Staying within volume with multiple extensions

[mman1506]

Originally Posted by jvriezen

Lets say I choose volume A, 36 x 40 x 24 for example.

My frame perimeter + bumpers is small, it fills a 26 x 40 footprint. Now I can have an appendage that extends 10" beyond the bumper on either of two sides after the match starts

Can I do this on either side of the robot as long as I retract on one side before extending on the other side? Does it make a difference if I have only one appendage that is capable of reaching out in either direction but not both, vs two appendages that I assure via software or a hardware linkage that only one will be deployed at a time?

That's fine, it doesn't make a difference. When being inspected the inspector should ask for a team to do a dry run and check for intentional expansion outside the volume. Refs and inspectors should also watch the robot on field to make sure it does not violate the rules. This is how we (inspectors) treated a robot last year that had a motor driven multi joint arm that could easily extend outside legal limits.

Originally Posted by jvriezen

It seems that the 'volume' of the robot for an undersized bot (at least in horizontal dimensions) is ambiguous, so how does it apply to rule G28 regarding affecting fuel outside the volume of the robot ?

I would assume the vertical volume of the bot extends above the bot, not below the wheels, but who is to say, especially while climbing?

The volume should be considered dynamic (except that you cannot switch between the two volume options) it's up to the ref to judge your current volume. The volume is virtually transposed in reference to the robot sitting on a flat floor and should remain parallel to your frame perimeter. Extensions below the wheels should be fine.