http://forums.usfirst.org/showthread.php?t=292
http://forums.usfirst.org/showthread.php?t=501
http://forums.usfirst.org/showthread.php?t=482
http://forums.usfirst.org/showthread.php?t=547
It is pretty simple. If there are parts inside or outside of the 28" x 38" starting foot print of the robot that are between the floor and 8.5" up that are not within 10 degrees of vertical and can touch another robot it is in violation of the wedge rule <R04>. Flop down doors that can come in contact with another bot are illegal unless they are somehow shielded so that other bots can't contact the non-vertical part of the door/ramp. There is no stipulation in the rules about the "wedges" orientation. Inverted angles not within 10 degrees of vertical are still wedges.