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Rules

If you have any questions about rules or the event, you may post questions on the forum or email them to savage@wpi.edu. All questions will be publicly posted on the forum. All responses will be publicly dispersed on the website under the Updates link (http://users.wpi.edu/~savage/Rules/updates.html). Please read the rules and Updates page before asking questions as they may already be answered.

Alternatives for game play for remote competitions with fewer than 12 teams are located at the end of the rules.

Important Dates:

Kickoff Event:

When: Saturday, November 5th, 2005
Seminar Times: 9:00AM - 10:00AM and 10:00AM - 11:00AM
Time: 11:00AM - Noon
Where: WPI Campus - Higgins Labs 218

Competition Event:

When: Saturday, December 3rd, 2005
Snow Date: Sunday, December 4th, 2005
Time: TBA
Where: WPI Campus - Salsbury Labs: Kinnicut Hall

1. Objective

To design and build a radio and autonomously controlled robot that will defeat your opponents in competition.

The winner is the coalition that wins the finals at the end of the tournament.

2. The Game

• 2.1 Definitions:
  • 2.1.1 Coalition: Two teams working together for the common goal of playing a match.
  • 2.1.2 Towers of Pennoi: Two towers located on the field that hold penny rolls. There are four penny rolls per tower.
  • 2.1.3 Pendulum of Doom (POD):The pendulum with containers into which objects may be placed in order to affect the weight and balance of it.
  • 2.1.4 Gauge: The indicator at the top of the pendulum that shows which color coalition is winning and how winning they are.
  • 2.1.5 Pillars of Winning (POW): The indication on the gauge of "how winning a team is." Teams can win by a little, win, or win by a lot, earning them 1, 2, or 3 POWs respectively.
  • 2.1.6 Ropes: Standard ropes hung across the field that, when pulled, affects the centering of the gauge.
  • 2.1.7 Coalition Colonels: The top-ranked teams at the end of the qualifying matches.
  • 2.1.8 Starting Zone: Areas of the field, indicated with colored tape, where all coalition robots must be placed at the start of the match.
  • 2.1.9 Penny Auto Drop (PAD): Located off the field, these will drop a penny roll onto the POD when a button is pushed during the autonomous period only.
• 2.2 Field Description
  • 2.2.1 The field is roughly 8' x 12'. The outer boundaries of the playing area are formed by a wooden frame that is approximately 3" high and 3/4" thick.
  • 2.2.2 The surface of the playing area is gray, "high-traffic" carpet that may have minor bumps and surface irregularities.
  • 2.2.3 Robots will begin the match in one of the two colored starting areas that are 18" by 36" in size, and located near the center of the field. Teams will be designated as either "Red" or "Blue" on a match-by-match basis as noted on the Match List. The starting areas will be marked by colored tape.
  • 2.2.4 Three types of scoring objects are located throughout the playing field:
    • 2.2.4.1 Tennis Balls: There will be 18 regulation, 2-ounce tennis balls on the playing field at the start of the match as shown in the Field Drawing.
    • 2.2.4.2 Penny Rolls: Eight standard penny rolls containing 50 pennies each, weighing approximately 4.4 ounces will be placed in the two Towers of Pennoi. Two other penny rolls will be located off the field in designated PADs.
    • 2.2.4.3 Pool Ball: There will be three, regulation pool balls, weighing approximately 6oz. each, located on the field as designated in the field diagram.
  • 2.2.5 Teams may affect the center of the gauge by applying a force onto ropes hanging across the field. The maximum deflection achievable by a robot hanging on the rope is approximately equal to placing a pool ball in the outermost bin.
  • 2.2.6 All field dimensions should be considered to be +/- .5"
• 2.3 Match Scoring & Ranking
  • 2.3.1 All judgments of winning will occur at the end of each two-minute match, after the POD has come to rest, either under its own power or by the referee's.
  • 2.3.2 The outcome of the match is determined by the needle placement at the end of the match. If the needle points to red on the gauge, red wins. If it points to blue, blue wins. If it's dead in the middle, nobody wins.
  • 2.3.3 During autonomous mode only, the two buttons on the field controlling the PAD will be active. When the button is pressed, a Penny Roll will be dropped into the outside POD bucket of the color of the button pressed.
  • 2.3.4 Any robots in contact with the POD at the end of the match will be removed by the referees prior to rendering their final judgment. If the robot is also in contact with the rope, the gauge will be locked in place and then the robot will be removed.
  • 2.3.5 Any objects not supported solely by elements of the POD and other objects supported only by the POD will not be counted and will be removed with the robots prior to determining the winner.
• 2.4 Match Schedule & Ranking
  • 2.4.1 The competition will consist of Qualifying Matches followed by Elimination Matches.
  • 2.4.2 Qualifying Matches
    • 2.4.2.1 All teams will play in the same number of Qualifying Matches. The number of qualifying matches at each event will be determined by the length of the event and the number of teams competing.
    • 2.4.2.2 Teams will be given their schedule of qualification matches no later than the start of the first match of that day's event.
    • 2.4.2.3 Teams will be randomly assigned to coalitions during qualifying matches. The qualification match schedule will show the match number, the four teams competing in each match, and the color they are assigned for that match.
    • 2.4.2.3 At the end of qualifying matches, the location of the needle will determine the winner of the match and how winning they are. Both members of the coalition will receive the same judgment unless disqualifications have occurred.
      • 2.4.2.3.1 If you win the match, you will receive POW:
        • If the needle says, "win a little," you get one POW.
        • If the needle says, "win," you get two POW.
        • If the needle says, "win a lot," you get three POW.
        • In the event that the needle, by referee's determination, is directly in the middle (or you lose), you get zero POW.
  • 2.4.3 Ranking: At the end of the qualifying matches, teams will be ranked from 1 to N (N being the total number of teams present) based on the following:
    • Greatest number of wins, then
    • Total POW, then
    • Flip of a coin (or electronic substitute), heads and tails to be determined by the head referee.
  • 2.4.4 Elimination Matches
    • 2.4.4.1 The number of coalitions participating in elimination matches will be no less than four, but may be increased prior to the start of the event based on the number of teams participating.
    • 2.4.4.2 Coalition Drafting
      • 2.4.4.2.1 At the conclusion of the qualifying matches, the top ranked four (or the number of elimination alliances set by the tournament director) teams will be designated as Coalition Colonels. In order of their ranking, they will draft another team to be their coalition member for the remainder of the competition.
      • 2.4.4.2.2 Coalition Colonels may not draft other teams designated as Coalition Colonels or those already drafted into service for other coalitions.
      • 2.4.4.2.3 If teams decline the draft of any Coalition Colonel, they WILL NOT be allowed to play in the elimination matches.
    • 2.4.4.3 During elimination matches, the #1 ranked coalition will play the lowest ranked coalition entering the elimination matches (i.e. if there are four coalitions in the elimination matches, #1 will play #4). The #2 coalition will play the second to lowest ranked coalition and so on.
    • 2.4.4.4 Elimination matches will be a best 2-of-3 format.
    • 2.4.4.5 There are no Pillars of Winning during elimination matches.
    • 2.4.4.5 Ties in elimination matches will be replayed.
• 2.5 Driver Rotation
  • 2.5.1 During each match, teams will be required to switch their drivers halfway through the driver control period as indicated in Section 2.6. There will be a ten second period during which the drivers must complete the switch or power will be shut off for the duration of the match.
  • 2.5.2 Teams may choose to have another student operating other functions of the robot during the match who is not required to switch their position through the match.
  • 2.5.3 The ordered list of drivers must be submitted by a team mentor prior to the start of the first match of the competition. Team members must drive according to this list.
  • 2.5.4 Teams must have at least four different students to rotate through the driver position. In the event that a student team member does not show up for the event, teams must still place that student in the ordered list and forfeit their driving time during a match.
  • 2.5.5 All four student participants of the team must drive the robot within the first two official matches in which the team places a robot on the field. Once the required team members (per 2.5.4) have driven the robot, teams may choose to continue switching drivers or choose certain people to drive for the remainder of the competition.
• 2.6 Match Sequence
  Each match is two minutes long
  • 0-15 seconds - Robots enabled under Autonomous Control
  • 15-65 seconds - Robot under first Driver Control
  • 65-75 seconds - Driver switch period
  • 75-120 seconds - Robot under second Driver Control
  • 120 seconds - Match ends, robots disabled
• 2.7. General Rules
  All referee decisions regarding rules of play and judgments are final.
  • 2.7.1 Definitions
    • 2.7.1.1 Disqualification: Robots may be disqualified based on their actions which violate the rules of the game. If a referee calls for a disqualification during a match, power will be shut off to the offending robot and they will automatically lose and receive no pillars of winning. If disqualification is not determined until the completion of the match, the offending robot will receive a loss and zero pillars of winning for the match. In both situations, the rest of the members of both coalitions will receive the win/loss and pillars of winning as it is indicated on the gauge.
    • 2.7.1.2 Pinning: When an opposing robot is held against an obstacle and cannot move, either forward or backward, because of your robot's presence. Pinning will be visibly counted out by the closest referee.
  • 2.7.2 Robot's may not intentionally flip the opposing team's robot. The flipping robot will be disqualified from the match if in the referee's decision they initiated a lifting action which results in flipping. In incidents where the flipped robot initiates action or both robots are in motion, disqualification may not occur and will be at the discretion of the referees.
  • 2.7.3 At the start of the match, teams may place their robot anywhere inside the designated robot start area corresponding to their team color. The starting area is defined by the outer boundary of the tape.
  • 2.7.4 Any object which leaves the playing area during a match will not be returned to the field and is ineligible to be scored.
  • 2.7.5 Referees will disqualify any robot they deem to be a safety hazard.
  • 2.7.6 Team members may interact with their robot during a match only through the normal operation of the radio-controller. Only designated Drivers or Operators may be in contact with the controls during the match.
  • 2.7.7 Damage of the playing field, the objects, or the control system may result in disqualification at the discretion of the referees.
  • 2.7.8 Referees may request that teams alter any portion of their robots that are considered safety hazards or damaging to the playing field or scoring objects at any point during the competition. It is the right of the referees to prevent teams from playing in matches until such changes are made to the robot.
  • 2.7.9 Strategies aimed solely at the destruction of or damage to an opponent's robot or the field are not in the spirit of the competition and will not be allowed.
  • 2.7.10 Teams may not intentionally place objects under the POD. Any objects under the POD at the end of the match will be removed before the winner is determined.
  • 2.7.11 Robots may not interact with the POD by lifting from under any edge of the POD. This will be considered destruction of the field per rule 2.7.9
  • 2.7.12 If a team is being pinned for 5 seconds, the team doing the pinning must back off at least 12 inches before they can resume. Failure to do so will result in the disqualification.
  • 2.7.13 All parts of the robot must remain attached to the robot for the duration of the match and must not cause any hazard of entanglement to the other robot, or else teams run the risk of disqualification. Minor pieces which unintentionally become detached from the robot, do not affect the outcome of the match, or are not the result of improper design/construction will not cause a disqualification.
  • 2.7.14 Teams are allowed to modify their robots in between matches as long as the robot remains compliant with all specifications and rules after the modification. Any modification should be brought to the attention of the referees or head inspector prior to the start of the team's next match. Teams may be subject to re-inspection at the discretion of the referees/head inspector.
  • 2.7.15 Teams must have their assigned team number clearly marked on their robot such that it is visible from 15ft away. Team numbers will be assigned via the Savage Soccer website team list.
  • 2.7.16 Teams must have an area on their robot where a 1"x 1" piece of Velcro can be attached by the inspectors. This Velcro will hold on either a Red or Blue approximately 2" x 2" card (provided by the Staff). Prior to each match, teams must place on the correct color card for their robot, as indicated on the match list.
  • 2.7.17 All questions or requests for rules clarifications should be submitted via the web forum located on the event website (http://users.wpi.edu/~savage/Forum). Questions and answers will be publicly posted on the event website.

3. The Robot

• 3.1 Size Restriction
  • 3.1.1 At the start of each match, every part of the robot must fit, unconstrained, in a stable position, within a box 15" x 12"x 15" The robot must be fully self-supported, in contact only with the horizontal, carpeted (or taped) surface of the playing field when started.
• 3.2 Weight Restriction
  • 3.2.1 Each robot's weight must not exceed 8 lbs.
• 3.3 Controls
  • 3.3.1 Teams will each bring and provide their own controls to the competition on a frequency designated to them prior to each match.
• 3.4 Construction Rules
  • 3.4.1 A robot must be designed to operate by reacting only against features within the confines of the playing field boundaries and may not interact with anything outside the boundaries of the playing field.
  • 3.4.2 Gaining traction by use of adhesives or by abrading or breaking the surface of the playing field is not allowed and will be considered to be damaging the playing field and subject to disqualification.
  • 3.4.3 A robot may not intentionally contaminate the playing field or an opponent's robot with lubricants or other debris.
• 3.5 Building Constraints
  • 3.5.1 Each team will be expected to use parts only from the Innovation FIRST Robovation Kit (IFI) or Vex Kit unless specified on the additional materials list below.
  • 3.5.2 Robots may use any IFI or Vex pieces that come in their standard kits, including an unlimited amount of mechanical pieces (i.e. metal, wheels, hardware, etc) and it will not count against the final robot budget limit.
  • 3.5.2 Modifications are permitted to the mechanical parts of the kit. Teams may opt to buy their own replacement or spare parts from IFI or Vex. Teams may NOT intentionally modify any of the kit electronics or motors. Modification of items on the additional materials list is permitted.
  • 3.5.3 The complete parts list from the IFI Kits can be found at www.innovationfirst.com/FIRSTRobotics/edu-kits.htm. The complete parts list from the Vex Kits can be found at http://www.vexrobotics.com/index.php/starter_kit
  • 3.5.4 Teams may use any 7.2V battery, but only one battery may be used on the robot at a time.
  • 3.5.5 Teams may purchases any additional Vex or Robovation kit parts and any items listed on the Additional Materials list provided the total cost of constructing your robot does not exceed $250. This does not include the starter kit, additional batteries, crystals, radio, or programming modules.
  • 3.5.6 Teams may purchase pneumatics kits, provided it is equivalent to any shown at http://www.vexlabs.com/vex-robotics-pneumatic-parts.shtml and are within the robot budget per rule 3.5.5.
• 3.6 Materials
  • 3.6.1 Any amount of materials in the Additional Materials List will be allowed provided the total costs of all items on the robot is within the budget specified in 3.5.5.
  • 3.6.2 Additional Materials List
    • 3.6.2.1 Polycarbonate or acrylic sheet, up to one-quarter inch nominal thickness
    • 3.6.2.2 Aluminum sheet, up to one-eighth inch thickness
    • 3.6.2.3 Any metal or plastic round shaft or tubing up to one-half inch diameter
    • 3.6.2.4 Any bearings
    • 3.6.2.5 Plywood or wood up to one-half inch thickness
    • 3.6.2.6 Cardboard or foam-board
    • 3.6.2.7 String or twine
    • 3.6.2.8 Any springs or elastic bands (must be designed to release energy no faster than it was input)
    • 3.6.2.9 Fasteners, washers, and adhesives (used as such). You may not use adhesive tape (duct tape, electrical tape, etc) as a fastener or structural material
    • 3.6.2.10 Lubricants used to reduce friction within parts of your robot
    • 3.6.2.11 Non-functional decorations
    • 3.6.2.12 Paper, saran-wrap, aluminum foil, fabric or any paper or cloth-like material
    • 3.6.2.13 Any sensors.
    • 3.6.2.14 Any other materials requested from and approved by the Savage Soccer staff by submitting a question via the forum located on the event website (http://www.wpi.edu/~savage/Forum) provided it is readily available or accessible by other teams.
• 3.7 Energy Sources
  • 3.7.1 The energy used by the devices in the competition must come solely from:
    • 3.7.1.1 A change in altitude of the center of gravity of the device
    • 3.7.1.2 Energy stored by deformation of any springs on the additional materials list.
    • 3.7.1.3 Electrical energy delivered by the battery to the electronics and motors provided with the kit.
    • 3.7.1.4 Pressure stored in the pneumatics system not to exceed 100 psi.
• 3.8 Electronics
  • 3.8.1 Teams must keep clear and easy access to the crystals in their robot receiver. Crystals will need to be swapped quickly prior to each match. Inspectors or referees may request a team move the receiver to provide easier access before they are allowed to play.
  • 3.8.2 All crystals will be turned into the Field Captain before the start of the competition and they will be returned to teams at the end of the event.
  • 3.8.3 Prior to each match, teams will go to the Field Captain to receive a crystal set and it must be returned before the team leaves the field at the end of the match. Teams not returning the crystals will be subject to disqualification for repeat offenses.
  • 3.8.4 Teams wishing to operate their robot in the pit must do so using tether only.
  • 3.8.5 Teams will need to attach an autonomous receiver on their robot, provided by the Staff, prior to each match. The exact details of this will be forthcoming via an update on the Savage Soccer website.
• 3.9 Alternatives for Game Play (for events with less than 12 teams)
  • 3.9.1 Play the game without coalitions in a one vs. one format.
  • 3.9.2 Reduce the size of the starting area to 18"x18" centered behind the balls.
  • 3.9.3 Reduce the number of penny rolls on the Towers of Pennoi to 2 per tower.
  • 3.9.4 Reduce the number of billiard balls to one, located in the center of the field.
  • 3.9.5 Flip the center baking tin on each side of the POD upside-down.
  • 3.9.6 Competitions not using autonomous modes may choose to make the PADs active throughout the entire match, or eliminate them.

Maintained by savage@wpi.edu
Last modified: Jul 02, 2007, 20:16 EDT