I believe the match the OP refers to is here:
http://youtu.be/OyZ-i7OYDZA
I copied G29 here for reference.
G29 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 transitive through other objects.
Violation: TECHNICAL FOUL
If the pinned ROBOT chases the pinning ROBOT upon retreat, the pinning ROBOT will not be penalized per G29, and the pin will be considered complete.
I wanted to get some feedback from other folks here on CD about pinning because 3669 is essentially immobilized by 1619 the entire match.
From 1:00 to 1:08 3669 is clearly held in place against the goal and cannot move. I do not know why the counting for pinning was not initiated.
Some of the time I do believe is not pinning because 3669 pushes back. If 3669 had let themselves be pushed into the wall or goal I believe the pinning count should have started. If someone could clarify that would be helpful.
Some could argue that at various times when 1619 backs up that 3669 chases, but in most of those cases, 3669 is going in the only direction it can go with a tank drive.
Our Team (1410) actually captained the blue alliance in the video (we were off the field for this particular match because our cRio died and had already used our sub) When we talked to the refs after the match, they said that since it was not against a wall that it was not a pin.
I believe that immobilizing a robot in the corner wall between the goal and alliance wall it is the same as “trapping” from G12 (i.e. two robots blocking access to an opposing ball in a corner but not touching it are essentially denying access to said ball).
If a robot can’t get out because driving the direction their wheels are pointed would be “chasing” then the pinning robot should still need to back up the required 6 feet IMO. Overall I think the intent of G29 is to allow a short pin but not allow a robot to be taken out of an entire match by pinning
There is at least one technical foul for pinning if the match that was not called. Since the refs did not start counting we will never know if 1619 would have backed off and the game would have gone differently.
-matto-