2019 Robot Rules Summary

I’ve put together a one-page robot and inspection rules summary (when printed on both sides). I have put an asterisk in places where I left out significant details.
2019_Robot_Rules_Summary-TU10.pdf (184.9 KB)
2019_Robot_Rules_Summary-TU10.docx (33.3 KB)

A couple of curious things I noticed as doing this:

  • Electrical solenoids are CUSTOM CIRCUITS.
  • R98 (operator console restrictions) refers to G19 (don’t tear others down). This should be G15c (attaching the operator console via hook/loop tape and the ethernet cable), I’m sure. Would someone please Q&A for a fix?

Done. https://frc-qa.firstinspires.org/qa/311

For completeness, I asked about this in https://frc-qa.firstinspires.org/qa/312

Excellent! Thanks for both questions!
Also, for those who find this and may be interested, I have posted a totally unofficial inspection checklist based on all the changes above (and many other more trivial ones like changes to rule numbers) working from last year’s checklist here; my intention is for teams who will not have access to an inspector prior to bag to use this to do self-inspections.
Added: If you want to be really thorough, walk yourself from R1 through R100, bullet by bullet. When I was mentoring 3946, I would do this mentally, checking off most bullets in my mind, but making a list of questionable things to physically check out.

Both questions resulted in a rules change in Team Update 11.(https://firstfrc.blob.core.windows.net/frc2019/Manual/TeamUpdates/TeamUpdate11.pdf).

The reference is now to G15, and electrical solenoids are now in the lists of what is not a CUSTOM CIRCUIT.

I added these docs in the “Other” section here:

1 Like

Updated, taking into account Team Updates 11 and 12 (also updated on the resources page above):

2019_Robot_Rules_Summary-TU12.docx (33.4 KB)
2019_Robot_Rules_Summary-TU12.pdf (185.5 KB)

Also, the official inspection checklist is posted:

Putting in these changes inspired a couple more questions for Q&A:

How to power Servo Power Modules?
Are REV Robotics Servo Power Modules (P/N: REV-11-1144) used as described in R38 powered as CUSTOM CIRCUITS, and if not, how? They are not listed in R34, so both R37 and R52 seem to define them as CUSTOM CIRCUITS, but they affect the power pathways to servos when used as in R38, which seems to violate R63 if they are. Unlike non-embedded fans, they are not listed in table 10-3. If they are CUSTOM CIRCUITS, does R38 allow this exception to R63, provided the PWM signal to the module comes from the RIO as required by R75? If not, what size breaker is allowed for them, and how many may be used per breaker, (that is, where do they fall in table 10-3)?

Do additional fuses protect custom circuit wiring?
The outputs of one 40A PDP port are connected to a CUSTOM CIRCUIT as permitted by table 10.3. The first component of this circuit is a 40A rated fuse panel for purposes of distributing power to several CUSTOM CIRCUITS.
Is the sub-branch circuit fed through each fuse considered protected by thst fuse for purposes of wire sizing (R60)? For example, would a sub-branch in series with a 5A fuse require at least 12AWG wire, or would 22AWG wire be legal?

The first question seems a definite yes as written, as neither the power module nor servos are in the CUSTOM CIRCUIT exception list.

The second is dependent on the definition of a circuit/branch being “protected”. As an inspector, I would permit this in the absence of direct guidance based on my understanding of electrical safety, but I can certainly see the other side of the issue.

I asked if FIRST Choice fans were custom circuits or actuators or both and they also didn’t answer.

Yes, I caught that. Assuming you mean Q329, they answered the first question you asked and missed everything after “Furthermore”. As they did not even provide a non-answer for that question, I would consider that re-asking the second question is in order.

I am planning on re-asking when I have time. Any suggestions on the wording? I mentioned it here in the first place because it seemed similar to your first question.

Actually, as I look at the rules trying to phrase the question, I think this is pretty clear for fans. R36 exempts fans from requiring a power regulating device*. R52 excludes all actuators listed in R34 from being CUSTOM CIRCUITS; fans are listed in R34. Furthermore, R59 specifies how to power COTS fans not part of a computing device as being distinct from CUSTOM CIRCUITS, and R73c provides for powering motor controller fans.

* Unless you ask about the grouping/punctuation between fans and embedded motors.

I think in light of R52, I’m going to rephrase my proposed servo question.

To be clear, are you reading R36 to allow (changing the order for clarity) motors integral to sensors of COTS computing devices to be used without a power regulating device as well as to allow servos and fans to be used without a power regulating device. I read it the opposite way up until now, but your reading is correct in light of the other rules you cited.

Also, when I read R52, I didn’t read it as a definition. Since CUSTOM CIRCUITS are defined in two places (below Table 10-2 and in R52), I assumed the definition was the union of the two clauses (i.e. while R52 says that anything that is not actuator is a CUSTOM CIRCUIT, it does not say the converse, so there may be items that are both actuators and CUSTOM CIRCUITS). In light of R59, I think this is probably not the interpretation FIRST expects, though. In general I think the manual is poorly written with regards to this nuance; they should clearly define CUSTOM CIRCUITS in one place.

Yes to the first. The asterisk refers to your original interpretation. As servos integral to a COTS computing device is not really an option, trying to group fans with motors doesn’t make much sense. Further, if a fan is controlled by a power regulating device, the PRD’s entry in table 10-3 should be sufficient; the standalone entry implies that free-running fans are allowed.
I didn’t read R52 as a definition at first either, but it is phrased that way; I concur that there should be one definition, or at least consistent definitions.

OBTW, finished editing the servo module question.

If you still have a question about fans, let me know and I’ll try to help you phrase it.

I’ve done an update based on team updates through TU15. I switched to a portrait, two column format, and also included the pneumatics diagram (which I rearranged to fit the shape of the space, and increased the relative size of the text to fit the small space, but left the connectivity identical).
2019_Robot_Rules_Summary-TU15.pdf (251.0 KB)
Added: Also, none of the rules span columns anymore!