Hanging

[Steve W]

Originally Posted by 340x4xLife

I've had discussions with team members about...

<G30> ROBOT Volume – During a MATCH, no part of the ROBOT shall extend outside the vertical projection of the FRAME PERIMETER, except as follows:

c. TOWER Contact ROBOT Volume - During a MATCH, ROBOTS in contact with their ALLIANCE TOWER may extend beyond their NORMAL CONFIGURATION volume but may not exceed the FINALE CONFIGURATION maximum volume.

Seems that as long as your touching your tower, you can hang at anytime during the match.

Is this correct?

No.
According to the definitions in section 8.2 it says, quote:

FINALE CONFIGURATION - The physical configuration and orientation of the ROBOT while playing during the FINALE phase of the game (i.e. the last 20 seconds of the MATCH). This configuration is dynamic, and may change multiple times during the FINALE phase of a MATCH.

and

NORMAL CONFIGURATION – The physical configuration and orientation of the ROBOT when the MATCH is started. This is the state of the ROBOT immediately before being enabled by the Field Management System, before the ROBOT takes any actions, deploys any mechanisms, or moves away from the starting location. This configuration is static, and does not change during a single MATCH (although it may change from MATCH to MATCH).

The only time you can be out of normal config is during Finale

[Donut]

It appears then that <G30> and the definitions in 8.2 conflict, because <G30> clearly says during a MATCH, not during the FINALE, for TOWER Contact ROBOT Volume.

[Steve W]

Interesting. G30.c does say that. it also says in G30.d that you can get bigger in the last 20 sec even if not hanging. Could make a big difference with abilities to score.

[Joe G.]

Definately one for the Q&A, but here's how I interpret G30:

A. For interacting with balls, robots can extend beyond the frame perimeter, but not beyond the 28x38 limit. (no mention of changing from normal configuration in part A)

B. Robots may expand into the finale configuration, for the purpose of righting themselves or others

C. Robots in contact with a tower, at any time, may expand to the finale configuration (I agree the definition of finale seems to contradict this a bit, but G30C pretty much directly states that the robot can take on the finale configuration when contacting the tower)

D. No matter where they are, or what they are doing, robots may take on the finale configuration in the last 20 seconds.

[Taylor]

Originally Posted by Steve W

No.
According to the definitions in section 8.2 it says, quote:

FINALE CONFIGURATION - The physical configuration and orientation of the ROBOT while playing during the FINALE phase of the game (i.e. the last 20 seconds of the MATCH). This configuration is dynamic, and may change multiple times during the FINALE phase of a MATCH.

and

NORMAL CONFIGURATION – The physical configuration and orientation of the ROBOT when the MATCH is started. This is the state of the ROBOT immediately before being enabled by the Field Management System, before the ROBOT takes any actions, deploys any mechanisms, or moves away from the starting location. This configuration is static, and does not change during a single MATCH (although it may change from MATCH to MATCH).

The only time you can be out of normal config is during Finale

I disagree - <G30>c states that "During a MATCH, ROBOTS in contact with their ALLIANCE TOWER may extend beyond their NORMAL CONFIGURATION volume but may not exceed the FINALE CONFIGURATION maximum volume."
Your robot can extend at any time during a match, as long as it is in contact with the alliance tower. It will not be protected, however, until the FINALE portion of the game.