Teams may only enter the FIELD if the PLAYER STATION LED strings are green.

Violation: YELLOW CARD

Teams may not climb on the PYRAMID.

Violation: YELLOW CARD

ROBOTS whose operation or design is unsafe are not permitted.

Violation: FOUL & DISABLED. If the issue is due to design: Re-Inspection.

After the MATCH, ROBOTS may only be removed from a PYRAMID under the following conditions:

1. by the TEAM while standing on the floor without special equipment,
2. unpowered,
3. and under the supervision of a FIRST Technical Advisor (FTA), FTA Assistant, Referee, or Field Supervisor.

Additionally, if any part of the ROBOT is in Level 3, TEAMS are required to attach a FIRST supplied belay line, detailed in Section 2.2.5, to their ROBOT to spot a ROBOT while the TEAM removes it from the PYRAMID.

Violation: YELLOW CARD

When placed on the FIELD, each ROBOT must be:

1. in compliance with all ROBOT rules (i.e. have passed Inspection),
2. confined to its STARTING CONFIGURATION,
3. fully supported by the floor, and
4. contacting its PYRAMID.

Violation: If fix is a quick remedy: the MATCH won’t start until all requirements are met. If it is not a quick remedy: the ROBOT will be DISABLED and must be re-Inspected.

TEAMS may preload White DISCS in or on the ROBOT before the MATCH.

1. If the ROBOT is in contact with any carpet outside its AUTO ZONE, the ROBOT may preload up to three (3) DISCS.
2. Otherwise, the ROBOT may preload up to two (2) DISCS.

Violation: If the situation is not corrected before the start of the MATCH, TECHNICAL FOUL per extra preloaded DISC in or on the ROBOT.

TEAMS may not cause significant or repeated delays to the start of a MATCH.

Violation: ROBOT will be DISABLED.

TEAMS may not leave items other than ROBOTS on the FIELD prior to or during the MATCH.

Violation: The MATCH will not start until the situation is corrected.

Each TEAM member must be:

1. in the ALLIANCE STATION and
2. behind the STARTING LINE.

Violation: MATCH will not start until the situation is corrected.

Only TEAM members and their ROBOT may report to the ARENA for a MATCH. TEAM members are limited to:

1. 1 COACH,
2. 2 DRIVERS, and
3. 1 FEEDER

Violation: MATCH will not start until the situation is corrected.

The COACH must wear the designated “COACH” button while in the ARENA.

Violation: MATCH will not start until the situation is corrected.

ROBOTS may not contact anything outside the FIELD.

Violation: ROBOT will be DISABLED. However, if it occurs during AUTO, and there is no safety concern, the Head Referee will allow a 10-second grace period at the beginning of TELEOP for the ROBOT to correct the situation.

ROBOTS may not intentionally detach or leave parts on the FIELD.

Violation: TECHNICAL FOUL

The following actions are prohibited with regards to interaction with FIELD elements:

1. grabbing,
2. grasping
3. grappling
4. attaching to,
5. damaging,
6. becoming entangled

Actions A-D do not apply to ROBOT interactions with the PYRAMID.

Violation: FOUL. If the Head Referee determines that further damage is likely to occur, DISABLED. Corrective action (such as eliminating sharp edges, removing the damaging mechanism, and/or re-Inspection) may be required before the ROBOT will be allowed to compete in subsequent MATCHES.

ROBOTS may not intentionally eject DISCS from gameplay.

Violation: FOUL per DISC.

TEAMS and/or ROBOTS may not employ strategies that use DISCS to either aid or inhibit a ROBOT CLIMB.

Violation: TECHNICAL FOUL. If the DISC(S) inhibits an opponent’s CLIMB attempt, the opponent ROBOT’S ALLIANCE will be granted credit for a Level 3 CLIMB at the end of the MATCH.

An ALLIANCE may not put DISCS in their opponents’ PYRAMID GOAL.

Violation: TECHNICAL FOUL per DISC.

All Teams must be civil towards other Teams, competition personnel, and event attendees.

Violation: Potential RED CARD for violations in the ARENA.

Strategies aimed solely at forcing the opposing ALLIANCE to violate a rule are not in the spirit of FRC and are not allowed. Rule violations forced in this manner will not result in assessment of a penalty on the target ALLIANCE .

Violation: TECHNICAL FOUL

During AUTO, a ROBOT may not cross the CENTER LINE such that it is no longer in contact with the carpet on its starting half of the FIELD.

Violation: FOUL. If contact with an opponent ROBOT, TECHNICAL FOUL.

During AUTO, TEAMS must remain behind the STARTING LINE.

Violation: FOUL. If contact with the OPERATOR CONSOLE, TECHNICAL FOUL.

During AUTO, any control devices worn or held by the DRIVERS must be disconnected from the OPERATOR CONSOLE and not connected until TELEOP.

Violation: FOUL

ROBOT height (as defined in relation to the ROBOT) must be restricted as follows during the MATCH:

1. If in contact with the carpet in its AUTO ZONE and/or its PYRAMID, ≤ 84 in.
2. Otherwise, ≤ 60 in.

Violation: FOUL. If continuous or repeated violations, TECHNICAL FOUL.

While not in contact with the PYRAMID, a ROBOT’S horizontal dimensions may never exceed a 54 in. diameter vertical cylinder.

Violation: FOUL. If continuous or repeated violations, TECHNICAL FOUL.

Figure 3-5a: ROBOT inside 54 in. diameter cylinder

While in contact with the PYRAMID, a ROBOT

1. may not have its horizontal dimensions exceed a 54 in. diameter vertical cylinder relative to the ROBOT and
2. may not extend any part of itself beyond a vertical plane defined by a perimeter offset from the base of the PYRAMID by 54 in., see Figure 3-5b and Figure 3-5c.
    

Violation: FOUL. If continuous or repeated violations, TECHNICAL FOUL.

Figure 3-5b: Offset Plane from PYRAMID Base

Figure 3-5c: ROBOT Contacting PYRAMID

ROBOTS may not actively control more than four (4) DISCS at any one time.

Violation: FOUL per extra DISC

ROBOTS on the same ALLIANCE may not blockade the FIELD in an attempt to stop the flow of the MATCH. This rule has no effect on individual ROBOT-ROBOT interaction.

Violation: TECHNICAL FOUL

ROBOTS may not intentionally fall down or tip over to block the FIELD.

Violation: TECHNICAL FOUL

ROBOTS may not contact or otherwise interfere with their opponents’ PYRAMID. Inconsequential contact will not be penalized.

Violation: TECHNICAL FOUL. If an opponent’s CLIMB is affected,

1. RED CARD, and
2. Each affected opponent ROBOT will be granted credit for a Level 3 CLIMB at the end of the MATCH.

Strategies aimed at the destruction or inhibition of ROBOTS via attachment, damage, tipping, or entanglement of ROBOTS are not in the spirit of the FRC and are not allowed.

Violation: TECHNICAL FOUL and YELLOW CARD

Deliberate or damaging contact with an opponent ROBOT on or inside its FRAME PERIMETER is not allowed.

Violation: TECHNICAL FOUL

Regardless of who initiates the contact, a ROBOT may not contact an opponent ROBOT

1. contacting its PYRAMID or
2. touching the carpet in its LOADING ZONE.

Violation: FOUL. If purposeful or consequential, TECHNICAL FOUL. If an opponent's CLIMB is affected, each affected opponent ROBOT will be granted credit for a Level 3 CLIMB at the end of the MATCH.

An ALLIANCE may not pin an opponent ROBOT for more than five (5) seconds. A ROBOT will be considered pinned until the ROBOTS have separated by at least six (6) ft. The pinning ROBOT(S) must then wait for at least three (3) seconds before attempting to pin the same ROBOT again. Pinning is transitory through other objects.

Violation: TECHNICAL FOUL

Fallen (i.e. tipped over) ROBOTS attempting to right themselves (either by themselves or with assistance from an ALLIANCE partner) have one (1) ten (10)-second grace period per fallen ROBOT in which the fallen ROBOT may not be contacted by an opposing ROBOT.

This protection lasts for either ten (10) seconds or until the protected ROBOT has completed the righting operation, whichever comes first.

Violation: If inadvertent, FOUL. If intentional, TECHNICAL FOUL.

A ROBOT may only be supported (fully or partially) by another ROBOT if one of the ROBOTS is in contact with a PYRAMID.

Violation: If extended, strategic, or repeated, TECHNICAL FOUL.

Only FEEDERS may touch DISCS. Inadvertent or inconsequential contact by others will not be penalized.

Violation: FOUL

DISCS may be fed onto the FIELD only under the following circumstances:

1. during TELEOP through the FEEDER SLOTS for any DISCS and
2. during the last thirty (30) seconds of TELEOP over the FEEDER STATIONS for Red and Blue DISCS.

Violation: FOUL

During the MATCH, TEAMS must be within their ALLIANCE STATION. Exceptions will be granted for inadvertent or inconsequential infractions and in cases concerning safety.

Violation: FOUL

TEAMS may not extend any body part into the FIELD or contact any ROBOT at any time during the MATCH.

Violation: TECHNICAL FOUL

During a MATCH, the ROBOT shall be operated solely by the DRIVERS of that TEAM.

Violation: TECHNICAL FOUL

Each registered FRC team may enter only one (1) ROBOT into the 2013 FRC. The ROBOT must be built by the FRC Team to perform specific tasks when competing in ULTIMATE ASCENT. The ROBOT must include all of the basic systems required to be an active participant in the game – power, communications, control, mobility, and actuation. The ROBOT implementation must obviously follow a design approach intended to play ULTIMATE ASCENT (e.g. a box of unassembled parts placed on the FIELD, or a ROBOT designed to play a different game would not satisfy this definition). 

The ROBOT 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. such as bolt heads, fastener ends, and rivets are not considered part of the FRAME PERIMETER.

The ROBOT must satisfy the following size constraints:

1. total length of the FRAME PERIMETER sides may not exceed 112 in. (see Figure 4-1 for examples),
2. PLAYING CONFIGURATION horizontal dimensions may never exceed a 54 in. diameter cylinder (see G23 and G23-1), and
3. height may never exceed 84 in. tall.

Figure 4-1: FRAME PERIMETER Length Calculations

In the STARTING CONFIGURATION, no part of the ROBOT may extend outside the vertical projection of the FRAME PERIMETER, with the exception of minor protrusions such as bolt heads, fastener ends, rivets, etc.

The ROBOT weight may 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.

For the purposes of determining compliance with the weight limitations, the items listed below are not included in the weight assessment:

1. the ROBOT battery and its associated half of the Anderson cable quick connect/disconnect pair (including no more than 12 in. of cable per leg, the associated cable lugs, connecting bolts, and insulation) and
2. BUMPERS (including BUMPER covers, if appropriate).

Traction devices may not have surface features such as metal, sandpaper, hard plastic studs, cleats, or similar attachments. 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.

ROBOTS must allow removal of DISCS from the ROBOT and the ROBOT from FIELD elements while disabled and powered off.

ROBOT parts shall not be made from hazardous materials, be unsafe, cause an unsafe condition, or interfere with the operation of other ROBOTS.

Protrusions from the ROBOT and exposed surfaces on the ROBOT shall not pose hazards to the ARENA elements or people.

Teams must supply at least two (2) attachment points for the belaying device (see Section 2.2.5) to mount to their ROBOTS.  Attachment points must be:

1. easily accessible after the ROBOT has CLIMBED the PYRAMID,
2. on opposite sides of the ROBOT,
3. located near the ROBOT’S balance point, and
4. made from exposed structural members that will allow a rope to be wrapped around it or two eyelets (McMaster PN3014T45 or similar) mounted to the frame.  Opening of the eyelets must be at least ¾ in. in diameter.

The total cost of all items on the ROBOT shall not exceed $4000 USD. All costs are to be determined as explained in Section 4.1.3: Budget Constraints. Exceptions are as follows:

1. individual fasteners, adhesives, and lubricants, that are less than $1 each and
2. Kit of Parts (KOP) items

No individual item shall have a value that exceeds $400 USD. The total cost of COMPONENTS purchased in bulk may exceed $400 as long as the cost of an individual COMPONENT does not exceed $400.

Individual COMPONENTS or MECHANISMS, not excluded in R11, that are retrieved from previous ROBOTS and used on 2013 ROBOTS must have their undepreciated cost included in the 2013 ROBOT BOM and applied to the overall cost assessment.

The BOM cost of each non-KOP item must be calculated based on the unit fair market value for the material and/or labor, except for labor provided by team members (including sponsor employees who are members of the team) and shipping.

If a COTS item is part of a modular system that can be assembled in several 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, and the assembly is functional in only that configuration, then the total cost of the complete assembly including all modules must fit within the price constraints defined in R12.

ROBOT elements, including software, that are designed or created before Kickoff are not permitted, unless they are publicly available prior to Kickoff.

The ROBOT (including items intended for use during the competition in alternative configurations of the ROBOT, excluding items permitted per R21) must be bagged or crated (as appropriate for your event), and out of Team hands by Stop Build Day, February 19, 2013 (refer to the FRC Administrative Manual, Section 5 for more details).

Teams must stay “hands-off” their ROBOT during the following time periods:

1. from Stop Build Day until their first event,
2. during the period(s) between their events, and
3. outside of Pit hours while attending events.

Additional time is allowed as follows:

4. There are no restrictions on when software may be developed.
5. On days a team is not attending an event, they may continue development of any items permitted per R21, but must do so without interfacing with the ROBOT.

Teams attending 2-day events may access their ROBOTS per the rules defined in the Administrative Manual, Section 5.6, ROBOT Access Period - for Teams Attending 2-Day Events. 

COTS items from ROBOTS entered in previous FRC competitions that are no longer commercially available may be used only if they are functionally equivalent to the original condition as delivered from the VENDOR.

Lubricants may be used only to reduce friction within the ROBOT. Lubricants may not contaminate the ARENA or other ROBOTS.

Teams may bring a maximum of 30 lbs of FABRICATED ITEMS to each event to be used to repair and/or upgrade their ROBOT.

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. FABRICATED ITEMS constructed during the Robot Access Period and bagged with the ROBOT are exempt from this limit.

The OPERATOR CONSOLE, BUMPERS, and any ROBOT battery assemblies (as described in R05-A) are exempt from this limit.

ROBOTS are required to use BUMPERS to protect all outside corners of the FRAME PERIMETER. For adequate protection, at least 8 in. of BUMPER must be placed on each side of each outside corner (see Figure 4-2).

Figure 4-2: BUMPER Corner Examples

Each set of BUMPERS (including any fasteners and/or structures that attach them to the ROBOT) must weigh no more than 20 lbs.

BUMPERS must be constructed as follows (see Figure 4-4):

1. be backed by ¾ in. (nominal) thick by 5 in. (± ½ in) tall plywood or solid, robust wood.

2. hard BUMPER parts (e.g. plywood, fasteners, etc) may not extend more than 1 in. beyond the end of the FRAME PERIMETER (see Figure 4-3and Figure 4-4).

Figure 4-3: Hard Parts of BUMPER Corners

3. use a stacked pair of approximately 2 ½ in. round, petal, or hex “pool noodles” (solid or hollow) as the BUMPER cushion material (see Figure 4-4). Cushion material may extend up to 2 ½ in. beyond the end of the plywood (see Figure 4-2).
4. be covered with a rugged, smooth cloth. 

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 a solid Red or Blue in color. The only markings permitted on the BUMPER fabric cover are the Team number (see Rule R31).

5. 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 or tie-wraps).  The attachment system must be designed to withstand vigorous game play. All removable fasteners (e.g. bolts, locking pins, pip-pins, etc.) will be considered part of the BUMPERS.

Figure 4-4: BUMPER Cross Section

BUMPERS must be located entirely within the BUMPER ZONE, which is between 2 and 10 in. from the floor, in reference to the ROBOT standing normally on a flat floor.

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

Corner joints between BUMPERS must be filled with pool noodle material.  Examples of implementation are shown in Figure 4-5. 

Figure 4-5: Soft Parts of BUMPER Corners

BUMPERS (the entire BUMPER, not just the cover) must be designed for quick and easy installation and removal.

BUMPERS must be supported by the structure/frame of the ROBOT (see Figure 4-6). To be considered supported:

1. a minimum of 1 in. at each end of the BUMPER must be backed by the FRAME PERIMETER,
2. the gap between the backing material and the frame must not be greater than ¼ in., and
3. no section of BUMPER greater than 8 in. may be unsupported.

Figure 4-6: BUMPER Support Examples

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 (reference Section 5.3.2).

Team numbers must be displayed on the BUMPERS and meet the following criteria:

1. consist of numerals at least 4 in. high, at least ½ in. in stroke width, and be either white in color or outlined in white
2. may not wrap around a corner of the FRAME PERIMETER
3. be positioned around the ROBOT such that an observer walking around the perimeter of the ROBOT can unambiguously tell the Team’s number from any point of view.

The only motors and actuators permitted on 2013 FRC ROBOTS include the following:

Table 4-1: Legal Motors

The integral mechanical and electrical system of any motor may not be modified. Motors, servos, and electric solenoids used on the ROBOT shall not be modified in any way, except as follows:

1. The mounting brackets and/or output shaft/interface may be modified to facilitate the physical connection of the motor to the ROBOT and actuated part.
2. The electrical input leads may be trimmed to length as necessary.
3. The locking pins on the window motors (P/N: 262100-3030 and 262100-3040) may be removed.
4. The connector housings on the window motors (P/N: 262100-3030 and 262100-3040) may be modified to facilitate lead connections.
5. The Integrated Encoder Module (P/N: 276-1321) may be installed on the VEX 2-wire Motor 393 (P/N 276-2177).
6. The VEX 2-wire Motor 393 (P/N: 276-2177) gears may be changed or replaced per the Supplier instructions.
7. The VEX BAG Motor (P/N: 217-3351) may be repaired per the Supplier instructions found at http://www.vexrobotics.com/217-3351.html

The only legal source of electrical energy for the ROBOT during the competition, the ROBOT battery, is one of the following 12VDC non-spillable lead acid batteries:

1. MK Battery (P/N: ES17-12) or
2. EnerSys (P/N: NP 18-12) 

Exception: Batteries integral to and part of a COTS computing device or self-contained camera are also permitted (e.g. laptop batteries), provided they’re only used to power the COTS computing device and any peripheral COTS USB input devices connected to the COTS computing device and they must be securely fastened to the ROBOT.

The ROBOT battery must be secured such that it will not dislodge should the ROBOT be turned over or placed in any arbitrary orientation.

Each electrical terminal on the ROBOT battery and its connection (lugs, stripped wire ends, etc.) to the 6AWG wire must be fully insulated.

Non-electrical sources of energy used by the ROBOT, (i.e., stored at the start of a MATCH), shall come only from the following sources:

1. compressed air stored in the pneumatic system,
2. a change in the altitude of the ROBOT center of gravity, and
3. storage achieved by deformation of ROBOT parts.

The ROBOT battery, the main 120-amp (120A) circuit breaker (Cooper Bussman P/N: CB185-120), and the Power Distribution (PD) Board shall be connected as shown in Figure 4-7. 

Figure 4-7: Main Power Distribution

All circuits, with the exceptions of those listed in R43 and R44, must connect to, and have power sourced solely by, a single protected 12VDC WAGO connector pair (the Load Terminals) or the 5VDC supply on the PD Board (not the M6 shanks) as shown in Figure 4-8.

All wiring and electrical devices, including all Control System COMPONENTS, shall be electrically isolated from the ROBOT frame. The ROBOT frame must not be used to carry electrical current.

The 120A circuit breaker must be quickly accessible from the exterior of the ROBOT.

The PD Board and all circuit breakers must be easily visible for Inspection.

The cRIO power input must be connected to the 24VDC supply terminals on the PD Board shown in Figure 4-8. With the exception of one Solenoid Breakout Board, no other electrical load can be connected to these terminals.

The wireless bridge power feed must be supplied by the 12VDC-to-5VDC converter (P/N: CLL25-24S05) connected to the marked 12VDC supply terminals at the end of the PD Board (i.e. the terminals located between the indicator LEDs, and not the main WAGO connectors along the sides of the PD Board) shown in Figure 4-8. No other electrical load may be connected to these terminals.

Figure 4-8: Wireless Bridge, cRIO, and 5VDC Power Connections

Only one wire may be connected to each WAGO connector on the PD Board.

The only circuit breakers permitted for use in the PD Board are:

1. Snap Action VB3-A Series, terminal style F57
2. Snap Action MX5-A40

Each branch circuit must be protected by one and only one circuit breaker on the PD Board per Table 4-2. No other electrical load can be connected to the breaker supplying this circuit.

Table 4-2: Branch Circuit Protection

All active circuits shall be wired with appropriately sized insulated wire:

Table 4-3: Legal Wire Size

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.

All active circuit wiring with a constant polarity (i.e., except for outputs of relay modules, motor controllers, or sensor outputs) shall be color-coded as follows:

1. Red, white, brown, or black-with-stripe on the +24VDC, +12VDC, and +5VDC connections
2. Black or blue for the common or negative side (-) of the connections.

The only power regulating devices for actuators permitted on the ROBOT include:

1. Jaguar motor controller (P/N: MDL-BDC, MDL-BDC24, and 217-3367),
2. Victor 884 motor controller (P/N: VICTOR-884-12/12),
3. Victor 888 motor controller (P/N: 217-2769),
4. Talon motor controller (P/N: CTRE_Talon, CTRE_Talon, am-2505 and am-2195),
5. VEX motor controller (P/N: 276-2193) for controlling VEX 2-wire Motor 393 (P/N: 276-2177) only, and
6. Spike H-Bridge Relay (P/N: 217-0220 and SPIKE-RELAY-H).

Each power regulating device may control electrical loads per Table 4-4. Unless otherwise noted, each power regulating device may control one and only one electrical load.

Table 4-4: Legal Power Regulating Device Use

Servos must be directly connected to the PWM ports on the Digital Sidecar. They must not be connected to motor controllers or relay modules.

Custom circuits shall not directly alter the power pathways between the ROBOT battery, PD Board, motor controllers, relays, motors, or other elements of the ROBOT control system (including the power pathways to other sensors or circuits). 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 is inconsequential.

ROBOTS must be controlled via one (1) programmable National Instruments cRIO (P/N: cRIO-FRC or cRIO-FRCII), with image version FRC_2013_v47.

One (1) D-Link wireless bridge (P/N: DAP-1522), hardware revision B, is the only permitted device for communicating to and from the ROBOT during the MATCH.

The DAP-1522 wireless bridge must be connected to the cRIO Ethernet port 1 (either directly or via a CAT5 Ethernet pigtail).

Ethernet-connected COTS devices or custom circuits may connect to any remaining Ethernet port but must not transmit or receive UDP packets using ports 1100-1200 with the exception of ports 1130 and 1140.

Communication between the ROBOT and the OPERATOR CONSOLE is restricted as follows:

1. Network Ports:
   1. TCP 1180: This port is typically used for camera data from the cRIO to the Driver Station (DS) when the camera is connected to port 2 on the 8-slot cRIO (P/N: cRIO-FRC). This port is bidirectional.
   2. TCP 1735: SmartDashboard, bidirectional
   3. UDP 1130: Dashboard-to-ROBOT control data, directional
   4. UDP 1140: ROBOT-to-Dashboard status data, directional
   5. HTTP 80: Camera connected via switch on the ROBOT, bidirectional
   6. HTTP 443: Camera connected via switch on the ROBOT, bidirectional

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 port 2).

2. Bandwidth: 7 Mbits/second

The cRIO, Driver Station software, and wireless bridge must be configured to correspond to the correct Team number, per the procedures defined in Getting Started with the FRC Control System.

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

No form of wireless communication shall be used to communicate to, from, or within the ROBOT, except those required per R56 and R61 (e.g. radio modems from previous FIRST competitions and Bluetooth devices are not permitted on the ROBOT during competition).

The wireless bridge must be mounted on the ROBOT such that the diagnostic lights are visible to ARENA personnel.

ROBOTS must use at least one (1) diagnostic ROBOT Signal Light (RSL) (P/N: 855PB-B12ME522).

Any RSL must be:

1. mounted on the ROBOT such that it is easily visible while standing three (3) ft in front of the ROBOT,
2. connected to the “RSL” supply terminals on a Digital Sidecar that is connected to an NI 9403 module in Slot 2 of the cRIO, and
3. wired for solid light operation, by placing a jumper between the “La” and “Lb” terminals on the light per Figure 4-9. 

Figure 4-9: Jumper on RSL

The Driver Station software, cRIO, motor controllers, relay modules, wireless bridge, and batteries shall not be tampered with, modified, or adjusted in any way (tampering includes drilling, cutting, machining, gluing, rewiring, disassembling, etc.), with the following exceptions:

1. User programmable code in the cRIO may be customized.
2. Dip switches on the cRIO may be set (applies to cRIO-FRC only).
3. Motor controllers may be calibrated as described in owner's manuals.
4. Fans may be attached to motor controllers and may be powered from the power input terminals.
5. If powering the compressor, the fuse on a Spike H-Bridge Relay may be replaced with a 20A Snap-Action circuit breaker.
6. Wires, cables, and signal lines may be connected via the standard connection points provided on the devices.
7. Fasteners may be used to attach the device to the OPERATOR CONSOLE or ROBOT.
8. Labeling may be applied to indicate device purpose, connectivity, functional performance, etc.
9. Brake/Coast jumpers on motor controllers may be changed from their default location.
10. Limit switch jumpers may be removed from a Jaguar motor controller and a custom limit switch circuit may be substituted.
11. If CAN-bus functionality is used, the Jaguar firmware must be updated as required by FIRST (see Rule R68-D).
12. The First Touch I/O module’s firmware may be modified. 

13. Devices may be repaired, provided the performance and specifications of the component after the repair are identical  to those before the repair.

Neither 12VDC power nor relay module or motor controller outputs may be connected to the Analog/Solenoid Breakout Boards or the Digital Sidecar (with the exception of the designated 12VDC input terminals). 

Every relay module, servo, and PWM motor controller shall be connected via PWM cable to the Digital Sidecar and be controlled by signals provided from the cRIO via the Digital Sidecar.  They shall not be controlled by signals from any other source.

Each Jaguar must be controlled with signal inputs sourced from the cRIO and passed via either a connected PWM cable or a CAN-bus connection. 

1. The Jaguar must receive signals via either a PWM cable or a CAN-bus connection.  Both may not be used simultaneously.
2. PWM configuration: If the Jaguar motor controller is controlled via PWM communications, the PWM port on the Jaguar motor controller must be connected directly to a PWM port on the Digital Sidecar with a PWM cable.  No other device may be connected to these PWM ports.  No other device may be connected to any other port on the Jaguar motor controller with the exception of connection to the coast/brake port or the limit switch ports.
3. CAN-bus configuration: If the Jaguar motor controller is controlled via CAN-bus communications, each Jaguar motor controller must be connected to either the cRIO or another CAN-bus device with a CAN-bus cable.
4. If the CAN-bus configuration is used, the firmware on gray Jaguar motor controllers must be updated to at least Version 101 of the official FIRST firmware and Version 107 for black Jaguars.

If CAN-bus communication is used, the CAN-bus must be connected to the cRIO through either the Ethernet network connected to Port 1, Port 2, or the DB-9 RS-232 port connection. 

1. Ethernet-to-CAN bridges or RS-232-to-CAN bridges (including the “black” Jaguars) may be used to connect the CAN-bus to the cRIO.
2. Additional switches, sensor modules, custom circuits, third-party modules, etc. may also be placed on the CAN-bus. 
3. No device that interferes with, alters, or blocks communications between the cRIO and the Jaguars will be permitted (tunneling packets for the purposes of passing them through an Ethernet-to-CAN bridge is acceptable as the commands are not altered).

Outputs from each Solenoid Breakout shall not cumulatively exceed 16W for the cRIO-FRC (8-slot) and 21W for the cRIO-FRC II (4-slot). 

Control components must be configured to report the ROBOT’S battery voltage. Specifically:

1. A National Instruments 9201 analog module must be installed in slot 1 of the cRIO. 
2. An Analog Breakout Board must be connected to this module.
3. A jumper must be installed in the “Power” position (two outer pins) on the Analog Breakout Board (see Figure 4-10).
4. The Analog Breakout Board must be powered from the PD Board. 

Figure 4-10: Jumper for Battery Voltage Reading

All outputs from sensors, custom circuits and additional electronics shall connect to only the following:

1. other custom circuits,
2. additional COTS electronics,
3. input ports on the Digital Sidecar,
4. input ports on the Analog Breakout Board,
5. the RS-232 port on the cRIO,
6. the Ethernet network connected to either Port 1 or Port 2 of the cRIO,
7. the CAN-bus if and only if all Jaguar motor controllers on the CAN-bus are wired in full compliance with R68 and R69, or
8. the sensor inputs on the Jaguar motor controller.

A noise filter may be wired across motor leads or PWM leads.  Such filters will not be considered custom circuits and will not be considered a violation of R54 or R72. 

Acceptable signal filters must be fully insulated and must be one of the following:

1. A one microfarad (1 µF) or less non-polarized capacitor may be applied across the power leads of any motor on your ROBOT (as close to the actual motor leads as reasonably possible).
2. A resistor may be used as a shunt load for the PWM control signal feeding a servo.

Any decorations that involve broadcasting a signal to/from the ROBOT, such as remote cameras, must be approved by FIRST (via e-mail to frcparts@usfirst.org) prior to the event and tested for communications interference at the venue.  Such devices, if reviewed and approved, are excluded from R62.

To satisfy multiple constraints associated with safety, consistency, Inspection, and constructive innovation, no pneumatic parts other than those explicitly permitted in Section  4.1.10 may be used on the ROBOT.

All pneumatic components must be COTS pneumatic devices rated by their manufacturers for working pressure of at least 125psi (with the exception of R78-D).

All pneumatic COMPONENTS must be used in their original, unaltered condition. Exceptions are as follows:

1. tubing may be cut,
2. wiring for pneumatic devices may be modified to interface with the control system,
3. assembling and connecting pneumatic COMPONENTS using the pre-existing threads, mounting brackets, quick-connect fittings, etc.,
4. removing the mounting pin from a pneumatic cylinder, provided the cylinder itself is not modified,
5. labeling applied to indicate device purpose, connectivity, functional performance, etc.

The only pneumatic system items permitted on 2013 FRC ROBOTS include the items listed below.

1. Items available in the 2013 KOP,
2. Pneumatic pressure vent plug valves functionally equivalent to those provided in the KOP,

3. Solenoid valves with a maximum ¹/₈ in. NPT port diameter, and a maximum Cv of 0.32,
4. Solenoid valves that are rated for a maximum working pressure that is less than 125 psi rating mandated above are permitted, however if employed,  an additional pressure relief valve must be added to the low pressure side of the main regulator. The additional relief valve must be set to a lower pressure than the maximum pressure rating for the solenoid valve,
5. Additional pneumatic tubing, with a maximum 0.160 in. inside diameter, functionally equivalent to that provided in the KOP,
6. Pressure transducers, pressure gauges, and connecting fittings,
7. Pressure regulators with a maximum bypass pressure of no more than 60 psi,
8. Pneumatic cylinders,
9. Pneumatic storage tanks, and
10. Compressors compliant with R80.

If pneumatic COMPONENTS are used on the ROBOT, the following items are required as part of the pneumatic system and must be connected in accordance with this section per Figure 4-11.

Figure 4-11: Pneumatic System Setup

Compressed air on the ROBOT must be provided by one and only one compressor.  Compressor specifications may not exceed nominal 12VDC, 1.05 cfm flow rate. Off-board compressors must be controlled and powered by the ROBOT.

“Stored” air pressure on the ROBOT must be no greater than 120 psi. “Working” air pressure on the ROBOT must be no greater than 60 psi.   All working air must be provided through one primary adjustable pressure regulator.

Only the compressor, relief valve (P/N: 16-004-011), pressure switch, pressure vent plug valve, pressure gauge, storage tanks, tubing, and connecting fittings may be in the high-pressure pneumatic circuit upstream from the regulator.

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

If the compressor is not included on the ROBOT (under the provisions of Rule R80), the regulator and high-pressure gauge may be located on-board or off-board (but must be together), provided all other pneumatic rules are satisfied.

If the regulator is kept off-board the ROBOT with the compressor, then only low-pressure (60 psi or less) “working” air can be stored on the ROBOT.

The relief valve must be attached directly to the compressor or attached by legal fittings connected to the compressor output port. If using an off-board compressor, an additional relief valve must be included in the high pressure side of the pneumatic circuit on the ROBOT.

The pressure switch requirements are:

1. 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.
2. The two wires from the pressure switch must be connected directly to a digital input and ground pin on the Digital Sidecar.
3. The cRIO  must be programmed to sense the state of the switch and operate the relay module that powers the compressor to prevent over-pressuring the system.

The pressure vent plug valve must be:

1. connected to the pneumatic circuit such that, when manually operated, it will vent to the atmosphere to relieve all stored pressure, and
2. placed on the ROBOT so that it is visible and easily accessible. 

If the compressor is not used on the ROBOT, then an additional vent valve must be obtained and connected to the high-pressure portion of the pneumatic circuit off board the ROBOT with the compressor (see R80).

The outputs from multiple valves may not be plumbed together.

The Driver Station software provided on the Kit of Parts website is the only application permitted to specify and communicate the operating mode (i.e. Autonomous/Teleop) and operating state (Enable/Disable) to the ROBOT. The Driver Station software must be revision 1.29.13.00 or newer. 

The OPERATOR CONSOLE must include a graphic display to present the Driver Station disgnostic information. It must be positioned within the OPERATOR CONSOLE so that the screen display can be clearly seen during Inspection and in a MATCH. 

Devices hosting the Driver Station software may only interface with the Field Management System (FMS) via the Ethernet cable provided at the PLAYER STATION. The Ethernet port on the OPERATOR CONSOLE must be easily and quickly accessible. 

The OPERATOR CONSOLE must not exceed 60 in. long by 12 in. deep (excluding any items that are held or worn by the DRIVERS during the match).

Other than the system provided by the ARENA, no other form of wireless communications shall be used to communicate to, from, or within the OPERATOR CONSOLE. 

All event attendees must wear safety glasses while in the ARENA.

Wireless ROBOT control is not permitted outside the FIELD or Practice Field. ROBOTS must only be operated by tether when outside the FIELD or Practice Field. 

ROBOTS must use the provided Practice Field radio for communication if operating wirelessly on the Practice Field.

Teams are not allowed to set up their own 802.11a/b/g/n/ac (2.4GHz or 5GHz) wireless communication (e.g. access points or ad-hoc networks) in the venue.

No Team or Team member shall interfere or attempt to interfere with any other Team’s or FIRST’s wireless communication. Except as expressly allowed for purposes of communicating with the Team’s own ROBOT on the FIELD or a Practice Field, no Team or Team member shall connect or attempt to connect to any other Team’s or FIRST’s wireless network.

Violation: Up to and including DISQUALIFICATION of the Team from the event. Legal action may also be pursued based on applicable law.

A TEAM is only allowed to participate in a MATCH and receive Qualification Points if their ROBOT has passed Inspection. If it is discovered after the start of the MATCH that a ROBOT did not pass Inspection, the entire ALLIANCE will receive a RED CARD for that MATCH.

Any ROBOT construction technique or element that is not in compliance with the ROBOT Rules must be rectified before a ROBOT will be allowed to compete or continue competing. ROBOTS must fully pass Inspection before they will be allowed to compete in Qualification or Elimination MATCHES. 

At the time of Inspection, the ROBOT must be presented with all MECHANISMS (including all COMPONENTS of each MECHANISM), configurations, and decorations that will be used on the ROBOT during the entire competition event.  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 or reconfigured between MATCHES.  If MECHANISMS are changed between MATCHES, the reconfigured ROBOT must still meet all Inspection criteria.

The ROBOT Bill of Materials (BOM) must be presented at the time of Inspection.

If a ROBOT is modified after it has passed Inspection, other than modifications described in T8, that ROBOT must be re-Inspected. 

At events, Teams may only produce FABRICATED ITEMS in the pit areas or provided machine shops, as defined in the Administrative Manual, Section 4.8, The Pit.

For the safety of all those involved, Inspections must take place with the ROBOT powered off, pneumatics unpressurized, and springs or other stored energy devices in their lowest potential energy states (i.e. battery removed).

Power and air pressure should only be enabled on the ROBOT during those portions of the Inspection process where it is absolutely required to validate certain system functionality and compliance 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.

1. The ROBOT design requires power or a charged stored energy device in order to confirm that the ROBOT meets volume requirements, and
2. The Team has included safety interlocks that prevent unexpected release of such stored energy.

If a TEAM needs clarification on a ruling or score, one (1) pre-college student from that TEAM should address the Head Referee after the ARENA reset signal (i.e. PLAYER STATION LED strings turn green). A TEAM member signals their desire to speak with the Head Referee by standing in the Red or Blue Question Box, which are located on the floor at each end of the scoring table. Depending on timing, the Head Referee may postpone any requested discussion until the end of the subsequent MATCH.

At the conclusion of a MATCH, TEAMS must remain in their ALLIANCE STATION until the ARENA reset signal is issued, as indicated by the PLAYER STATION LED strings illuminating green.

ROBOTS will not be re-enabled after the conclusion of the MATCH, nor will Teams be permitted to tether to the ROBOT.

If, in the judgment of the Head Referee, an “ARENA fault” occurs that affects the outcome of the MATCH, the MATCH will be replayed.  Example ARENA faults include broken FIELD elements, power failure to a portion of the FIELD, improper activation of the FMS, errors by FIELD personnel, etc. 

If an ALLIANCE wishes to call a TIMEOUT, they must submit their TIMEOUT coupon to the Head Referee within two (2) minutes of the ARENA reset signal preceding their MATCH.

There are no cascading TIMEOUTS. If an ALLIANCE calls a TIMEOUT during a FIELD TIMEOUT, the FIELD TIMEOUT will immediately expire and the ALLIANCE’S TIMEOUT will begin.

TIMEOUTS are not transferrable between ALLIANCES. 

If during a TIMEOUT an ALLIANCE CAPTAIN determines that they need to call up a BACKUP ROBOT, they must submit their BACKUP ROBOT coupon to the Head Referee while there is still at least two (2) minutes remaining on the ARENA Timer.  After that point, they will not be allowed to utilize the BACKUP ROBOT.

Alternatively, an ALLIANCE CAPTAIN may choose to call up a BACKUP ROBOT without using their TIMEOUT by informing the Head Referee directly within two (2) minutes of the Head Referee issuing the ARENA reset signal preceding their MATCH.

In the case where the ALLIANCE CAPTAIN’S ROBOT is replaced with the BACKUP ROBOT, the ALLIANCE CAPTAIN is allowed in the ALLIANCE STATION as a thirteenth ALLIANCE member so they can serve in an advisory role to their ALLIANCE.

An ALLIANCE may request neither a TIMEOUT nor a BACKUP TEAM after an Elimination MATCH is stopped by the Head Referee (e.g. due to an ARENA fault or a safety issue).  The sole exception is if the replay is due to an ARENA fault that rendered a ROBOT inoperable.

The only equipment, provided it does not jam or interfere with the remote sensing capabilities of another Team, including vision systems, acoustic range finders, sonars, infrared proximity detectors, etc. (e.g. including imagery that, to a reasonably astute observer, mimics the VISION TARGET), that may be brought in to the ALLIANCE STATION are as follows:

1. the OPERATOR CONSOLE,
2. non-powered signaling devices,
3. reasonable decorative items,
4. special clothing and/or equipment required due to a disability
5. devices used solely for the purpose of planning or tracking strategy provided they meet all of the following conditions:
   1. do not connect or attach to the OPERATOR CONSOLE
   2. do not connect or attach to the FIELD or ARENA
   3. do not connect or attach to another ALLIANCE member
   4. do not communicate with anything or anyone outside of the ARENA.
   5. do not include any form of enabled wireless electronic communication (e.g. radios, walkie-talkies, cell phones, Bluetooth communications, Wi-Fi, etc.)
   6. do not in any way affect the outcome of a MATCH, other than by allowing PLAYERS to plan or track strategy for the purposes of communication of that strategy to other ALLIANCE members.