FIRST ® GAME CHANGERSSM powered by Star Wars: Force for Change 2021 FIRST ® Robotics Competition Game Manual ® FIRST Robotics Competition CONTENTS 1 Introduction ............................................................................................................................................ 5 1.1 About FIRST® ................................................................................................................................ 5 1.2 In Memoriam ................................................................................................................................. 5 1.3 FIRST® Robotics Competition ....................................................................................................... 5 1.4 Gracious Professionalism®, a FIRST® Philosophy ....................................................................... 6 1.5 Coopertition® ................................................................................................................................. 7 1.6 This Document & Its Conventions ................................................................................................. 8 1.7 Translations & Other Versions .................................................................................................... 10 1.8 Team Updates ............................................................................................................................. 10 1.9 Question and Answer System Sponsored by Autodesk®............................................................ 10 2 Game Overview................................................................................................................................... 13 3 ARENA ................................................................................................................................................ 15 3.1 FIELD .......................................................................................................................................... 15 3.2 Zones and Markings .................................................................................................................... 17 3.3 SHIELD GENERATOR ............................................................................................................... 19 3.3.1 SHIELD GENERATOR Structure ........................................................................................ 20 3.3.2 GENERATOR SWITCH ...................................................................................................... 20 3.3.3 BOUNDARIES ..................................................................................................................... 22 3.3.4 SHIELD GENERATOR Lighting .......................................................................................... 23 3.4 ALLIANCE STATION .................................................................................................................. 24 3.4.1 ALLIANCE WALL ................................................................................................................ 24 3.5 TRENCH ..................................................................................................................................... 30 3.5.1 CONTROL PANEL .............................................................................................................. 31 3.6 POWER CELL ............................................................................................................................. 34 3.7 Vision Targets ............................................................................................................................. 34 3.8 The FIELD Management System ................................................................................................ 35 4 MATCH Play........................................................................................................................................ 37 4.1 Setup ........................................................................................................................................... 37 4.1.1 POWER CELLS .................................................................................................................. 37 4.1.2 ROBOTS ............................................................................................................................. 39 4.1.3 Humans ............................................................................................................................... 39 ii 2021 FIRST® Robotics Competition 4.2 Autonomous Period ..................................................................................................................... 39 4.3 Teleoperated Period .................................................................................................................... 39 4.4 Scoring ........................................................................................................................................ 39 4.4.1 POWER PORT Scoring ...................................................................................................... 39 4.4.2 SHIELD GENERATOR Scoring .......................................................................................... 40 4.4.3 CONTROL PANEL Scoring ................................................................................................. 41 4.4.4 GENERATOR SWITCH Scoring ......................................................................................... 41 4.4.5 Point Values ........................................................................................................................ 42 4.5 Rule Violations ............................................................................................................................ 43 4.5.1 Violation Details................................................................................................................... 43 4.6 DRIVE TEAM .............................................................................................................................. 44 4.7 Other Logistics ............................................................................................................................ 45 5 Safety Rules ........................................................................................................................................ 47 6 Conduct Rules ..................................................................................................................................... 49 7 Game Rules: ROBOTS ....................................................................................................................... 55 7.1 Before/After the MATCH ............................................................................................................. 55 7.2 During the MATCH ...................................................................................................................... 55 7.2.1 During AUTO Only .............................................................................................................. 55 7.2.2 POWER CELL Interaction ................................................................................................... 56 7.2.3 Zone Specific Restrictions ................................................................................................... 57 7.2.4 ROBOT Restrictions ............................................................................................................ 60 7.2.5 ROBOT to ROBOT Interaction ............................................................................................ 61 7.2.6 FIELD Interaction ................................................................................................................ 63 8 Game Rules: Humans ......................................................................................................................... 65 8.1 Before the MATCH ...................................................................................................................... 65 8.2 During the MATCH ...................................................................................................................... 66 8.3 In the ARENA .............................................................................................................................. 67 9 ROBOT Construction Rules ................................................................................................................ 69 9.1 Overview ..................................................................................................................................... 69 9.2 General ROBOT Design ............................................................................................................. 71 9.3 ROBOT Safety & Damage Prevention ........................................................................................ 73 9.4 Budget Constraints & Fabrication Schedule ............................................................................... 74 iii 2021 FIRST® Robotics Competition 9.5 BUMPER Rules ........................................................................................................................... 76 9.6 Motors & Actuators ...................................................................................................................... 84 9.7 Power Distribution ....................................................................................................................... 87 9.8 Control, Command & Signals System ........................................................................................