[thefro526]

Originally Posted by jreuter

We have a similar issue - if we use the denso motor to grip the game pieces tightly, how do we release the game pieces at the end of the match? There is no way they will let us walk off the field with a tube.

As I read <R17>, it says we cannot activate the robot power system. A 9V battery across the denso isn't enought to move the motor, but it is enough to let you manually backdrive it.

Does anyone know if attaching a 9V battery to the robot after the match would be allowed?

It's illegal. There are numerous rules that would come into play, but here are the two that stick out most.

<R17> Field power to the ROBOTS will not be re-enabled after a MATCH. ROBOTS must be
designed to permit removal of GAME PIECES from the ROBOT, and removal of the ROBOT
from other FIELD elements and/or other ROBOTS without requiring activation of the ROBOT
power system.

This rule has been in every manual that I can remember. When designing your robot you must keep this in mind. If you cannot remove game pieces from your robot in an un-powered state then you are in violation of this rule.

<R48> All electrical loads (motors, actuators, compressors) must be supplied by an approved power
regulating device (speed controller, relay module, or Digital Sidecar PWM port) that is
controlled by the cRIO-FRC on the ROBOT.

R48 would make your 9V battery illegal.