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.

Updates

Update 1

Update 2

Update 3

Game Hint

If you're in New Worcester, then take a try
at horseshoes, hand grenades and animals that fly.

Sections

1. Objective

2. The Game

3. The Robot

4. Alternatives of Gameplay

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 Coalition Colonels: The top-ranked teams at the end of the qualifying matches.
- 2.1.3 Difference From Eighteen (DFE): An adjusted score that is used to determine the winner of a match.
- 2.1.4 Landing Zone (LZ): Areas at the ends of the field, indicated with colored tape, where all coalition robots must be placed at the start of the match, and where Birdies are scored.
- 2.1.5 Birdies: Irregularly shaped plastic game objects typically found in badminton tournaments.
- 2.1.6 BOX of leXan (BOX): A 6" tall, 24" wide, 11.5" deep, clear, walled-off area within the LZ wherein Birdies are scored.
- 2.1.7 Tubular Birdie Source (TBS): Tubes at the forward edge of the field and in front of the ramps where teams may get Birdies.
- 2.1.8 Savage Ball: A regulation size 4 soccer ball.
- 2.1.9 Trough: The area that contains the Savage Ball.
- 2.1.10 Ramp: A structure at the rear edge of the field that leads up to the Trough.
- 2.1.11 BOP Obstruction Pane (BOP): Coalition colored panes located at either end of the trough, which are used to determine control of the Savage Ball.
- 2.1.12 Birdie Button (BB): Buttons that deliver birdies when pressed in autonomous mode.
- 2.1.13 Birdie Starting Location (BSL): Marked squares on the field where Birdies are located at the beginning of each match.
2.2 Field Description
- 2.2.1 The field is 8' x 12'. The outer boundaries of the playing area are formed by a wooden frame that is approximately 2.5" high and 0.75" thick.
- 2.2.2 The surface of the playing area is "high-traffic" carpet that may have minor bumps and surface irregularities.
- 2.2.3 Robots will begin the match in the LZ area for their coalition. Teams will be designated as either "Red" or "Blue" on a match-by-match basis as noted on the Match List.
- 2.2.4 There are 16 Birdies located on the field at the start of the match. Eight will be red; eight will be blue. There are an additional 16 white Birdies that start in the TBSs, four per TBS.
  - 2.2.4.1 The red and blue Birdies will be arranged as follows:
    - 3 groups of 2 red and 2 blue birdies each, one group in each Birdie Starting Location
    - 4 Birdies (2 red and 2 blue) start the match on top of the ramp, against the wall opposite the Trough.
    - Birdies in the BSLs and on the ramps start feather-side down, with the coalition's color Birdies closest to their LZ.
- 2.2.5 All field dimensions should be considered to be +/- 0.5".
2.3 Match Scoring
- 2.3.1 All scoring will occur after all robots, Birdies and the Savage Ball have come to rest.
- 2.3.2 A Birdie is considered to be in a scoring position if the Birdie is supported only by the field wall, the floor of the LZ, the BOX, or another Birdie considered to be in a scoring position. Additionally, the Birdie must be at least partially within the LZ and not in contact with a robot from the scoring coalition.
  - 2.3.2.1 Red and blue Birdies are considered to be in scoring position if they are within the zone of their color, in addition to meeting the above criteria.
- 2.3.3 The Savage Ball is considered controlled by a Coalition if the ball is in contact with the BOP corresponding to its Coalition color and with both edges of the Trough.
  - 2.3.3.1 Robots that are touching the Savage Ball at the end of the match will be removed in reverse order in which they made initial contact before control of the Savage Ball is assessed.
- 2.3.4 Autonomous bonus points
  - 2.3.4.1 At the end of autonomous mode, the coalition which has control of the Savage Ball will receive 6 Birdies in their BOX.
  - 2.3.4.2 Any button pressed during autonomous mode will score 2 Birdies in the BOX for the coalition whose color button was pressed.
- 2.3.5 At the end of the match, each coalition will receive points based on the following criteria.
  - 2.3.5.1 1 point for each Birdie in scoring position
  - 2.3.5.2 2 points for control of the Savage Ball
- 2.3.6 A team's point total is defined as the number of points received by their coalition, including any penalties.
- 2.3.7 A team's DFE is defined as the difference of a coalition's point total from 18. The formula for calculating this is:
  DFE = |18 - X |
  where X is the Coalition's point total.
- 2.3.8 The outcome of the match is determined by the coalition with the lowest DFE.
- 2.3.9 Penalties:
  - 2.3.9.1 If a penalty is assessed, a coalition's DFE will be increased by three.
- 2.3.10 Tiebreakers:
  - 2.3.10.1 In the event of a tie, then the coalition with control of the Savage Ball at the end of the match wins.
  - 2.3.10.2 Then the coalition with the fewest points wins.
  - 2.3.10.3 Then the match is declared a tie.
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.
    - 2.4.2.1.1 For all teams to have an equal number of official matches, some teams may be required to play an extra match, known as a surrogate match. This match does not count in the official ranking of any surrogate teams participating.
  - 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.
- 2.4.3 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 (a tie is considered half a win), then
  - Lowest cumulative DFE 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 one or two other teams (one per drafting round) to be their coalition members for the remainder of the competition. The number of drafting rounds will be determined by the tournament director.
    - 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 eight coalitions, #1 will play #8). 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 Each coalition partner must play at least once during the first 2 matches of a best 2-of-3 round. If a robot becomes seriously damaged, the Coalition Colonel must talk to the head referee immediately after the match in which the damage occurred. The head referee will then decide if the robot is exempt from this rule. The damaged robot must be re-inspected by the head referee before each best 2-of-3 round and must be re-declared inoperable in order to continue receiving the exemption.
  - 2.4.4.6 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 non-driving functions of the robot during the match. This optional position is not required to switch during a match.
- 2.5.3 An 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 fewer than four students attend the competition, teams must still place four students in the ordered list and forfeit the driving time of the missing student(s).
- 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 must continue switching drivers during their matches but don't have to continue in the order or play the same people on the list in 2.5.3. If it is known in advance that a student will be late to the event, please contact the tournament director at savage@wpi.edu at least two days prior to the event and we will discuss possible alternatives.
2.6 Match Sequence
- Each match is two minutes and fifteen seconds long
- 0-15 seconds - Robots enabled under Autonomous Control
- 15-75 seconds - Robot under first Driver Control
- 70-80 seconds - Driver switch period
- 75-135 seconds - Robot under second Driver Control
- 135 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 immediately. In all cases, the offending robot will receive a loss and 18 DFE. The rest of the members of both coalitions will receive the win/loss and their respective DFE in qualification matches. If a team is disqualified during an elimination match then the coalition will receive a loss.
  - 2.7.1.2 Pinning: A robot is considered pinned when an opposing robot is held against a field 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 Robots may not intentionally flip the opposing team's robot. The flipping robot will be disqualified from the match if in the referee's opinion they initiated a lifting action which results in flipping. In incidents where the flipped robot initiates action or both robots are in motion, disqualification will be at the discretion of the referees.
- 2.7.3 Robots may not physically interact with anything outside of the field.
- 2.7.4 At the start of the match, teams may place their robot anywhere within the LZ corresponding to their coalition color. The LZ is defined by the outer boundary of the tape.
- 2.7.5 Any Birdie which leaves the playing area during a match will not be returned to the field and is ineligible to be scored.
- 2.7.6 If the Savage Ball leaves the field during the autonomous period, it will be returned to the neutral position before the start of driver control. If the Savage Ball leaves the field during driver control, it will not be returned to the field during the match.
- 2.7.7 Members of an opposing coalition may not reach into or remove Birdies from their opponent's BOX. Any Birdies removed in this manner will be returned to the BOX at the end of the match, before scores are calculated. A penalty will be assessed for each time this infraction occurs per rule 2.3.7.1.
- 2.7.8 Referees will disqualify any robot they deem to be a safety hazard.
- 2.7.9 Team members may interact with their robot during a match only through the operation of the radio-controller. Only designated Drivers or Operators may be in contact with the controls during the match.
  - 2.7.9.1 Only team members who will be using the controls during the match will be allowed at the field.
  - 2.7.8.2 All team members must stand behind their respective LZ for the duration of the match.
- 2.7.10 Damage to the playing field, the objects, or the control system may result in disqualification at the discretion of the referees.
- 2.7.11 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.
- 2.7.12 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.
- 2.7.13 If a team is pinned for five seconds, the pinning team must back off at least 12" before they can resume. Failure to do so will result in a penalty for every five seconds beyond the prescribed time per rule 2.3.7.1. Robots that accumulate multiple pinning penalties in a match are subject to immediate disqualification from the match.
- 2.7.14 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 robots. Any infraction of this rule may result in an immediate disqualification. Minor pieces which unintentionally become detached from the robot, do not affect the outcome of the match, or are the result of improper design/construction will not cause a disqualification.
- 2.7.15 Teams are allowed to modify their robots 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. While teams are allowed to modify their robots between matches, multiple robots per team are not allowed.
- 2.7.16 Teams must have their assigned team number clearly marked on their robot such that it is visible from 15' away. The numbers should be at least 3" high. Team numbers will be assigned via the Savage Soccer website team list.
- 2.7.17 Teams must have an area on their robot where a 1"x 1" piece of Velcro can be attached by the inspectors. The location must be clearly visible from at least two sides of the robot. This Velcro will hold either a Red or a Blue 2" x 2" card denoting the team's coalition color for the match (provided by the Staff). Prior to each match, teams must place the correct color card on their robot, as indicated on the match list.
- 2.7.18 All questions or requests for rules clarifications should be submitted via the web forum located on the event website. 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" by 12.5" by 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.
3.2.2 The battery weight is not included in the robot's weight.

3.3 Controls

3.3.1 Teams will each bring and provide their own controls to the competition. Crystals will be provided at the competition at the start of each match.
3.3.2 Radio operation of the robots is not permitted in the pits. Teams should bring their phone cords/tethers for testing and operation in the pits. It is advisable that teams not bring their radio crystals to the competition.

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.
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.
3.4.4 Robots may only be designed and built after the initial kickoff event.

3.5 Building Constraints
- 3.5.3 The complete parts list from the Vex 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 Robots may use any Vex or Robovation parts that come in a single standard base kit, any additional publicly available Vex or Robovation mechanical parts (metal, wheels, treads, hardware, etc.), and any items on the additional materials list. Motors, servos, pneumatics, and sensors are not considered mechanical parts. The total retail cost of items used on the robot which are from the Additional Materials list or which are non-mechanical Vex or Robovation parts must not exceed $250. This $250 does not include the price of one base kit, batteries, and crystals.
- 3.5.6 Teams may purchase pneumatics kits, provided it is equivalent to any kits or portions thereof shown at http://www.vexlabs.com/vex-robotics-pneumatic-parts.shtml and are within the robot budget per rule 3.5.5. Cost for incomplete Vex Labs pneumatics kits may be adjusted accordingly.
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 Plastic sheet, up to 0.25" thick
- 3.6.2.2 Aluminum or steel sheet, up to 0.125 inch thick
- 3.6.2.3 Any aluminum, steel, or plastic round shaft or tubing up to 0.5 inch diameter
- 3.6.2.4 Any bearings
- 3.6.2.5 Plywood or wood up to 0.5" 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, plastic-wrap, aluminum foil, fabric or any paper or cloth-like material
- 3.6.2.13 Any sensors
- 3.6.2.14 Any Vex or Robovation motors, servos, or pneumatic components.
- 3.6.2.15 Any other materials requested from and approved by the Savage Soccer staff by submitting a question via the forum located on the event website 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 exchanged 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 Crystals will not be allowed for use in the pit. Teams wishing to operate their robot in the pit must do so using tether only. Tethers for VEX are the telephone cables which connect the handset to the base.
- 3.8.3 Prior to each match, teams will get a crystal set from the Field Captain and must be returned before the team leaves the field at the end of the match.
  - 3.8.3.1 Teams not returning the crystals will be subject to disqualification for repeat offenses.
- 3.8.4 All teams are required to program their robot using the template provided on the resources.

4. Alternatives for Game Play (for events with less than 12 teams)

4.1 Play the game without coalitions in a one vs. one format.
4.2 Reduce the target score to 10
- 4.2.1 At the end of autonomous mode, the team which has control of the Savage Ball will receive three (3) Birdies in their BOX.
- 4.2.2 Any button pressed during autonomous mode will score 2 Birdies in the BOX for the coalition whose color button was pressed.
- 4.2.3 At the end of the match, the team which has control of the Savage Ball receives one (1) Birdie.
4.3 Some materials used in the official field, such as MDF and Lexan can be replaced with cheaper alternatives, such as plywood, oriented-strand board and acrylic.

Maintained by savage@wpi.edu
Last modified: Sep 05, 2008, 09:13 EDT