[EricH]

Originally Posted by dhitchco

It's only illegal ti "pin" while both robots are on the carpeted field (per <G24>)

You are allowed to pin on the floor any time you choose. However, if you pin for more than ten seconds, a ref will tell you to back off. If you don't, it's one flag for every ten seconds until you back off three feet. If you back off three feet, then repin the other robot, the count starts over. (<G24> again)