When can the drivers step forward

[Chris Fultz]

This rule does not specfically state it, but it has been said in the drivers meeting that play starts with the clock, not the announcer or buzzer.

Same with the transition from auto to tele, but it is stated clearly here that auto ends with the timer displays zero and the following section says tele is immediately following auto.

<G01> AUTONOMOUS PERIOD - The AUTONOMOUS PERIOD is the 15-second period at the
start of the MATCH. PILOT control of the ROBOT is not permitted at this time. During this
period, the ROBOTS may react only to sensor inputs and commands programmed into the
onboard control system. All ROBOT safety rules are still applicable during the
AUTONOMOUS PERIOD. The AUTONOMOUS PERIOD ends when the arena timer
displays zero seconds left in the period.
<G02> TELEOPERATED PERIOD – The TELEOPERATED PERIOD is the 2-minute period of
game play immediately following the AUTONOMOUS PERIOD. At the beginning of the
TELEOPERATED PERIOD the OPERATOR CONSOLE controls are activated and PILOTS
may remotely control their ROBOTS. The PILOTS continue to teleoperate their ROBOTS
for the remainder of the MATCH. The TELEOPERATED PERIOD ends when the arena
timer displays zero seconds. This also indicates the end of the MATCH.