[JesseK]

I hope to be a ref at a couple of events this season, and given my current understanding of the rules this is how I'd call it.

• I agree with Eric, in that e-stop inside the secret passage is conceding that there is no way the team will attempt to remove the robot after the e-stop.
• If comms were lost with the robot due to the field or another undetermined reason, most likely the match would possibly be replayed, (subject to the Q&A/etc)
• If magic smoke appeared before the e-stop, a drive train chain was obviously off of its sprocket (e.g.), or FTA let me know of packet dump, ping time or brown-out conditions, the match would not be replayed and any FOULS, TECH FOULS or YELLOW CARDs would stand.
• A blue robot in the red secret passage only gets 1 Tech Foul if the red robot keeps backing up and continuously bumping the blue robot, but if and only if the blue robot is e-stopped
• If the blue robot is e-stopped, a red robot hits the blue robot in the red secret passage, gets a ball, performs a cycle, then comes back for a 2nd ball and hits the blue robot again. The blue robot has now incurred two [G21] Tech Fouls. In other words, I see it as 1 tech foul per attempt to get a ball.
• It is probable in this situation that all three red robots will capitalize and net out MANY tech fouls for the blue alliance, more than it is worth in blue preventing match flow. In reality the red robots would need to work together to move the blue robot in order to get to their balls
• If blue completely clogs the opening such that no more balls may fit through the HP station openings then red is relieved of the [G34] violations due to [G11]
• Clogging up the openings risks [G11] violations (yellow card) due to attempting to cause [G34] penalties if the blue alliance continues to score boulders while the blue robot is e-stopped in the red secret passage.
• [G25] doesn't apply to this situation. The robot that e-stopped is in contact with the carpet in the SECRET PASSAGE and therefore [G25.E] doesn't apply.