Rules question about end of match reconfig

[Bruceb]

At the end of a match is there a rule that says we have to have some way to reconfig the robot to starting config without power? Some have been telling me that we have to be able to move the parts back to starting config after the robot controller is disabled at the end of the match before you move it back to the pits?
True?
Bruce

[vhcook]

Not exactly. You need to be able to release game pieces and get the robot into a configuration you're able to transport safely without powering up. You only have to get it all the way into starting configuration for inspection and match starts.

[GaryVoshol]

Generally, you need to get the robot off the field and to your cart. Then you will probably be able to power up to collapse the arm/tower/lift/whatever so you can safely go back to your pit area. Making sure there is no one in the way who will get knocked about by your appendage.

I'm sure robots will exit the field much faster this year than last, when those ramps had to be folded back up to make the robot of managable size to move.

[Joe Ross]

Rule <G45> is probably what your friends have been misquoting.

<G45> Arena Reset - ROBOTS must be designed to permit the release and removal of any TRACKBALLS from the ROBOT without being powered up after a MATCH. If a ROBOT violates this rule, the offending TEAM will be warned and requested to modify the ROBOT. If the modification is not made, the ROBOT may not be permitted to compete in future MATCHES.

[Bruceb]

What I am thinking about doing is adding a circuit to bypass the spike(driving a window motor) with a switch on the chassis to power the motor in either direction manually to change the configuration at match end. Is there anything wrong with this thought?
Bruce

[EricH]

Originally Posted by Bruceb

What I am thinking about doing is adding a circuit to bypass the spike(driving a window motor) with a switch on the chassis to power the motor in either direction manually to change the configuration at match end. Is there anything wrong with this thought?
Bruce

I can't find anything against it specifically in the manual, save maybe <R62>. I'm thinking it probably won't pass inspection, due to motors having to be wired to a Spike or Victor. However, this should probably be asked in Q&A.

Is the part that you are powering with the window motor going to affect your ability to remove the robot safely? If not, I wouldn't bother. I know of at least one case where a robot had to be returned to the pits in an extra-wide configuration due to design (and window motors), but it wasn't wide enough to cause an issue.

Edit: I found something against it while I was looking for something else:

<R53> Custom circuits shall NOT directly alter the power pathways between the battery, fuse blocks, speed controllers, relays, motors, or other elements of the robot control system (including the power pathways to other sensors or circuits). Custom high impedance voltage
monitoring or low impedance current monitoring circuitry connected to the ROBOT’S electrical system is acceptable, because the effect on the ROBOT outputs should be inconsequential.

As I read it, you are putting a custom circuit onboard that goes around a speed controller. Not legal.

[Jon Stratis]

Originally Posted by Bruceb

What I am thinking about doing is adding a circuit to bypass the spike(driving a window motor) with a switch on the chassis to power the motor in either direction manually to change the configuration at match end. Is there anything wrong with this thought?
Bruce

While i don't know the exact rules that would apply, i'm fairly certain that wouldn't be allowed. I do know several rules require:

- all motors to be powered by spikes or victors
- everything to be powered through one of the circuit breaker panels (either the 40A ones or the 20A)
- All electrical pathways pass through the master breaker (on/off switch)


It's very probable that you'd violate a rule in trying to get fancy to power something after the match. It'd be much better to design in some sort of mechanical release that would allow you to freely move/position your manipulator after the match is over.