last weekend, and something came up that we hadn't thought about.

The particles and cap balls tend to frequently end up in the non-ramp corners of the playing field during the TeleOp period. This is especially true of the particles introduced by rolling them down the particle returns after the autonomous period. Those simply roll into that corner unless there a robot parked in the way.

Question: If, for instance, two blue particles are in the corner of the field behind/under a red cap ball that is also in the same corner, is the blue alliance allowed to bump the red cap ball out of the way so they can retrieve the blue scoring elements? Or are those elements considered out-of-play for the blue alliance until the red alliance comes and removes the red cap ball?

Thank you.

Answer: Yes, the Blue Alliance Robot may briefly Control the red Cap Ball for the purpose of gaining access to the Blocked blue Particles.

Tip from the Game Design Committee: Drive Teams should not take advantage of this exception to gain an intentional tactical advantage.

[Air Jordan]

&lt;GS15&gt; and Controlling the Cap Ball Before the End Game

This is a follow-up to question #3 in the Driver Controlled Period thread.

Based on on the sentence in GS15 that states:

Intentional Controlled movement of an Alliance’s own Cap Ball is allowed at all times.

And the answer to post #3 that is focused on whether the Cap Ball is lifted, it is our understanding that we can move the cap ball to our preferred location for end-game scoring before the end game as long as we don't lift the ball off the mat.

Question 1: Is this correct?

Question 2: If so, can we also actually grasp the Cap Ball and move it before end game (again as long as we don't lift it off the mat) to move it to a strategic location?

Thanks.

Answer 1: Yes.

Answer 2: Yes.

[Air Jordan]

&lt;G16&gt; Pinning, Trapping, or Blocking Robots - Robot Blocking a Beacon

Question 1: Since beacons are equal-opportunity scoring elements in the Driver-Controlled period, is a robot permitted to BLOCK a beacon that it currently "Claims", to prevent the opposing alliance from changing its color?

Question 2: Does this ruling depend on the Defending robot's color or the side of the field that the beacon is currently on?

Comment: It's exciting that offense & defense switch colors at the same time the beacon does.

Thanks.

Answer 1: No, rule <G16> comes into play during the Driver-Controlled Period if an opposing Alliance Robot attempts to access the Blocked Beacon.

Answer 2: No.

[Air Jordan]

&lt;G16&gt; Pinning, Trapping, or Blocking Robots - Blocking Access to a Beacon

Question: If two opposing alliance robots are approaching the same unclaimed beacon, with robot #1 pushing robot #2 away to reach it and closing off all access to it in the process, is this considered blocking?

Answer: Robot #1 is not Blocking Robot #2, provided that Robot #1 moves away from the Beacon in a timely manner so that Robot #2 may access the Beacon. Referees will allow a reasonable amount of time for Robot #1 to interact with the Beacon and move away before issuing a Blocking Penalty warning.

[Air Jordan]

&lt;G16&gt; Blocking Robots - Robot Parked in Front of One Beacon Button

Question: During the driver-controlled period, if a red robot is sitting in front of a beacon so that it is blocking only one button, is this still considered blocking access, since a blue robot could simply press the open button to claim it for their alliance?

Answer: The scenario described is not Blocking access. For Blocking access to apply, ALL paths to the Beacon would need to be Blocked. The scenario suggests that a path to a button on the Beacon is available for the Blue Alliance Robot. That the path available is not a preferred or easiest path is not sufficient to deem all paths Blocked.

[Air Jordan]

&lt;G16&gt; Blocking Robots - Cap Ball Access

A blue alliance cap ball is in a corner of the playing field. A red alliance robot continuously oscillates back and forth within approximately a foot in front of the cap ball in the corner to prevent the opposing alliance from gaining possession during the end game.

Question: Since moving back and forth when the opposing alliance tries to move around the alliance robot would not be blocking all access to the cap ball at one time, would this action be considered legal or be considered blocking?

Thanks

Answer: The scenario described in the question is Blocking access to an Alliance specific Game Element and it is not allowed per rule <G16>. The Red Alliance Robot is actively defending a constrained area of the Playing Field; intentionally Blocking access to an area that contains an Alliance specific Scoring Element. The active defense played by the Red Alliance Robot eliminates all paths of travel between the Blue Alliance Robot and the blue Cap Ball.

[Air Jordan]

&lt;GS15&gt; Starting the End Game Achievements Early - Bouncing Cap Ball

Scenario: Before the end game during the driver-controlled period a robot's controlled pushing of a cap ball causes the ball to bounce and lose contact with the playing field floor. The robot is not attempting to lift the cap ball.

Question: Does the cap ball losing contact with the floor (i.e. bouncing) because of controlled pushing by a robot violate rule <GS15>?

Answer: No.

[Air Jordan]

&lt;GS15&gt; Starting the End Game Achievements Early - Cap Ball lifted by a Particle

We understand that we are allowed to grasp a Cap Ball before the End Game, as long as we are not lifting it.

We also understand that unintentional Cap Ball bouncing during controlled movement (pushing or pulling) will not be penalized.

Question #1: If we maximize the controlled movement of the Cap Ball prior to End Game, by grasping around it (not under it), as a defensive measure, to prevent other teams from knocking it out, as opposed to loosely controlling it with extending assemblies, and we are clearly not engaging the lift mechanism to lift the Cap Ball, should we be penalized for intentionally starting the End Game early due to the Cap Ball bouncing during controlled movement?

Question #2: If during controlled movement, the Cap Ball lifts off of the mat, due to inadvertently running over a particle should we be penalized for intentionally starting the End Game early?

Answer #1: This question was previously addressed in the "Driver Controlled Period - Answer Thread" post #5.

Answer #2: A referee watching the Match will determine if the Robot is intentionally or Inadvertently lifting the Cap Ball. Intentionally lifting the Cap Ball before the start of the End Game violates rule <GS15>. An Inadvertently raised Cap Ball above the Playing Field Floor does not violate rule <GS15>. A Cap Ball running over a Particle is likely to be viewed as Inadvertent and not Penalized.

[Air Jordan]

&lt;GS10&gt; Blocking Access - Cap Ball Blocking Access to Scoring Elements or Goals

Question: Is it legal to move the other alliance's cap ball during the driver controlled period and before the end game if it appears that it is blocking access to (1) Your alliance's cap ball, or (2) access to the center vortex. We ended up having a cap ball getting caught between our robot and the center pole when trying to cap, and wished we would have moved it prior to lifting the ball. I have a feeling 1 is legal for momentary control but 2 is not. I'd just like to make sure I'm not misinterpreting the rules. Thanks for your help.

Answer: A Robot may briefly Control the opposing Alliance's Cap Ball if the Cap Ball is Blocking Access to the Alliance's own Scoring Element(s) or Vortex goal.

Tip from the Game Design Committee: The intent of this ruling is to allow Robots to nudge the opposing Alliance's Cap Ball out of the way to gain access to their Alliance's Scoring Element(s) or Vortex goal. Drive Teams should not take advantage of this exception to gain an intentional tactical advantage.

[Air Jordan]

&lt;GS10&gt; Controlling an Opposing Alliance's Scoring Elements - Cap Ball

Scenario: A red alliance robot backs up to shoot particles at the beginning of the end game and in the process, pins the blue cap ball between it and the side of the field. The blue cap ball is pinned so tightly that the blue alliance robot cannot retrieve it.

Question: Does this violate any rules?

Thanks!

Answer: The Red Alliance Robot is violating rule <GS10> because it is Controlling the opposing Alliance's Cap Ball.

[Air Jordan]

&lt;G8&gt; Stopping Game Play Late - When does the Match end?

Question: When does the match end? When the buzzer first sounds or when the buzzer stops?
Match example: a blue alliance robot is attempting to change a beacon color, the buzzer sounds and while the buzzer is sounding a beacon is pushed, the beacon flashes and changes from red to blue after the buzzer sounds and/or stops, is the beacon scored as red or blue?

Answer: Stopping game play late is addressed in rule <G8>. As stated in the rule, the intent is for Robots to stop playing the game within a reasonable human reaction time following the start of the game sound (i.e. buzzer) signaling the end of the Match. Drive Teams should make their best effort to stop game play immediately when the end of the Match game sound begins. Before the Penalties come into play, referees will use their discretion to give Drive Teams an approximate one second grace period following the conclusion of the game sound signaling the end of the Match for Robots to stop playing the game.

Match Example: The Beacon should be Scored as blue because the button was pressed while the buzzer was sounding. A button press that occurs before the conclusion of the one second grace period following the end of the Match should count as Scored.

[Air Jordan]

&lt;G16&gt; Blocking Robots - Blocking Access to a Beacon

Driver Controlled period - Answer Thread post #8 indicated that blocking one button on a beacon would be permissible as long as the other was accessible. We would like to request clarification of this as it is of value as a defense strategy. For simplicity, assume to max size (18x18x18) cubic robots, and the "defending" robot has already switched colors to its own.

Question 1: During the driver controlled period, can the defending robot shield/cover/block the beacon all the way to the horizontal midpoint of the beacon or just across from the edge to the button it is defending?
Question 2: Does it matter if the opponent's robot has no mechanism available to press the beacon from a corner (e.g. it's "button pusher" is located at the midpoint of its "front")? In this case the opponent would have no ability to push the button without forcibly pushing the defending robot out of the way (and if so, would this incur a penalty?).
Question 3: If the defending robot was situated between a pair of beacons and along the wall, would it be permitted to shift back and forth along the wall, blocking the nearest button on each side, while the opponent robot attempted to go the long way around (the only non-collision path open to it)?

Answer 1: The defending Robot may Block all the way to the horizontal midpoint of the Beacon without incurring rule <G16> consequences.

Answer 2: The design of the opposing Alliance's Robot is inconsequential. Pushing a Robot is allowed if rule <G16> is not violated.

Answer 3: The scenario described in the question is not Blocking access because the defensive Robot is only Blocking access to one button on the Beacon. See Answer #1 for more information.