Players on field-Coaches etc.

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From section 7, page 4:

TEAM: Four representatives from a registered FIRST Robotics Competition team that interact with their robot and their ALLIANCE partners to play FIRST Overdrive. The positions on the TEAM include:
COACH: A student or adult mentor designated as the team advisor during the MATCH and identified as the person wearing a "COACH" pin or button. There is one COACH per TEAM.
DRIVER: A pre-college student team member responsible for operating and controlling the ROBOT. There are two DRIVERS per TEAM.
ROBOCOACH: A pre-college student team member designated as the only team member permitted to provide external stimuli to the ROBOT from either of the two ALLIANCE ROBOCOACH STATIONS. There is one ROBOCOACH per TEAM.

In short, a pre-college student may fill any position. An adult may only coach. The coach doesn't have to be an adult.