My annual Robot and Inspection rules changes topic. As before, I will make this a wiki. My first pass will be things I notice on my first reading, and I will update with a more in-depth later this afternoon, and through the season. Feel free to DM me with corrections to keep the topic easy to read, especially on kickoff day.
This year, I will not cover bumper rules changes in this topic; I created a separate one.
Additions, changes, and clarifications in Team Updates and due to Q&A will be in bold font. Such deletions will be indicated by strike out.
Up to date following Team Update 04 and Q&A as of noon US Central Time on 17 January.
8.1 General Design
R101 (et al): FRAME PERIMETER is now ROBOT PERIMETER. New figure.
Note that the BUMPER ZONE is now from 2½" to 5¾" to from the carpet, a bit tighter, which may constrain some low-profile chassis designs.
QA 77 includes: In general, small deflections created by a flexible material [as part of the ROBOT PERIMETER] would not be considered as an articulating element, but the ROBOT PERIMETER would be measured in its resting state.
R103: ROBOT weight limit reduce to 115lb (~52kg)
R104: Perimeter still 120". Starting height is 42" (3’6", 106cm) this year. Q&A 18 confirmed no height limit during the match
R105: ROBOT extension is 18" (1’6", ~457mm) this year.
8.2 ROBOT Safety
R202 (et al): NOTES and GAME PIECES are now SCORING ELEMENTS
8.3 Budget and Schedule
R301: FMV for a single part is $600.
R302: Fabricated parts may be reused unless they are MAJOR MECHANISMS.
R304: Pit hours: Exceptions moved to this rule, charging batteries is explicitly allowed now. Pit hours definition moved into blue box here.
**8.4: BUMPERS will not be in this topic for 2025 **
8.5: Motors and Actuators
R501: Permitted actuators
CTRE Minion added to list of legal motors.
Solenoid/electromagnet block merged with COTS linear actuators. 50W rule dropped.
Servo $75 rule is gone. Now based on stall current: <=4A, <=8W at 6V for rotational, <=1A for linear.
R504 Power Regulating Devices
Koors40 Motor Controller added
Talon FXS Motor Controller added
REV Servo Hub added
R505 Don’t Overload Controllers
Kraken X44 added to the integrated controller block of table 8-2.
R506: Servo controllers
REV Servo Hub added
8.6 Power Distribution
Q&A 95 confirms the list of legal batteries is not exhaustive.
R602: Other batteries: 100Wh changed from 20Ah@5V to [email protected]
R609 Main Power:
Bulletized into sections
PDP 2.0 added to text and figure.
SB-50 to SB-120 adapters presented for inspection are now legal.
R614 No High Voltage: COTS POE allowed as an exception with COTS parts only.
R615 Powering RIO: Added directions and figure for PDP 2.0.
R616 Power Radio part 1: Cases added for new wireless bridge, including direct power from PDP/PDP2.0/PDH hubs for new radio only.
R617 Power Radio part 2: PDP2.0 instructions added
R618 PDP terminals: PDP 2.0 added.
R619 Breakers in PDP/PDH
PDP 2.0 added
Other ATM circuit breakers with suitable current rating may be used
R620 Fuses in PDP/PDH
PDP 2.0
Form factor of fuses more clearly delineated
R621 Circuit Breakers
PDP 2.0 added
Servo Hub added
Legal fans may be included within CUSTOM CIRCUITS
Allowance of undersized COTS wires is now only allowed if it is powered through the smallest fuse or breaker which permits proper device operation.
Q&A 100 confirmes that " Devices connected to the accessory ports provided on approved motor controller are not considered another “electrical load” and are not a violation of R621.
R622: A79: There are no rules explicitly prohibiting connecting the power downstream of a Kraken x60 Powerpole Adapter to multiple devices provided all wiring is 22AWG or larger per R622.
8.7 Control, Command, Signals
R701 RIO image version is 2025_v2.0 or later
R702 Vivid wireless bridge is now primary; OpenMesh only in China and Taiwan.
R703 Ethernet port changed for Vivid bridge; labeled “RIO”
R704 7Mbps now allowed for Vivid radios. Curiously, the blue box has not been updated for Vivid.
R707 Limited Wireless
Bulletized into a list
RFID or NFC used exclusively within the ROBOT are allowed.
R710 Allowed modifications
PDP2.0 added
The tape is still allowed on the aluminum plate in the radio. Presumably just Open Mesh, but the rule isn’t changed.
Former R716, requiring CAN be connected to the PDP/PDH, is deleted rules R717 and R718 are renumbered.
8.8 Pneumatics System
No changes noted
8.9 Operator Console
R901 Driver Station Software: Version is 25.0 or newer.
R907 New rule: OPERATOR CONSOLES must not contain AC inverters.
9 Inspection and Eligibility
I102 Get inspected before playing… Penalty for not being inspected discovered after the match gives the team rather than the alliance a RED CARD, and consult T201 about a possible replay.
AC to DC converters are not inverters (normally at least, though maybe there’s a use case I missed), a much simpler rectifier handles AC to DC. An inverter converts DC to AC.
A rectifier just needs four diodes (fewer in some cases), maybe a capacitor or two to smooth out the voltage. An inverter requires circuitry to oscillate at the desired A/C frequency just to get started, and more to switch the power.
Regulated DC is more complex than a rectifier, but still not an inverter.
What would be the use case for an inverter as part of the drive station? Plugs are provided for AC @ 110v , and a converter can provide for a laptop or custom control system. Why go back to AC?
I admit I don’t really know that one, but I suspect that it has to do with teams used to working with 60Hz competing in 50Hz places, and/or teams used to working with 50Hz operating in 60Hz areas.
It sounds to me like if you might compete internationally, plan for DC. And even if you don’t, that’s a good idea.
The field plug is limited to 2A, which is about enough for a laptop charger and an external monitor. If you want more than that, you might need to provide your own power.
I don’t know why this matter. We competed in both area and the only device in our DS which needed to be plugged in is the laptop itself. Most laptops nowadays come with power supply, which pretty much work all around the globe. Not to say many newer laptop will take USB C. The only difference I suppose would be the plug itself. The official DS contain North American three prong plug which most computers bought from China wouldn’t be compatible. But usually a cheap adaptor or a new power cord will solve the problem.
I suppose if you want to have something like a steering wheel with force feedback having a plugged in might be necessary. However most team will just use COTS game controller or custom control panel powered by Stellaris Launchpad or arcade encoder which all can be powered by USB.
I know some teams have used inverters while in the queue or at the practice field if their laptop charge is low.
Not sure if this falls into this area or not? Typically they leave the inverter on their cart or have someone run it back to their pit when they set up for a match.
R902 defines the OPERATOR CONSOLE as “the set of COMPONENTS and MECHANISMS used by DRIVERS an/or HUMAN PLAYERS to relay commands to the ROBOT.” This definition is repeated in the glossary. As such, I read that R907 does not apply to the robot cart unless it is in the ALLIANCE AREA. CORAL STATION AREA, or PROCESSOR AREA during the match where DRIVERS or HUMAN PLAYERS could use it.
I conjecture that the real purpose of R907 is so that large batteries are neither on the shelf in the ALLIANCE area where they could be knocked off, nor underfoot of members of the DRIVE TEAM. But if it is, it is the wrong rule, because it is certainly possible to power a laptop and many common OPERATOR CONSOLE parts from ROBOT batteries without an inverter.
Does R617-A and R617-B, stating “No other electrical load shall be connected…” to the PDP/PDH, prohibit using the VH-109’s POE passthrough to power a camera or other device, as they would be indirectly connected to the same terminal/channel? Since R617-C doesn’t mention restrictions for the PDP 2.0, is POE passthrough allowed with the PDP 2.0? The “How to Wire an FRC Robot” guide suggests POE passthrough is permitted regardless of the power distribution device. Is this interpretation correct?
The only robot-related rule change in Team Update 05 was to fix the reference from E401, Load in during Load-In to R304 vs R302.
Q&A 95 confirms the list of legal batteries in R601 is not exhaustive.
Q&A 96 gives a non-answer to a vague electromagnet question.
Q&A 100 confirmes that " Devices connected to the accessory ports provided on approved motor controller are not considered another “electrical load” and are not a violation of R621.
