BC25 Rule Changes

Unless noted below, BC will be played by all appropriate FIRST Reefscape Rules. We expect all robots to comply with all FIRST criteria for construction and configuration. Judges and referees will have the final say on all alleged infractions.

Due to my inability to figure out how to do strikethrough in the formatting of this webpage, the rules below are just modified.  If you would like to see the specific changes that were made, please reference this google doc.

Summary of Changes

• Any robot that moves off the line in auto will get LEAVE points, even if through additional actions they end autonomous mode on the line.
• The BC DOT is located in the center of the field.  A robot fully covering the dot at the end will receive credit for deep CAGE points.  The field has been modified accordingly.
• The Coral RP threshold will be reduced to pre-Championship value (5 coral per level) but the Barge RP will remain at Championship value (16 pts for Barge RP).
• Teams will not be penalized for touching the chain at the end of the match, but still may not use any part of the anchor to aid their action of climbing.
• A line has been added between the processor and alliance area to allow human players to move between those locations during the match.

FIELD MODIFICATIONS

All references to “3 CAGES” in the manual will be modified to “2 CAGES”, any reference to “6 CAGES” is modified to “4 CAGES” and so on.  They will not be independently documented and we ask you to use a common sense approach to assessing rules and references in light of the field changes below.

Due to the change of truss configuration to accommodate the BC dot, the April Tags located on the Barge and the cage closest to the field wall will move approximately 1.125” closer to the field wall.  The center CAGE moves approximately .75” in the same direction.   A modified coprocessor April Tag Map will not be provided given most changes are within field tolerance, but if any team makes their own they wish to share, we will be happy to post.  

The distance between the center two trusses is 60”.

Here is a link to the OnShape model (credit to Alex Fenwick for making the BC CAD changes).  NOTE: The field CAD provided by FIRST (and the model in this link) is not for the AndyMark fields, which is what is used in New England.  It does not affect the truss placement or anything modified by these rule changes.

You can use the selector on the left to look between the normal and BC25 view: https://frc190.onshape.com/documents/989d2abb4cae4a416c775c1e/w/4d98f48c204d586f7e1352cb/e/a81f4b183eac747cd0d8d59c?aa=true 

SPECIFIC RULE AND SCORING CHANGES:

The following glossary terms have been modified or added:

• BARGE ZONE: a 3 ft. 10 in. deep by 85 in. long, infinitely tall, 4-sided volume surrounding the ALLIANCE’S half of the BARGE. It is bounded by and includes the ALLIANCE colored tape. 
• BC DOT: A ~1/32” thick plastic 12” in diameter circle painted yellow, attached to the carpet at the center of the field.
• HUMAN PLAYER TRENCH: A 2” Gaffers tape line that connects an alliance’s PROCESSOR AREA and ALLIANCE AREA.  Only HUMAN PLAYERS may use this trench and must make a reasonable effort to stay on the line when moving between the 2 zones and not interfere with referees, official scorers, and field staff. (Thanks TRI for the inspiration!)

6.3.1 DRIVE TEAMS

DRIVE TEAMS prepare for a MATCH by staging in the appropriate areas, according to their role on the DRIVE TEAM, and by identifying themselves accordingly. DRIVE TEAM starting conditions are listed below, and a DRIVE TEAM obstructing or delaying any of the conditions is at risk of violating G301.

• A. only DRIVE TEAM members assigned to the upcoming MATCH are present,
• B. For QUALIFICATION and PLAYOFF MATCHES only DRIVE TEAM members whose ROBOTS have passed initial, complete Inspection are present,
• C. [REMOVED]
• D. any number of HUMAN PLAYERS are staged in their CORAL STATION AREAS,
• E. HUMAN PLAYERS not included in D, DRIVERS, and COACHES are in their ALLIANCE AREA and behind the HUMAN STARTING LINE,
• F. TECHNICIANS are in the event-designated area near the FIELD,
• G. DRIVE TEAM members clearly display their designated buttons above their waists (COACH – “Coach”, DRIVERS and HUMAN PLAYERS – “Drive Team”, and TECHNICIAN – “Technician”), and
• H. if a Playoff MATCH, the ALLIANCE CAPTAIN clearly displays their designated ALLIANCE CAPTAIN identifier (e.g. hat or armband).

6.5.2 ROBOT Scoring Criteria 

To qualify for LEAVE points, a ROBOT must move such that its BUMPERS no longer overlap its ROBOT STARTING LINE at any point during at AUTO. 

To qualify for PARK points, a ROBOT’S BUMPERS must be partially or completely contained in their BARGE ZONE at the end of the MATCH and does not meet the criteria for CAGE points. 

To qualify for CAGE points, 

• a ROBOT must be contacting one and only one of their ALLIANCE’S CAGES, not contacting the carpet, and may additionally contact only the following elements: 
  • SCORING ELEMENTS, 
  • another ROBOT qualified for CAGE points,
  • a partner ROBOT contacted by an opponent in violation of G428, and 
  • an opponent ROBOT.
  • NOTE: If a robot on a CAGE is contacting a partner robot who is receiving PARK points, it will negate the PARK points and not the CAGE points.

6.5.4 Point Values 

Point values for tasks in REEFSCAPE are detailed below:

G419 – ANCHORS are off-limits. 

A ROBOT may not contact the ANCHORS. Exceptions are granted for actions that are inconsequential. 

Violation: MAJOR FOUL and the ROBOT is ineligible for CAGE points. 

The intent of this rule is to disallow the use of the ANCHOR to ease the climbing challenge.  Contacting the chain at the end of the match will generally be considered inconsequential and benefit of the doubt will be given to the team climbing. 

• Examples of contact with the ANCHOR that are considered inconsequential include, but are not limited to: 
  • A. bumping into the ANCHOR during an attempt to climb 
  • B. inadvertent contact while attempting to PARK 
  • C. inadvertent contact while driving through the BARGE ZONE 
• Examples of contact with the ANCHOR that are considered consequential include, but are not limited to: 
  • D. Reacting against the ANCHOR to lift off the floor 

G429 – No wandering. 

A DRIVE TEAM member must remain in their designated area as follows: 

• A. DRIVERS and COACHES may not contact anything outside their ALLIANCE AREA, 
• B. a DRIVER must use the OPERATOR CONSOLE in the DRIVER STATION to which they are assigned, as indicated on the team sign, 
• C. [REMOVED], and 
• D. a TECHNICIAN may not contact anything outside their designated area. 

Exceptions are granted as follows: 

• E. for a HUMAN PLAYER partially outside the ALLIANCE or PROCESSOR AREA, or traveling on the HUMAN PLAYER TRENCH
• F. in cases concerning safety, and 
• G. for actions that are inadvertent, MOMENTARY, and inconsequential. 

Violation: MINOR FOUL

Alliance Selection, Elimination Bracket, and BC Last Stand

• At the conclusion of the Qualification Matches, the top 16 seeded challengers will pick three alliance partners for the Elimination Bracket.
• All four robots must play at least once during the first two matches of the Elimination Bracket that the alliance participates in.

If fewer than 64 teams are in attendance, one of the following will take place:

• If there are fewer teams by a multiple of 4 (60, 56, 52 etc), fewer alliances will be formed and byes will be added to the bracket at the discretion of the Event Manager.
• If there are fewer teams but not a multiple of 4:
  • ‘Blank’ teams will be placed in the hat and be selected at random by an alliance during the third pick round.  Teams who draw a blank form a 3-team instead of 4-team alliance.

Alliance Selection will follow the standard FIRST alliance selection process, with the exception of the 3rd pick which will be done from a hat of the remaining 16 teams available.  

The Elimination Bracket is structured as follows: