[Taylor]

During the autonomous period and most of the teleoperated period, the robot cannot be longer or wider than its FRAME PERIMETER, which is less than or equal to 28" x 38". The robot also cannot be more than 60" tall.
However, if it's the last 20 seconds of a match or if the robot is touching its alliance's TOWER, it may go up to 90" high, and it may expand horizontally such that, at maximum, it could fill a 84" diameter cylinder.