Team Update 1-14-2014

[Steven Donow]

Most changes should be bolded, I may have missed a few, it's hard to format

Link

General Updates
Windows 7 Activation Update:

If you've received an error while trying to activate Windows on your Classmate, please refer to the procedure for activating the Windows 7 OS, 2014 Windows 7 Activation Procedure_Rev0, which has been posted at http://www.usfirst.org/roboticsprogr...ical-resources.

In order to activate the copy of Windows 7, teams must download this tool and run the application.

LRI Training

On Saturday, January 11, we hosted more than 50 Lead Robot Inspectors at FIRST HQ as part of LRI Training. Many of the changes in this Team Update are a result of their feedback and are an attempt to clarify the true intent behind each rule. We thank them for their time spent as volunteers and for their feedback as we strive for continuous improvement of the Manual.

Section 3: The Game
Section 3.1: Game Details
Section 3.1.4: Scoring
The change made by Team Update 2014-01-07 to Section 3.1.4: Scoring, part A created unintended consequences for exactly when a BALL would be considered SCORED in a GOAL. The intent was to make sure that a BALL that “bounced out” of a GOAL did not count as SCORED. We believe the following change better captures that intent.

A BALL is considered SCORED in an ALLIANCE’S GOAL if

A. a ROBOT causes one (1) of their ALLIANCE’S BALLS to cross completely and remain completely through the opening(s) of one (1) of their ALLIANCE’S GOALS

B. the ALLIANCE ROBOT last in contact with the BALL was entirely between the TRUSS and their ALLIANCE’S HIGH GOALS, and

C. the BALL is not in contact with any ROBOT from that ALLIANCE.

…

A CATCH occurs when a BALL SCORED over the TRUSS by a ROBOT’S ALLIANCE partner is POSSESSED by that ROBOT before contacting the carpet, the ROBOT which SCORED the TRUSS, or HUMAN PLAYER.

Section 3.2: Game Rules
Section 3.2.3: General Rules
G10

The following actions are prohibited with regards to interaction with FIELD elements (items A-D exclude BALLS):

grabbing,
grasping
grappling
attaching to,
damaging,
becoming entangled

Violation: FOUL. If the Head Referee determines that further damage is likely to occur, DISABLED. Corrective action (such as eliminating sharp edges, removing the damaging mechanism, and/or re-Inspection) may be required before the ROBOT will be allowed to compete in subsequent MATCHES.



Section 4: The Robot
Section 4.2: Safety & Damage Prevention
R9

Protrusions from the ROBOT and exposed surfaces on the ROBOT shall not pose hazards to the ARENA elements (including the BALLS) or people.

Section 4.4: Fabrication Schedule
R13

ROBOT elements created before Kickoff are not permitted. ROBOT elements, including software, that are designed before Kickoff are not permitted. unless they or their source files are publicly available prior to Kickoff.

Exceptions include the following:

BUMPERS,
OPERATOR CONSOLE,
battery assemblies per R5-A, and
software and designs with source files publicly available prior to Kickoff.

R14

The ROBOT (including items intended for use during the competition in alternative configurations of the ROBOT, excluding items permitted per R17 R18) must be bagged or crated (as appropriate for your event), and out of Team hands by Stop Build Day, February 18, 2014 (refer to the FRC Administrative Manual, Section 5 for more details).

Section: 4.6: BUMPER Rules
R26

BUMPERS must be supported by the structure/frame of the ROBOT (see Figure 4-10). To be considered supported, a minimum of ½ in. at each end of the BUMPER must be backed by the FRAME PERIMETER. Additionally, any gap between the backing material and the frame

• must not be greater than ¼ in. deep, and or
• 8 in wide.

R27

Each ROBOT must be able to display red or blue BUMPERS to match their ALLIANCE color, as assigned in the MATCH schedule distributed at the event (reference Section 5.1.1: MATCH Schedules). Markings visible when installed on the ROBOT, other than those explicitly required per R28, are prohibited.

Section 4.8: Power Distribution
R35

The one ROBOT battery, Anderson Power Products (or APP) Connectors (p/n SB50), the one main 120-amp (120A) circuit breaker (Cooper Bussman P/N: CB185-120), and the one Power Distribution (PD) Board shall be connected as shown in Figure 4-11.

R51

Each power regulating device may control electrical loads per Table 4-4. Unless otherwise noted, each power regulating device may control one and only one electrical load.

Table 4-4: Legal Power Regulating Device Use

Electrical Load

Jaguar, Victor, or Talon motor controller

Spike H-Bridge Relay

VEX Motor Controller 29

Solenoid Breakout

M3-RS390-12
M3-RS395-12
M5-RS545-12
M5-RS555-12
M7-RS775-12
262100-3030
262100-3040
ARA motors
AE235100-0610
am-2235
am-2161
am-2194


R86

If the regulator is kept off-board the ROBOT with the compressor, then only low-pressure (60 psi or less) “working” air can be stored on the ROBOT. The “working” pressure gauge must be installed on-board the ROBOT at all times (Figure 4-17).



Figure 4-17: (Updated to match rule) Off-Board Compressor, Regulator, and Gauge with Additional On-Board Gauge



Section 5: The Tournament
Section 5.5: Tournament Rules
Section 5.5.2: Eligibility and Inspection Rules
At each event, the Lead ROBOT Inspector (LRI) has final authority on the legality of any COMPONENT, MECHANISM, or ROBOT. Inspectors may re-Inspect ROBOTS to ensure compliance with the rules.

ROBOTS are permitted to participate in scheduled Practice MATCHES prior to passing Inspection. However, the FTA, LRI or Head Referee may determine at any time that the ROBOT is unsafe, per Section 3.2.1: Safety, and may prohibit further participation in Practice MATCHES until the condition is corrected and the ROBOT passes Inspection.


ROBOTS without BUMPERS will be considered unsafe.

ADDED BLUE BOX

If a ROBOT cannot report for a MATCH, the Lead Queuer should be informed and at least one (1) member of the TEAM should report to the ARENA for the MATCH to avoid receiving a RED CARD, with the exception of a Team that has not passed Inspection, per Rule T6.

T12

Power and air pressure should only be enabled on the ROBOT during those portions of the Inspection process where it is absolutely required to validate certain system functionality and compliance with specific rules (firmware check, confirmation of safe release of stored energy up to and including actuation of the mechanism, etc.).

Section 6: The Glossary
CATCH: the event when a BALL SCORED over the TRUSS by a ROBOT’S ALLIANCE partner is POSSESSED by that ROBOT before contacting the carpet, the ROBOT which SCORED the TRUSS, or a HUMAN PLAYER.

SCORE: to accrue points for an ALLIANCE as described in Section 3.1.4: Scoring.

[jee7s]

Originally Posted by DevenStonow

They changed the definition of "CATCH" to allow robots to gain points by catching their own ball

I read that as the opposite. They added a restriction to "CATCH" that the ball may not even contact the robot that scored the TRUSS. Previously, you could have touched the ball you threw over the truss without possessing it and still score the catch if your alliance partner proceeded to possess the ball before it touched the carpet.

[Steven Donow]

Originally Posted by jee7s

I read that as the opposite. They added a restriction to "CATCH" that the ball may not even contact the robot that scored the TRUSS. Previously, you could have touched the ball you threw over the truss without possessing it and still score the catch if your alliance partner proceeded to possess the ball before it touched the carpet.

My bad, you're right, I misread it.

[mott]

This clarification eliminates the possibility of a robot "Catching" their own truss toss then passing the ball to a partner (before touching the carpet) to earn the Catch bonus.

No surprise here...

[SenorZ]

Though it doesn't say it can't touch an opposing alliance member... does that seem valid?
Blue1 passes over TRUSS, it bounces off Red1 and into Blue2's possession, without ever touching the carpet. Does that count as a CATCH?

[GaryVoshol]

Good thing they did that, because there was a discontinuity between an earlier Q&A that said the throwing robot couldn't catch it first, and the rule that didn't prohibit it until now.

[Henrique Schmit]

Isn't R26 prohibiting West Coast drive trains?

[EricH]

Originally Posted by Henrique Schmit

Isn't R26 prohibiting West Coast drive trains?

Nope. Most WCDs have wheels smaller than 8"; 4" is typical.

[Henrique Schmit]

Originally Posted by EricH

Nope. Most WCDs have wheels smaller than 8"; 4" is typical.

yeah, but the gap would be deeper than 1/4 in

[EricH]

Originally Posted by Henrique Schmit

yeah, but the gap would be deeper than 1/4 in

That's an OR in R26, not an AND. So the gap must not be greater than 1/4" deep OR 8" wide. Also reference Figure 4-10.

Translation: if you have a gap that is BOTH deeper than 1/4" AND wider than 8", you have a problem. Otherwise, you should be OK.

[Henrique Schmit]

Originally Posted by EricH

That's an OR in R26, not an AND. So the gap must not be greater than 1/4" deep OR 8" wide. Also reference Figure 4-10.

Translation: if you have a gap that is BOTH deeper than 1/4" AND wider than 8", you have a problem. Otherwise, you should be OK.

now that i've seen the image i understand what you're saying, it must be wider and deeper, yet the rule says wider or deeper they should change either the image or the rule

[EricH]

Originally Posted by Henrique Schmit

now that i've seen the image i understand what you're saying, it must be wider and deeper, yet the rule says wider or deeper they should change either the image or the rule

Yep, and they changed AWAY from that very wording! C'mon, GDC!

[magnets]

The text "CATCH: the event when a BALL SCORED over the TRUSS by a ROBOT’S ALLIANCE partner is POSSESSED by that ROBOT before contacting the carpet, the ROBOT which SCORED the TRUSS, or a HUMAN PLAYER."
can mean two things

1.) a catch is when a "BALL SCORED over the TRUSS by a ROBOT'S ALLIANCE partner is POSSESSED by"

a.) "that ROBOT before contacting the carpet"
b.) "the ROBOT which SCORED the TRUSS"
c.) "or a HUMAN PLAYER"
---------------------------
2.) a catch is when a "BALL SCORED over the TRUSS by a ROBOT’S ALLIANCE partner is POSSESSED by that ROBOT before contacting the"

a.) "carpet"
b.)"the ROBOT which SCORED the TRUSS"
c.) "or a HUMAN PLAYER"

Two is more likely, but it's still really ambiguous.

[PAR_WIG1350]

Originally Posted by magnets

The text "CATCH: the event when a BALL SCORED over the TRUSS by a ROBOT’S ALLIANCE partner is POSSESSED by that ROBOT before contacting the carpet, the ROBOT which SCORED the TRUSS, or a HUMAN PLAYER."
can mean two things

1.) a catch is when a "BALL SCORED over the TRUSS by a ROBOT'S ALLIANCE partner is POSSESSED by"

a.) "that ROBOT before contacting the carpet"
b.) "the ROBOT which SCORED the TRUSS"
c.) "or a HUMAN PLAYER"
---------------------------
2.) a catch is when a "BALL SCORED over the TRUSS by a ROBOT’S ALLIANCE partner is POSSESSED by that ROBOT before contacting the"

a.) "carpet"
b.)"the ROBOT which SCORED the TRUSS"
c.) "or a HUMAN PLAYER"

Two is more likely, but it's still really ambiguous.

Since 1b and 1c would allow for a CATCH to be awarded regardless of whether or not the BALL had touched the carpet, which is logically not how this is supposed to work, I believe option 2 is likely what they meant. It would be clearer if they had put the word "either" after the word "contacting", but they didn't. They probably figured that we would realize that the BALL is no longer eligible for CATCH points once it contacted the ground, thus eliminating interpretation 1 as an option.

EDIT: If grammar and syntax rules are relaxed there is actually at least one more possible interpretation:
3.) a catch is when a "BALL SCORED over the TRUSS by a ROBOT'S ALLIANCE partner is POSSESSED by that ROBOT before contacting"

-a.) "the carpet"
-b.) "the ROBOT which SCORED"
---i.) "the TRUSS or"
---ii.) "a HUMAN PLAYER"

However this can logically be ruled out given that one cannot (legally) SCORE a HUMAN PLAYER .

[magnets]

Originally Posted by PAR_WIG1350

3.) a catch is when a "BALL SCORED over the TRUSS by a ROBOT'S ALLIANCE partner is POSSESSED by that ROBOT before contacting"

-a.) "the carpet"
-b.) "the ROBOT which SCORED"
---i.) "the TRUSS or"
---ii.) "a HUMAN PLAYER"

However this can logically be ruled out given that one cannot (legally) SCORE a HUMAN PLAYER .

I can't wait until a team builds a human-player-throwing-robot!