I was reviewing Indiana Championship playoff matches and caught something very cool (at least to me) that I had missed before. If a robot’s bumpers are unsecured or falling off, G103 will likely be invoked.
G103 *Keep your BUMPERS low. BUMPERS must be in the BUMPER ZONE (see R402) during the
Violation: FOUL. If REPEATED or greater than MOMENTARY, DISABLED.
What I haven’t realized before is that a DISABLED robot is not DISQUALIFIED and can still earn points. Watch the expert situational awareness (and a little luck) from 5010 Tiger Dynasty in Playoff Match 10.
At 45 seconds left, Tiger Dynasty clips the charge station and dislodges their BUMPERS, putting them out of the BUMPER ZONE. The announcer spots it first and calls it out while they score their game piece.
At 30 seconds left, this is recognized by the Head Ref and a FOUL is issued. The Head Ref then instructs 5010 to be disabled, perfectly in line with G103.
In this same moment, 5010 changes course and heads for the charge station. We can see in the top-right camera feed precisely at 25 seconds left their drivers station light changes to indicate orange DISABLED and their robot is still on the floor, but it’s not over yet!
There’s a documented latency [Edit: citation from @Lucs100 below] of up to 1-2 seconds between FMS instructing the Driver Station to change robot state and the robot state actually changing. 5010 uses this grace period to its fullest potential. They leap onto the station and X-lock their swerve, right as their RSLs go solid indicating DISABLED.
Now that 5010 is an expertly placed brick, their teammates can take their time and complete the triple balance. The match ends in a 161-to-161 tie. Precisely per the rules, the tie is correctly broken in favor of the RED alliance on, you guessed it, charge station points! 5010, 7617, 7657 would go on to win and punch their tickets to Houston.
You guys did awesome at state, go get 'em at the championship next week and make Indiana proud!