Frame perimeter in endgame?

Competition Rules/Strategy
1

so when on the hab platform in endgame, can you extend past the 30 inch frame perimeter extension restriction? essentially no frame perimeter in the hab platform in endgame?

2

R4. ROBOTS may not extend more than 30 in. (~76 cm) beyond their FRAME PERIMETER (see
Figure 10-1)

I personally don’t see where there is an exception for the last 20 seconds, someone please correct me if I am missing it

Edit: endgame is 20 seconds

2 Likes
3

G23. Keep your BUMPERS low. BUMPERS must be in the BUMPER ZONE (see R25) during the MATCH unless a ROBOT is completely in its HAB ZONE or supported by a ROBOT completely in its HAB ZONE. A ROBOT is “completely in its HAB ZONE” if its BUMPERS are entirely between its ALLIANCE WALL and the vertical plane defined by its HAB LINE.