FIRST® GAME CHANGERSSM powered by Star Wars: Force for Change

2020-2021 FIRST® Tech Challenge

Game Manual Part 2 –

Traditional Events
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Sponsor Thank You

Thank you to our generous sponsors for your continued support of the FIRST® Tech Challenge!

Sponsors Revision 1.2: 2/3/2021

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Revision History
Section Revision Date Description
N/A 1 8/24/2020 Program Delivery Partner Limited Release
• Section 4.3 – Updated images to show correct alliance tape colors
• Section 4.5.2 – Added reference to new rule <GS13>
• Section 4.5.3 – Added reference to new rule <GS13>
• Section 4.6.3 – Edited rule <GS12>; specific to illegal tower goal scoring
Section 4 1.1 8/31/2020
• Section 4.6.3 – Added rule <GS13> - Illegal Power Shot scoring
• Section 4.7 – Added end game point value for Power Shot Target
• Section 4.8 – Edited <GS12> in rule summary table
• Section 4.8 – Added rule <GS13> to rule summary table
Sponsors 1.1 9/12/2020 Updated Sponsor lockup
• Section 4 – Various – Changed Ultimate Goal℠ to ULTIMATE GOAL℠
• Section 4.5.2 – Added that Robots must be completely in the Launch Zone
Section 4 1.2 9/12/2020
to score the Power Shot
• Section 4.6.2 – Added orange box to rule <G7>
Appendix B 1.1 9/29/2020 • Figure B-2, B-3, B-4, and B-5 updated image with correct dimensions
Appendix C 1.1 9/29/2020 • Figure C-2 updated image with correct dimensions
Appendix F 1.1 9/29/2020 • Figure F-1 updated image with corrected location labels
• Section 4.5.1 – 1) a) Added that Drive teams place their robot as well as a
possessed scoring element
• Section 4.5.2 and 4.5.4 – Clarified that Power Shot Targets requiring direct
Section 4 1.3 10/27/2020 contact with a Ring to be scored
• Section 4.6.3 - <GS13> Power Shot Targets must be scored by direct
contact with a Ring. See rule for full details
• Section 4.6.3 – Added rule <GS14>
Sponsors 1.2 2/3/2021 Updated Sponsor lockup
• Section 4.6.2 - <G8> Matches may be replayed due to the failure of a non
Section 4 1.4 2/3/2021
Team supplied game element resulting in points lost to the Team.
Appendix B 1.2 2/3/2021 Figure B-3, updated image with correct dimensions

Contents
1.0 Introduction .................................................................................................................................................. 5
1.1 What is FIRST® Tech Challenge? ............................................................................................................ 5
1.2 FIRST Core Values .................................................................................................................................. 5
2.0 Gracious Professionalism® .......................................................................................................................... 5
3.0 How to Use This Document ......................................................................................................................... 5
4.0 The Game ................................................................................................................................................... 6
4.1 Introduction .............................................................................................................................................. 6
4.2 Game Description .................................................................................................................................... 6
4.2.1 Game Narrative ................................................................................................................................. 6
4.3 Playing Field Illustrations.......................................................................................................................... 7
4.4 Game Definitions ...................................................................................................................................... 8
4.5 Gameplay .............................................................................................................................................. 13
4.5.1 Pre-Match ........................................................................................................................................ 13
4.5.2 Autonomous Period ......................................................................................................................... 14
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4.5.3 Driver-Controlled Period .................................................................................................................. 15

4.5.4 End Game ....................................................................................................................................... 16
4.5.5 Post Match ...................................................................................................................................... 17
4.5.6 Penalty Scoring ............................................................................................................................... 17
4.5.7 Flowchart of Match Play .................................................................................................................. 17
4.6 Rules of Gameplay................................................................................................................................. 17
4.6.1 Safety Rules .................................................................................................................................... 17
4.6.2 General Game Rules ....................................................................................................................... 18
4.6.3 Game-Specific Rules ....................................................................................................................... 23
4.7 Scoring Summary................................................................................................................................... 26
4.8 Rule Summary ....................................................................................................................................... 27
Appendix A – Resources ................................................................................................................................. 33
Game Forum Q&A ....................................................................................................................................... 33
FIRST Tech Challenge Game Manuals ........................................................................................................ 33
FIRST Headquarters Pre-Event Support ...................................................................................................... 33
FIRST Websites ........................................................................................................................................... 33
FIRST Tech Challenge Social Media ........................................................................................................... 33
Feedback ..................................................................................................................................................... 33
Appendix B – Playing Field Details .................................................................................................................. 34
Appendix C – Scoring Elements ...................................................................................................................... 37
Appendix D – Starter Stack Randomization ..................................................................................................... 38
Appendix E – Wobble Goal Ring Scoring Examples ........................................................................................ 39
Appendix F – Navigation Images ..................................................................................................................... 40

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1.0 Introduction

1.1 What is FIRST® Tech Challenge?

FIRST® Tech Challenge is a student-centered program that focuses on giving students a unique and
stimulating experience. Each year, teams engage in a new game where they design, build, test, and program
autonomous and driver operated robots that must perform a series of tasks. To learn more about FIRST® Tech
Challenge and other FIRST® Programs, visit www.firstinspires.org.

1.2 FIRST Core Values

We express the FIRST® philosophies of Gracious Professionalism® and Coopertition® through our Core
Values:

• Discovery: We explore new skills and ideas.

• Innovation: We use creativity and persistence to solve problems.
• Impact: We apply what we learn to improve our world.
• Inclusion: We respect each other and embrace our differences.
• Teamwork: We are stronger when we work together.
• Fun: We enjoy and celebrate what we do!

2.0 Gracious Professionalism®

FIRST® uses this term to describe our programs’ intent.

Gracious Professionalism® is a way of doing things that encourages high-quality work, emphasizes the
value of others, and respects individuals and the community.

Watch Dr. Woodie Flowers explain Gracious Professionalism in this short video.

3.0 How to Use This Document

The Game Manual Part 2 – Traditional Events is a resource for all FIRST® Tech Challenge Teams for
information specific to the 2020-2021 season’s game.

The intent of this manual is that the text means exactly, and only, what it says. Please avoid interpreting the
text based on assumptions about intent, implementation of past rules, or how a situation might be in “real life”.
There are no hidden requirements or restrictions. If you have read everything, you know everything.

Key words that have a specific meaning within this document are defined in the Game Definitions section and
are indicated with the first letter capitalized, and the entire word in Italics.

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4.0 The Game

4.1 Introduction
This document describes ULTIMATE GOAL℠ presented by Qualcomm, the FIRST® Tech Challenge game for
the 2020-2021 season. We recommend viewing the game animation prior to reading this manual to gain a
general understanding of the game. The animation is not intended as a replacement for official game rules.
The animation can be accessed on our website under “Videos and Promotional Materials”:
https://www.firstinspires.org/resource-library/ftc/game-and-season-info

Teams must comply with all rules and requirements stated in this document and in the Game Manual Part 1 -
Traditional Events. Clarifications to the game rules are issued on the Question & Answer section of the forum
at ftcforum.firstinspires.org. Forum rulings take precedence over information in the game manuals.

4.2 Game Description

Matches are played on a Playing Field initially set up as illustrated in Figure 4.3-1 below. Two Alliances – one
“Red” and one “Blue”, composed of two Teams each – compete in each Match. The object of the game is to
attain a higher Score than the opposing Alliance by Delivering Wobble Goals to a randomly selected Target
Zone, placing or Launching Rings into the Tower Goal, and Launching Rings to knock over Power Shot
Targets.
The Match starts with a 30-second Autonomous Period in which Robots operate using only pre-programmed
instructions and sensor inputs. During the Autonomous Period, Alliances earn points by: Delivering Wobble
Goals to a randomly selected Target Zone, Parking In the Launch Line, Launching or placing Rings into the
Tower Goal, and Launching Rings to knock over Power Shot Targets.
The two-minute Driver-Controlled Period follows the Autonomous Period. During the Driver-Controlled Period,
Alliances earn points by Launching or placing Rings into the Low, Medium, and High Goals on the Tower Goal.
The final 30 seconds of the Driver-Controlled Period is called the End Game. In addition to the previously listed
Driver-Controlled Period Scoring activities, Alliances earn points by Delivering a Wobble Goal to the Start Line
or to the Drop Zone, Placing Rings on the Wobble Goals, and Launching Rings to knock over Power Shot
Targets.

4.2.1 Game Narrative

In every game we play, we set out to make ourselves a collaborative teammate, a respected competitor, and a
stronger person. No expectations are greater than those we place on ourselves.

While we revel in the big plays and vital scores, the real lessons we learn are when we fail and work with our
teammates to recover. And each time our team steps up to a new challenge, we establish bolder goals, fueling
our ambitions to work together, enhance our skills, and transcend all boundaries.

It’s the passion that drives us forward. As game changers, we use our strengths to outscore the competition
and legendary players that have come before us. Together we are teammates at the top of our game,
competing in a thrilling sport – to score, to win and to leave a legacy that lasts.

No matter the outcome, we stand up in the face of competition, pushing each other to do better, work harder,
and exceed our team and personal potentials.

It’s time to set the records straight by breaking them. Are you up to the challenge?

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4.3 Playing Field Illustrations

The following illustrations identify the Game Elements and give a general visual understanding of the game.
Teams should refer to andymark.com/FTC for the exact Game Element dimensions. The official Playing Field
documents, including the official Field Setup Guide, are available at https://www.firstinspires.org/resource-
library/ftc/game-and-season-info. Please note: Playing Field Wall heights are different depending on the
manufacturer. Wall height measurements are in the official Field Setup Guide. Across the season, Teams may
attend events that use Playing Field Walls from different manufacturers, please incorporate that into the design
of your Robot.

Figure 4.3-1 – Isometric view of the Playing Field

Figure 4.3-2 – Top view of the Playing Field

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4.4 Game Definitions

The following definitions and terms are used for ULTIMATE GOAL℠ presented by Qualcomm:

Alliance – Each FIRST Tech Challenge Match consists of two, two-Team Alliances. These two Teams
compete against an opposing Alliance (also made up of two Teams) to complete the game challenges and
to earn the highest Score. For qualifying and championship tournaments with more than 20 Teams, the
semi-final and final round Alliances consist of three Teams each. However, only two of those Teams
compete during any one Match.

Alliance Neutral – Available to a Robot or Human Player from any Alliance.

Alliance Specific – Available only to a Robot or Human Player from a specific Alliance (i.e., Red or Blue
Alliance).

Alliance Station – The designated “Red” or “Blue” Alliance Area adjacent to the Playing Field where the
Drivers and Coach stand during a Match.

Area – The space defined by the vertical projection of the outside edge of a region’s boundary (for example,
gaffer tape, goal, Playing Field Wall). The boundary element (tape, wall, markings, etc.) is part of the Area
for the purposes of determining Inside and Outside.

Autonomous Period – A thirty-second Match period in which the Robots operate and react only to sensor
inputs and to commands pre-programmed by the Team onto the onboard Robot control system. Human
control of the Robot is not permitted during this time.

Block / Blocking – Preventing an opposing Alliance Robot from accessing an Area or Game Element for an
extended period by obstructing ALL paths of travel to the object or Area. Active defense played by a Robot
shadowing an opposing Alliance Robot that eliminates all paths of travel between the opposing Alliance
Robot and an Area or Alliance Specific Game Element or all remaining Alliance-Neutral Game Elements is
considered Blocking, even though at any frozen point in time there is an open path. See also Trap /
Trapping (which may be considered the same except it is from a Game Element or Area of the Playing
Field).

Coach – A student Team member or adult mentor designated as the Drive Team advisor during the Match
and identified by wearing a “Coach” badge or identifying marker.

Competition Area – The Area where all the Playing Fields, Alliance Stations, scoring tables, on-deck
queuing tables, event officials, and other tournament items relating to Match play are located. The Team Pit
area and practice Playing Fields are not part of the Competition Area.

Control / Controlling – An object is Controlled by a Robot if the object is following the movement of the
Robot. Objects that are Controlled by a Robot are part of the Robot. See Possess / Possessing to learn
about a related term. Examples include, but are not limited to:

• Carrying – holding one or more Game Elements inside or outside of a Robot.

• Herding – pushing or impelling one or more Game Elements to a desired location or direction that
gains a strategic advantage beyond moving the Robot around the Playing Field.
• Holding – Trapping one or more Scoring Elements against a Game Element, Playing Field Wall, or
Robot to shield or guard them.
• Launching – see definition below.

Examples of interaction with Game Elements that are not Controlled include, but are not limited to:
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• Plowing – Inadvertent contact with Game Elements while in the path of the Robot moving about the
Playing Field.
• Deflecting – Inadvertent contact with a Launched Game Element as it bounces off the Playing Field
or a Robot.

Delivery - A Scoring achievement where a Robot deposits a Wobble Goal.

Disable / Disabled – A Robot that is no longer active for the remainder of the Match due to a Robot failure
or by the request of a referee. Drive Teams may not Disable a Robot without the permission of a Field
Technical Advisor or referee. If a referee Disables a Robot during a Match, they may ask the Team to drive
their Robot to a neutral position on the Playing Field, issue a stop command with the Driver Station, and
place their Driver Station in a hands-off location on a tournament-provided structure or the Alliance Station
floor.

Disqualified / Disqualification / Disqualify – A Team that is ineligible to compete in a Match. A Team that
is Disqualified from a Match will not receive credit for the Match (that is, no Ranking and TieBreaker points).

Drive Team – Up to four representatives; two (2) Drivers, one (1) Coach, and one (1) Human Player from
the same Team. Only one (1) Human Player represents an entire Alliance in a Match.

Driver – A pre-college student Team member responsible for operating and controlling the Robot and
identified by wearing a tournament supplied “Driver” badge or identifying marker.

Driver-Controlled Period – The two-minute Match time period in which the Drivers operate the Robots.

Driver Station – Hardware and FIRST supplied software used by a Drive Team to control their Robot during
a Match. A detailed description of Driver Station is listed in Game Manual Part 1 – Traditional Events.

Drop Zone – The Alliance Neutral Area Outside the Playing Field Perimeter, between the plane formed by
the front Playing Field Wall and the audience, where Robots Deliver Wobble Goals during the End Game.

End Game – The last thirty seconds of the two-minute Driver-Controlled Period.

End of the Period/Match - The moment when the Match timer reaches 2:00 for the Autonomous Period or
0:00 for the Driver-Control Period and which coincides with the start of the sound that designates the End of
the Period.

Game Element – Any item Robots or Human Players interact with to play the game. Game Elements for
this year’s game include: Rings, Wobble Goals, Tower Goals, Power Shot Targets, and Return Racks.

Human Player – A pre-college student Team member who supplies Rings to the Playing Field, resets
Power Shot Targets, and is identified by wearing a tournament supplied “Human Player” badge or
identifying marker.

Human Player Station – The Area where the Human Player stands during a Match.

In (Inside) / Completely In (Completely Inside) – An object that has crossed into the upwards vertical (i.e.,
at a right angle to the Playing Field Floor) extension of a defined Area’s boundary is Inside the Area. An
object that is entirely within the upwards vertical extension of a defined Area’s boundary is Completely
Inside the Area. The boundary element (tape, wall, markings, etc.) is part of the Area for the purposes of
determining Inside and Outside, unless otherwise specified.

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Inadvertent – An outcome that is not a planned strategy and not the predictable result of persistent or
repeated actions. Unforced or unexpected Robot actions based on software commands are not considered
to be Inadvertent.

Inconsequential – An outcome that does not influence Scoring or gameplay.

Interference - Interaction between opposing Alliance Robots that amplifies the difficulty of a Scoring activity.
Actions that constitute Interference should not be considered illegal except as specified by a game rule.

Launching – Propelling Game Elements with enough force such that they move independent of contact
with the Robot or Human Player. Movement due to gravity is not Launching.

Launch Line - A two (2) inch wide, white gaffer tape line extending from the blue Alliance Wall to the red
Alliance Wall that defines the Launch Zone Area. The Launch Line should be considered to be a continuous
line even though there may be breaks in the tape at the Tile interfaces and at the Target Zone tape.

Launch Zone – The part of the Playing Field bounded by the Front Wall, Blue Alliance Wall, red Alliance
Wall, and the Launch Line. The Launch Line is considered to be part of the Launch Zone.

Match – A head-to-head competition between two Alliances. A Match consists of a thirty-second

Autonomous Period followed by a two-minute Driver-Controlled Period for a total time of two minutes and
thirty seconds.

Navigating – An Autonomous Period Scoring task where a Robot is Parked In a specified Area.

Navigation Image - Five (5) unique images mounted on the Playing Field Walls that Robots can use to
navigate around the Playing Field. One (1) image is placed below each Tower Goal and one (1) image is
placed in the approximate center of each of the three remaining Playing Field Walls. Images are printed on
standard letter size paper, 8 1/2 inches x 11 inches (216 mm x 279 mm) or A4 (210 mm x 297 mm) paper.

Off – Not physically in contact with or Supported by an object, surface, etc. Objects that are Off are also
considered Completely Off.

On / Completely On – An object that is physically in contact with and at least partially Supported by an
object, surface, etc. is considered On. An object that is entirely Supported by another object, surface, etc. is
Completely On.

Out / Outside – An object that has not crossed into any part of a defined Area is Outside the Area.

Park / Parked – The condition where a Robot is motionless.

Penalty – The consequence imposed for a rule or procedure violation that is identified by a referee. When a
Penalty occurs, points will be deducted from the Score of the Alliance that incurred the Penalty. Penalties
are further defined into Minor Penalties (ten (10) points) and Major Penalties (thirty (30) points). Penalties
may also include and/or escalate to issuing of a Yellow Card or Red Card as a result of a continued
occurrence of a rule violation and upon discretion of the Referee.

Yellow Cards and Red Cards – In addition to rule violations explicitly listed in section 4.6, Yellow
Cards and Red Cards are used in the FIRST Tech Challenge to manage Team and Robot behavior
that does not align with the mission of FIRST. Yellow and Red Cards are not limited to just the
Competition Area. Teams that display egregious behavior in the pit area, judging rooms, stands, or
any other location of the tournament can be issued a Yellow or Red Card for egregious behavior.

Illegal behaviors that are repeated (3 or more times), or egregious behaviors by a Robot or Team
member at the tournament can result in a Yellow and/or Red Card. Yellow Cards are additive,
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meaning that a second Yellow Card is automatically converted to a Red Card. A Team is issued a
Red Card for any subsequent incident in which they receive an additional Yellow Card, for example,
earning a second Yellow Card during a single Match.

Yellow and Red Cards may be issued on or off the competition field. For details please make sure to
read the Tournament Rules outlined in section 4.2 of the Game Manual Part 1 – Traditional Events.

Pin / Pinning – Preventing the movement in all directions of an opposing Alliance Robot while it is in
contact with the Playing Field Wall, one or more Game Elements, or another Robot.

Playing Field – The part of the Competition Area that includes the 12 ft. x 12 ft. (3.66 m x 3.66 m) field and
all the Game Elements described in the official field documents. From the audience viewpoint, the Red
Alliance Station is on the right side of the Playing Field.

Playing Field Damage – A physical change to a Game Element or Playing Field that affects gameplay or
an action that causes harm to the playability of a Game Element or Playing Field.

Playing Field Floor – The top surface of the Tiles that make up the base of the Playing Field.

Playing Field Perimeter – The outside face of the Playing Field Wall.

Playing Field Wall – An approximate 12 inches (30.5 cm) tall, 12 ft. (3.66 m) long by 12 ft. (3.66 m) wide
wall surrounding the Playing Field Floor. The height of the Wall will vary depending on which Playing Field
Wall is being used at the event. Robots should be built to interact with all legal Playing Field Walls.

Possess / Possessing – An object is in Possession by a Robot if, as the Robot moves or changes
orientation (for example, moves forward, turns, backs up, spins in place), the object remains in
approximately the same position relative to the Robot. Objects in Possession by a Robot are considered to
be Controlled, and they are part of the Robot. See also Control/Controlling.

Power Shot / Power Shot Target – A Game Element containing six (6) Alliance Specific Targets, three (3)
red and three (3) blue. The Targets have two states:
• Forward - The Targets are oriented towards the field.
• Back - The Targets are oriented away from the field.

Pre-Load - A Game Element that a Drive Team positions during pre-Match setup so that it touches a Robot
or is Possessed by a Robot at the start of the Autonomous Period.

Queuing Area – The location in the Competition Area where Drive Teams, Robots, and optional Robot
carts are staged until directed by competition personnel to setup their Robots on a Competition Playing
Field.

Return Rack – A Game Element used by the Human Player to introduce a Ring into the Playing Field.
There is one (1) Return Rack for each Alliance.

Ring – An approximate 5-inch diameter torus-shaped, orange colored, Alliance Neutral Scoring Element
that Robots Launch or place into a goal. A Match is played with a total of twenty (20) Rings.

Robot – Any mechanism that has passed Robot inspection and a Drive Team places on the Playing Field
prior to the start of a Match. A detailed definition of Robot is in the Robot rules section in the Game Manual
Part 1 – Traditional Events.

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Scoring / Score – Robots earn points for their Alliance by interacting with Scoring Elements and Parking in
specific Areas of the Playing Field. Scoring Elements still in contact with Robots of the corresponding Alliance
have zero Score value, unless stated otherwise in Sections 4.5 or 4.6.

Scoring determination is done by one of three methods: “Scored Live”, “Scored at End of the Period”, and
“Scored at Rest.” The specific method for each Scoring achievement will be stated in the achievement’s
description in Section 4.5.

Scored Live: The achievement is considered Scored the moment it is successfully completed, i.e. all
criteria are met.

Scored at End of the Period: The achievement’s Scoring status is determined based on the Robot or
Scoring Element’s position at the End of the Period.

Scored at Rest: The achievement is considered Scored based on the position of the Robot or Scoring
Element when the entire field has come to rest after the Match Period ends.

Scoring Elements – Objects that Robots manipulate to earn points for their Alliance. The Scoring Elements
for ULTIMATE GOAL℠ are Rings and Wobble Goals.

Start Line – An approximate 22.75-inch (57.8 cm) long x 2 inch (5.1 cm) wide strip of Alliance Specific (red
or blue) colored gaffer tape where Robots are setup to start a Match.

Starter Stack Area – The Playing Field location where zero (0), one (1), or four (4) Rings are placed during
pre-Match setup.

Starter Stack – A pre-placed stack of Rings that corresponds to a selected Target Zone. Zero (0), one (1),
or four (4) Rings correspond to Target Zone Goals A, B, or C respectively.

Support / Supported / Completely Supported – An object (i.e. Robot, Scoring Element, Game Element,
etc.) is Supported by another object if the second object is bearing at least some of the weight of the first
object. If the second object is bearing all the weight of the first object, it is Completely Supported by the
second object.

Target Zone Goal – An approximate 22.75 inch (57.8 cm) by 22.75 inch (57.8 cm) Autonomous Period
Scoring Area where Robots Deliver Wobble Goals. There are three Target Zone Goals for each Alliance.
Each Zone is indicated by red or blue gaffer tape around the inside perimeter of a Tile.

Team – Mentors, supporters, and pre-college-aged students affiliated with an entity registered with FIRST
and for the competition.

Tile – An approximate 24 inch x 24 inch (609.6 mm x 609.6 mm) foam rubber mat, 36 of which make up the
Playing Field Floor.

Tower Goal – A Playing Field element containing three vertically stacked Alliance Specific goals named the
Low, Mid, and High Goals. ULTIMATE GOAL℠ is played with two (2) Tower Goals. Alliance goal ownership
is shown in the table below:

Tower Closest to the Blue Alliance Station Tower Closest to the Red Alliance Station
Low Goal – Blue Alliance Low Goal – Red Alliance
Mid Goal – Red Alliance Mid Goal – Blue Alliance
High Goal – Blue Alliance High Goal – Red Alliance

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Trap / Trapping – Preventing an opposing Alliance Robot from escaping a constrained Area of the Playing
Field or from a Game Element for an extended period of time by obstructing all paths of travel from the
object or Area. See also Block / Blocking (which may be considered the same except it is accessing a Game
Element or Area of the Playing Field).

Wobble Goal – A moveable Goal for Scoring Rings and a location-based Scoring Element. There are two
(2) Red Alliance and two (2) Blue Alliance Wobble Goals.

4.5 Gameplay
Prior to the start of the Match, Drive Teams perform some basic Robot setup steps that are described in
section 4.5.1. Matches are made-up of several periods totaling two minutes and thirty seconds. There is a
thirty-second Autonomous Period, followed by a two-minute Driver-Controlled Period. The last thirty seconds of
the Driver-Controlled Period is called the End Game. When the Match is over and referees signal, Drive Teams
collect their Robots, return Possessed Game Elements to the Playing Field, and exit the Competition Area.

4.5.1 Pre-Match
Field personnel set up the Playing Field as depicted in Figure 4.3-1. The four Wobble Goals are placed adjacent to
their corresponding Alliance Specific Start Lines and a stack of four (4) Rings is placed on the Playing Field Floor at
each Alliance’s Starter Stack Area.

Prior to setting up on the Playing Field, the Alliance partner Teams decide which Team of their Alliance
participating in the Match supplies the Human Player. Only one Human Player for an Alliance may come to the
Playing Field from the Queuing Area.

Drive Teams set up their Robots on the Playing Field with the following required constraints:

1) Starting Location - Drive Teams, with the concurrence of their Alliance partner, select their Robots’
starting locations.

a) Drive Teams must place their Robots and Possessed Scoring Elements, in any orientation,
Completely Inside the Playing Field Perimeter.

b) The Robot must touch the front facing (i.e. closest to the audience) Playing Field Wall.

c) A Robot must be Parked In their Alliance Specific Start Line. Only one (1) Robot per Start Line.

2) Robot Contact - A Robot may not contact another Robot or anything Pre-Loaded onto another Robot.

3) Wobble Goal -

a) A Robot is required to Pre-Load exactly one (1) of their respective Alliance Specific Wobble Goals.
Drive Teams may move the Wobble Goals from their initial Field Set-up position.

b) A Robot may not touch an opposing Alliance’s Wobble Goal.

4) Pre-Load Rings – A Robot may Pre-Load up to three (3) Rings. Rings that are not Pre-Loaded have no
Score value for the Autonomous Period and they are placed into the Alliance’s Low Goal for the Human
Player to use during the Driver-Controlled Period. Rings cannot be loaded onto the Wobble Goal.

5) Op Mode – Drive Teams use their Driver Station Android device to select an Op Mode. Pressing the
Driver Station Init button is not required unless it is needed for the Robot to satisfy the Match start size
constraint.

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Drive Teams may position themselves anywhere In their Alliance Station. When the Robots and Drive Teams
are in position, the Human Player must also be In their Human Player Station and stay there for the remainder
of the Match.

Once the referees give the set-up complete signal:

1) Drive Teams may no longer touch their Robots until the conclusion of the Match.

2) Drive Teams may not touch their Driver Stations or Controllers until the Autonomous Period has ended,
except to initialize and/or start their Autonomous program using the Driver Station Android device
screen. Robots that require Autonomous program initialization to satisfy the Robot starting size
constraint must be initialized before referees give the set-up complete signal.

After the Robot set-up process is complete, field personnel will randomize the field into one of the three (3)
configurations. The pre-placed stacks of Rings will be adjusted to either zero (0), one (1), or four (4),
corresponding to the selected Target Zone Goal (A, B, or C). Excess Rings will be dropped into the respective
Alliance’s Low Goal.

4.5.2 Autonomous Period

The Match starts with a thirty-second Autonomous Period where Robots are operated via pre-programmed
instructions only. Teams are not allowed to control Robot behavior with the Driver Station or any other actions
during the Autonomous Period. The Driver Station is placed in a hands-off location during the Autonomous
Period so that it is evident that there is no human control of Robots. The only exception is to allow Drive Teams
to start their Robot with “init” and/or “start” commands issued on the Driver Station Android device. Teams
must use the built-in thirty-second timer.

Following a countdown by field personnel, the Autonomous Period begins. Drive Teams may issue Robot start
commands with their Driver Station Android device to run the Autonomous Op Mode selected during Pre-
Match setup. Failure to adhere to this procedure may subject the Team and/or Alliance to a Penalty as
specified in the game rules in section 4.6.2. Drive Teams are not required to start executing an Op Mode
during the Autonomous Period.

Illegally Scored Rings and Power Shot Targets earn points for the Alliance but also earn an offsetting Penalty
per rules <GS12> and <GS13>.

Autonomous points are awarded for the following achievements:

1) Wobble Goal Delivery to a Target Zone – At the End of the Period, every Wobble Goal that is
Completely In its Alliance Target Zone (as identified by the size of the Starter Stack) for the
corresponding Alliance earns fifteen (15) points.

2) Robot Navigating – Each Robot that is Parked at the End of the Period with any portion of the Robot
In the Launch Line earns five (5) points.

3) Tower Goal – Each Ring that enters the Low, Mid, or High Goal earns points for the Alliance
corresponding to the goal, regardless of which Alliance Robot Scores the Ring. Stuck Rings removed
from Inside a Tower Goal by the Human Player or referee count as Scored. Rings in Tower Goals are
Scored Live and recorded as Scored the moment the Rings are Completely In the Tower Goal, are not
in contact with a Robot or Human Player, and do not exit back out through the front of the Goal. Rings
Launched prior to the End of the Period are still eligible to be Scored.

a) Low Goal - Each Ring that is placed or Launched by a Robot into the Low Goal earns three (3)
points. The Scoring Robot’s location can be anywhere Inside the Playing Field.

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b) Mid Goal – Each Ring Launched into the Mid Goal by a Robot earns six (6) points. The Scoring
Robot must be Completely In the Launch Zone.

c) High Goal – Each Ring Launched into the High Goal by a Robot earns twelve (12) points. The
Scoring Robot must be Completely In the Launch Zone.

4) Power Shot – A Power Shot Target that is changed from Forward to Back by direct contact with a
Launched Ring earns points for the Alliance corresponding to the Power Shot Target. The Scoring
Robot must be Completely In the Launch Zone. Rings Launched prior to the End of the Period are still
eligible to be Scored.

a) Each Scored Power Shot Target earns fifteen (15) points for the corresponding Alliance.
b) Power Shot Targets can be Scored in any sequence.
c) Power Shot Targets are Scored at Rest.
d) A Power Shot Target knocked Down by an Opposing Alliance Robot by any means counts as
Scored. For example, if a Blue Alliance Robot knocks Down a Red Alliance Power Shot Target, the
Red Power Shot Target counts as Scored for the Red Alliance

The intent of the Mid Goal, High Goal and Power Shot Scoring achievements is for Robots to
be Completely In the Launch Zone. Small, Inconsequential Robot extension Outside the
Launch Zone while Launching a Ring is allowed.

4.5.3 Driver-Controlled Period

Directly following the end of the Autonomous Period, Drive Teams have five (5) seconds plus a "3-2-1-go"
countdown to prepare their Driver Stations for the start of the Driver-Controlled Period. On the countdown
word "go," the Driver-Controlled Period starts, and Drive Teams press their Driver Station start button to
resume playing the Match.

During the Driver-Controlled Period, Human Players are expected to return Rings to the Playing Field via
the Return Racks and reset Scored Power Shot Targets for their corresponding Alliance back to an un-
Scored state (i.e., Forward). Power Shot Targets that start the End Game already in the Back position are
not eligible to be counted as Scored during the End Game.

The Driver-Controlled Score is based on completing Tower Goal tasks as outlined below. Each Ring that
enters the Low, Mid, or High Goal earns points for the Alliance corresponding to the goal regardless of which
Alliance Robot Scores the Ring. Robots are allowed to Score Rings in any Tower Goal. Stuck Rings removed
from Inside a Tower Goal by the Human Player or referee count as Scored. Rings in Tower Goals are Scored
Live and recorded as Scored the moment the Rings are Completely In the Tower Goal, are not in contact with
a Robot or Human Player, and do not exit back out through the front of the Goal. Rings Launched prior to the
End of the Period are still eligible to be Scored.

Illegally Scored Rings and Power Shot Targets earn points for the Alliance but also earn an offsetting Penalty
per rules <GS12> and <GS13>.

Points are awarded for the following achievements:

1) Low Goal - Each Ring that is placed or Launched by a Robot into the Low Goal earns two (2) points for
the Alliance corresponding to the goal. The Scoring Robot’s location can be anywhere Inside the
Playing Field.

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2) Mid Goal - Each Ring Launched into the Mid Goal by a Robot into the Mid Goal earns four (4) points.
The Scoring Robot must be Completely In the Launch Zone.

3) High Goal - Each Ring Launched into the High Goal by a Robot into the High Goal earns six (6) points.
The Scoring Robot must be Completely In the Launch Zone.

The intent of the Tower Scoring achievements is for Robots to be Completely In the Launch
Zone to Score in the Mid and High Goals. Small, Inconsequential Robot extension Outside the
Launch Zone is allowed.

4.5.4 End Game

The last thirty seconds of the Driver-Controlled Period is called the End Game. Driver-Controlled Period
Scoring can still take place during the End Game. End Game tasks started and/or completed prior to the start
of the End Game will earn zero (0) points for those tasks.

Points are awarded for the following End Game achievements

1) Wobble Goal Delivery – At the start of the End Game, Wobble Goals In a Target Zone or not located
in the Launch Zone are eligible for the following achievements:

a) Start Line – A Wobble Goal In the Start Line for the corresponding Alliance at the End of the Match
earns five (5) points for the Alliance corresponding to the Wobble Goal. To earn the points, the
Wobble Goal must break the vertical plane of any side of the Start Line.
b) Drop Zone - A Wobble Goal Supported by the Drop Zone at the End of the Match earns twenty (20)
points for the Alliance corresponding to the goal. The Wobble Goal is not required to be Completely
Supported by its domed base (i.e., a tipped over Wobble Goal counts as Scored).

The intent of the Drop Zone achievement is that Robots Deliver a Wobble Goal without
damaging the floor outside the Playing Field. Robot designs for Delivering a Wobble Goal to a
Drop Zone should take into account that flooring may vary from competition to competition.
Flooring could be robust (e.g., carpet, foam tile, etc.) or easily damaged (e.g., polished wood
basketball floor).
2) Wobble Goal Rings – Each Ring Completely Supported by a Wobble Goal or another Ring Completely
Supported by the Wobble Goal at the End of the Period earns five (5) points for the goal’s Alliance. Any
Wobble Goal location and orientation are allowed for this achievement.

3) Power Shot – A Power Shot Target that is changed from Forward to Back by direct contact with a Ring
Launched from a Robot located Completely In the Launch Zone is Scored for the Alliance
corresponding to the Power Shot Target.
a) Each Scored Power Shot Target earns fifteen (15) points for the corresponding Alliance.
b) Power Shot Targets that start the End Game already Back are not eligible to be Scored. Human
Players have a 10 second grace period following the start of End Game to reset the Targets.
c) Power Shot Targets are allowed to be Scored in any sequence.
d) Power Shot Targets are Scored at Rest.
e) A Power Shot Target knocked Back by an Opposing Alliance Robot by any means counts as
Scored. For example, if a Blue Alliance Robot knocks Back a Red Alliance Power Shot Target, the
Red Power Shot Target counts as Scored for the Red Alliance.

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4.5.5 Post Match

After the Match, field personnel will finalize the Score. Referees will signal for the Drive Teams to enter the
Playing Field and retrieve their Robots. Drive Teams should return any Rings and/or Wobble Goals that are
Possessed by the Robot to the Playing Field. The Playing Field reset crew will set up the Playing Field for the
next Match.

4.5.6 Penalty Scoring

Penalty points are subtracted from the offending Alliance’s Score at the End of the Match. Minor Penalties
subtract ten (10) points per occurrence. Major Penalties subtract thirty (30) points per occurrence.

4.5.7 Flowchart of Match Play

The following figure shows the flow of the Match and the actions taken on the Driver’s Station Android
device.

4.6 Rules of Gameplay

Gameplay is restricted by the Safety rules (<S#>), the General rules (<G#>), and the Game-Specific rules
(<GS#>). Other rules to pay close attention to are the Robot rules, the inspection rules, and the tournament
rules defined in the Game Manual Part 1 – Traditional Events. Violation of rules may lead to Penalties,
Yellow Cards and/or Red Cards, a Disabled Robot, Disqualification of the offending Team and/or Alliance
from either a Match or the tournament. Rules apply to all periods of play unless specifically called out
otherwise. If rules are in conflict, Safety rules take precedence over all rules and Game-Specific rules take
precedence over General rules. The official FIRST Tech Challenge Question & Answer Forum rulings take
precedence over all information in the game manuals.

4.6.1 Safety Rules

<S1> Unsafe Robot or Playing Field Damage – If at any time the Robot operation is deemed unsafe or
has damaged the Playing Field or another Robot, by the determination of the referees, the offending Robot
may be Disabled, and the Team may be issued a Yellow Card. Re-inspection of the Robot is required before
it may play another Match. Damage that requires significant repair and/or delays subsequent Match play is
likely to escalate to a Red Card.

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<S2> Robot Extension Outside the Playing Field Perimeter – If any portion of the Robot contacts
anything Outside the Playing Field Perimeter, the Team will be issued a Yellow Card and it may be Disabled
immediately for the remainder of the Match, unless allowed by Game-Specific rule(s) listed in section 4.6.3.
See the game definitions in section 4.4 for a complete description of the Playing Field Perimeter.

The intent of this rule is not to Penalize an Alliance for Inadvertent, safe Robot extension
Outside the Playing Field Perimeter. Intentional Robot extension Outside the Playing Field is
not permitted, except as allowed by Game-Specific rules listed in section 4.6.3

<S3> Safety Gear – All members of the Drive Team are required to wear approved eye protection and
shoes with closed-toes and a closed-back. If any member of the Drive Team is not wearing these safety
items, the referee will issue a warning to the Team member(s) and if the situation is not remedied within
thirty seconds, the offending member(s) of the Drive Team must leave the Competition Area for the
remainder of the Match and may not be replaced by another Team member. Failure to comply with a
request to leave the Competition Area violates rule <G30>. Repeated Team member violations during the
tournament will escalate to a Team warning. Following the Team warning, subsequent violations by any
member of the Team will result in a Minor Penalty for the Alliance.

4.6.2 General Game Rules

<G1> Autonomous to Driver-Controlled Period Transition – At the conclusion of the Autonomous Period,
Robots will remain in a hands-off state. Field personnel will not enter the field and will not touch Robots on the
field during the Autonomous to Driver-Controlled transition. The scoring system display will provide visual and
audio cues for Drive Teams to pick up their Driver Stations. Drive Teams will have 5 seconds to pick up and
prepare their Driver Station. After the 5 seconds, there will be a “3-2-1 go” countdown and the Driver-
Controlled Period of the Match will begin.

<G2> Certifying the Score at Match End – Scores will be tracked by field personnel throughout the
Autonomous and Driver-Controlled Periods of the Match. At the End of the Match, the final Score will be
certified as quickly as possible. A change in state of a Game Element or Robot at the End of the Match after its
final Score is recorded will not change an already-recorded Score. Scoring Elements will not be recounted at
the End of the Match unless specified by a Game-Specific rule.

<G3> Forcing an Opponent to Break a Rule – The actions of an Alliance or their Robots shall not cause an
opposing Alliance or Robot to break a rule and thus incur Penalties. Any forced rule violations committed by
the affected Alliance shall be excused, and no Penalties will be assigned.

<G4> Robot Manipulation of Scoring Elements – Scoring Elements that are Controlled or Possessed by a
Robot are part of the Robot except when determining the location of the Robot or otherwise specified by a
Game-Specific rule.

For Example: If a Robot Possesses a Scoring Element, and only that Scoring
Element breaks the plane of a Scoring Area, the Robot does not receive points
for being In that Area.

<G5> Robot or Scoring Elements In Two or More Scoring Areas – Robots or Scoring Elements that are In
two or more Scoring Areas earn points only for the highest value achievement. If the achievement values are
equal, only one achievement counts as Scored. Exceptions to this general rule may be specified in the
Gameplay section (4.5) or in the Game-Specific rules.

<G6> Disabled Robot Eligibility - If a referee Disables a Robot, it will not be eligible to Score or earn points
for the remainder of the Match. A Disabled Robot (whether referee induced or failure) does not earn Penalties

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after becoming Disabled. Game-Specific rule(s) listed in section 4.6.3 take precedence over this general game
rule.

<G7> Playing Field Tolerances – Tournament provided Playing Field and Game Elements will start each
Match with tolerances that may vary by as much as +/-1.0 inch (25.4 mm). Teams must design their Robots
accordingly.

Playing Field and Game Elements are expected to be manufactured, assembled, and
set up using a high standard for dimensional and location accuracy. The intent of the
generous +/- 1.0 inch tolerance is to accommodate unintentional size and location
variations that may occur. The tolerance is not an excuse for intentional or imprecise
accuracy in construction or setup.

<G8> Match Replay – Matches are replayed at the discretion of the Head Referee only when Scoring was
likely to be affected by the failure of a non-Team supplied Game Element, or due to verified Wi-Fi
interference. For example, Matches may be replayed if a Game Element fails in a way that affects the ability to
score that Game Element.

Unexpected Robot behavior or misuse of Game Elements will not result in a Match replay. Team-
induced failures, such as low battery conditions, processor sleep time-
outs, Robot mechanical, electrical, software, communication failures, etc. are NOT valid justifications for
replaying a Match.

<G9> Inadvertent and Inconsequential - Robot actions that violate a rule may be ruled at the referee’s
discretion to be Inconsequential and Inadvertent, and will not be Penalized.

<G10> Scoring Elements in Contact with Robots – Scoring Elements in a Scoring Area that are in contact
with or Controlled by a Robot on the corresponding Alliance for the Scoring Area have zero Score value.
Game-Specific rule(s) listed in section 4.6.3 that allow Robot contact with Scoring Elements take precedence
over this general game rule.

<G11> Drive Team – Each Drive Team shall include up to two Drivers, one Coach, and one Human Player
(however only one Human Player may represent an Alliance). Electronic communications (cell phone, two-way
radio, Wi-Fi, Bluetooth, etc.) by Drive Team members after an Alliance has been called from the queue to the
Playing Field for its Match are not allowed. The first instance of violating this rule will result in a warning, with
any following instances during the tournament resulting in a Minor Penalty. Items that may be mistaken by a
casual observer as being in violation should not be brought to the Playing Field. The Driver Station is exempt
from this rule but must be used only for operating the Robot.

<G12> Playing Field Access - Team members cannot enter the Playing Field for any reason other than to
place/retrieve their Robots. While placing or retrieving their Robots, Teams may not measure, test, adjust, or
verify Scoring of Game Elements.

The consequences for violating this rule are:

a) Minor Penalty for violation of this rule during Match setup or following the End of the Match.

b) Major Penalty for violations of this rule that delay the start of the Match.

c) Violations of this rule outside of normal Match play result in a Yellow Card.

If a Team feels the Playing Field is not set up correctly, Teams should notify a
Referee or Field Technical Advisor prior to the start of the Match.

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<G13> Pre-Match Robot Placement – At the beginning of a Match, each Alliance Robot must be set up on the
Playing Field according to section 4.5.1 Pre-Match. After Robots are set up on the Playing Field, Drive Teams
must stand Inside their respective Alliance or Human Player Station.

a) During the Qualification Matches, the blue Alliance Robots are set up on the Playing Field first, unless
the red Alliance waives their right to set up on the Playing Field second.

b) During the Elimination Matches, the 3rd and 4th seeded Alliance Robots are set up on the Playing Field
first, unless the higher seeded Alliance waives their right to set up on the Playing Field second. Alliance
color doesn’t change the seeding of a Team during the Elimination Matches. If the 4th seed defeats the
1st seed in the Semi-Finals, they will still have to place their Robot on the field first in the finals because
their seeding will be lower than the 2nd or 3rd seed.

c) During Elimination Matches, 3 Team Alliances may only place Robots that are intended to compete in
that Match. Once two Robots are placed for the two Teams competing in a Match, the Alliance cannot
swap in the 3rd Alliance’s Robot for a Robot already placed.

d) Teams may implicitly waive their right to place their Robots on the Playing Field last by placing their
Robots on the Playing Field before or with the opposing Alliance. There is no need to tell the referees;
Teams waive their right by the act of placing their Robots on the Playing Field.

e) Teams that unnecessarily delay the beginning of a Match and/or field reset will incur a Minor Penalty for
each offense. Significant delays may escalate to a Major Penalty at the discretion of the head referee.

Drive Teams are expected to stage their Robots for a Match, and remove it from the Playing
Field afterwards, safely and swiftly. Drive Team efforts that either intentionally or unintentionally
delay the start of a Match or the Playing Field reset are not allowed. Examples include, but are
not limited to:

• Late arrival to the Playing Field.

• Robot maintenance once on the Playing Field.

<G14> Robot Starting Volume – Before the start of a Match, each Robot in its starting location must not
exceed a volume of 18 inches (457.2 mm) by 18 inches (457.2 mm) by 18 inches (457.2 mm) unless otherwise
allowed or restricted by Game-Specific rules detailed in section 4.6.3. A Pre-Loaded Scoring Element may
extend Outside the 18-inch (457.2 mm) cube volume constraint. In place of a delay of game Penalty, an offending
Robot will be removed from the Playing Field. The Team remains eligible to earn Ranking and TieBreaker
Points if a member of the Drive Team is in their Alliance Station during the Match.

After the start of a Match, the Robot may extend in any dimension unless restricted by the Game-Specific rules
detailed in section 4.6.3.

<G15> Robot Setup/Alignment – Teams may align their Robots during Pre-Match setup if they do so with
legal components that are part of the Robot and can be reset to be within the 18-inch (457.2 mm) cube starting
volume constraint. A single member of the Drive Team may also align the Robot by sight if they are next to the
Robot and their action does not delay the start of a Match. A Minor Penalty will be assessed to the Team for
violation of this rule.

<G16> Alliance and Human Player Stations – During a Match, the Drivers, Coaches, and Human Players
must remain In their Stations.

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a) The first instance of leaving the Station will result in a warning, with any following instances during the
Match resulting in a Minor Penalty. Leaving the Station for safety reasons will not result in a warning or
Penalty.

b) Opposing Alliances’ Drive Team members on the same side of the Field cannot distract and/or Interfere
with each other nor the off-field Scoring Elements. Violation of this rule will result in an immediate Major
Penalty and a possible Yellow Card.

c) Drive Teams may be anywhere in their respective Alliance and Human Player Stations. Human Players
should not obstruct the view of field personnel Scoring the Match.

The intent of this rule is to prevent Drive Team members from leaving their assigned Station
during a Match to gain a competitive advantage. For example, moving to another part of the
Field for better viewing, reaching into the Field, etc. Simply breaking the plane of the Station
during normal Match play is not a Penalty.

<G17> Post-Match Removal of Robots – Robots must be designed to permit easy removal of Game
Elements from the Robot after the Match. Robots should also be able to be removed from the Playing Field
without damaging the Playing Field. A Minor Penalty will be assessed for violations of this rule.

The intent of this rule is to have timely removal of Robots from the Playing Field following a
Match. Drive Teams are expected to stage their Robots for a Match, and remove them from
the Playing Field afterwards, safely and swiftly. Drive Team efforts that either intentionally or
unintentionally delay the start of a Match or the Playing Field reset are not allowed.
Examples include, but are not limited to:

1) Failing to exit the Playing Field once instructed by a Referee.

2) Failing to remove Driver Stations in a timely manner.

<G18> Starting Gameplay Early – Robots that start playing the game (Autonomous or Driver-Controlled
Period) prior to the start of a Match Period receive a Minor Penalty. Referees have the option of issuing a
Major Penalty in place of the Minor Penalty if the early start results in a competitive advantage for the offending
Alliance.

<G19> Late Start of the Autonomous Period – Teams participating in the Autonomous Period are expected
to press the ”start with 30-second” button on their Driver Station Android device and then place the Driver
Station in a hands-off location without delay when field personnel signal the start of the Autonomous Period. A
Minor Penalty is assessed for violating this rule. Referees have the option of issuing a Major Penalty in place of
the Minor Penalty if the late start results in a competitive advantage for the offending Alliance.

<G20> Parked at End of the Period – Robots must Park at the End of the Autonomous and Driver-Controlled
Periods. Drive Teams should make their best effort to stop gameplay immediately when the End of the Period
game sound begins. Robots that are not Parked at the conclusion of the game sound receive a Minor Penalty
and the actions of the Robot do not count towards their Alliance’s Score. Referees have the option of issuing a
Major Penalty in place of the Minor Penalty if the late stop results in a competitive advantage (other than
Scoring) for the offending Alliance.

Scoring Elements that were Launched (unless disallowed by Game-Specific rules) before the End of the Period
are eligible to be counted as Scored. Other Robot Scoring achievements that occur after the announced end of
the Autonomous Period and before the start of the Driver-Controlled Period do not count towards the Score for
the Autonomous or Driver-Controlled Periods.

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<G21> Robot Control During Autonomous Period - During the Autonomous Period, Drive Teams may not
directly or indirectly control or interact with Robots or Driver Stations. Early stopping of the Robot while running
its Autonomous code is not allowed, except in cases of personal or equipment safety. A Major Penalty will be
assessed for violating this rule.

<G22> Drive Team Contact with the Playing Field or Robot – During a Match, the Drive Team is prohibited
from making contact with the Playing Field, any Robot, or any Game Element (except for allowed Human Player
activities). The first instance of contact will result in a warning, with any following instances during the
tournament resulting in a Minor Penalty. Contact that affects Scoring and/or gameplay will result in issuance of
a Yellow Card at the discretion of the referees. Contact with the Playing Field, a Game Element, or a Robot for
safety reasons will not result in a warning or Penalty.

For example, a Game Element is Launched from a Robot on the Playing Field and it
Inadvertently hits a Team member in the Alliance Station and is deflected back onto
the field. The Team would not receive a Penalty because the Team member was
protecting him/herself (safety). However, if that same Game Element is caught and/or
directed to a specific location on the Playing Field, the Team may be issued a Penalty.

<G23> Drive Team Coach Driver Station Control – During the Driver-Controlled Period, Robots must be
remotely operated only by the Drivers using the Gamepads connected to the Team’s Driver Station and/or by
software running on the on-board Robot control system. The first instance of Coach controlling a Robot (for
example, operating a Gamepad) will result in a warning, with any following instances during the tournament
resulting in a Major Penalty. During the Driver-Controlled Period, Drive Team Coaches and/or Drivers are
allowed to hold the Team’s Driver Station Android device and interact with it to select an Op Mode, view
information displayed on the screen, and initialize, start, stop, and reset the Robot.

<G24> Robots Deliberately Detaching Parts – Robots may not deliberately detach parts during a Match or
leave mechanisms on the Playing Field unless permitted by a Game-Specific rule. Possessed or Controlled
Scoring Elements are not considered to be a part of the Robot for the purpose of this rule. The consequence of
deliberately detaching a part is a Minor Penalty if it does not Block an opposing Alliance Robot, Alliance-
specific Scoring Element or Scoring Area. If a deliberately detached component or mechanism affects
gameplay by any Robot, the offending Robot will receive a Major Penalty and will be issued a Yellow Card.
Robot parts that are released but remain connected by a tether are considered detached for the purposes of
this rule.

Tethered components that move independently of the main Robot are considered a
detached component and are illegal.

<G25> Robots Grasping Game Elements – Robots may not grab, grasp and/or attach to any Game Element,
Robot, or structure other than Scoring Elements, unless specifically allowed by Game-Specific rule(s) listed in
section 4.6.3. The first instance will result in a warning with any following violations during the tournament
resulting in a Major Penalty.

<G26> Destruction, Damage, Tipping, etc. – Robot actions aimed at the destruction, damage, tipping over, or
entanglement of Robots or Game Elements are not in the spirit of the FIRST Tech Challenge and are not
allowed unless permitted by Game-Specific rules. However, FIRST Tech Challenge games are highly
interactive. Robot-to-Robot contact and defensive gameplay should be expected. Some tipping, entanglement,
and damage may occur as a part of normal gameplay. If the tipping, entanglement, or damage is ruled to be
deliberate or chronic, the offending Team will receive a Major Penalty and a Yellow Card.

<G27> Removing Game Elements from the Playing Field – Robots may not deliberately remove Game
Elements from the Playing Field during a Match. Game Elements that Inadvertently fall Outside the Playing

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Field will be returned to the Playing Field by field personnel at the earliest safe and convenient opportunity at a
non-Scoring location approximately where it left the field. Game Elements removed from the Playing Field in an
attempt to Score are also not subject to this Penalty. Teams deliberately removing Game Elements from the
Playing Field will incur a Minor Penalty per Game Element removed from the Playing Field. Game-Specific
rules listed in section 4.6.3 that address the removal of specified Scoring Elements from the Playing Field take
precedence over this general game rule.

<G28> Pinning, Trapping, or Blocking Robots – A Robot may not cause an opposing Alliance Robot to
become Pinned, Trapped, or Blocked. If a referee determines this rule is violated, the offending Alliance will
receive a Minor Penalty for every five seconds that they are in violation. If a referee declares a Pinning,
Trapping, or Blocking violation during the Match, the offending Robot must immediately move away at least 3
feet (0.9 m), approximately 1.5 floor Tiles, from the Pinned, Trapped, or Blocked Robot.

A Robot cannot incur this type of Penalty during the Autonomous Period unless it is determined by the Referee
to be part of a deliberate strategy and will be penalized as described above. If the violation happens during the
Autonomous Period, the first action done by the offending Robot during the Driver-Controlled Period must be to
move away from the Pinned, Trapped, or Blocked Robot or a Minor Penalty will be assessed immediately and
again for every five-seconds that they are in violation. Game-Specific rule(s) listed in section 4.6.3 that further
define Pinning, Trapping, or Blocking take precedence over this general game rule.

The intent of this rule is that Drive Teams begin to immediately move their Robots away
and have a five second grace period to move the required distance. The grace period is
not permission to intentionally Block for up to five seconds.

<G29> Illegal Usage of Game Elements - Robots may not deliberately use Game Elements to ease or
amplify the difficulty of any Scoring or game activity. A Major Penalty will be assessed for violations of this rule.
Continued violations of this rule will escalate to Yellow Cards quickly.

<G30> Egregious Behavior – Egregious Robot or Team member behavior at the Playing Field, as determined
by the referees, will result in a Major Penalty and issuance of a Yellow Card and/or Red Card. Subsequent
violations will result in Team Disqualification from the tournament. Egregious behavior includes, but is not
limited to, repeated and/or flagrant violation of game rules, unsafe behavior or actions, and uncivil behavior
towards Drive Team, competition personnel, or event attendees.

4.6.3 Game-Specific Rules

<GS1> Robot extension outside the Playing Field Perimeter – Robots may safely extend outside the
Playing Field Perimeter for Scoring Rings in the Low Tower Goal (back wall) and during the End Game for
Scoring a Wobble Goal in the Drop Zone (front wall). All other extensions outside the Playing Field Perimeter
will be handled per rule <S2>.

<GS2> Human Player Station – The Human Player may change position Inside the Human Player Station
while actively collecting Rings, placing Rings into the Alliance’s Return Rack, and resetting Power Shot
Targets.

<GS3> Grasping Scoring Elements – Robots may grasp Rings and Wobble Goals.

<GS4> Human Player Ring Handling – The Human Player may introduce Rings Onto the Playing Field Floor
with the constraints listed below. After a referee issued warning, subsequent violations of these constraints
within the tournament result in a Minor Penalty per occurrence.

a) A Human Player may not introduce Rings into the Playing Field before the start of the Driver-Controlled
Period.

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b) Human Players may only introduce Rings into the Playing Field using their corresponding Alliance’s
Return Rack. Drive Teams may not bring tools or devices to the Playing Field for handling Rings.
Accommodations and exceptions for Human Players with disabilities or extenuating circumstances will
be made at the discretion of the event coordinator.

c) Storing a supply of Rings by a Human Player is not allowed during the Driver-Controlled Period. Rings
should be returned to the Playing Field as quickly as practical to prevent Alliances from gaining a
strategic advantage. Penalties will be assessed per Ring with additional Penalties per Ring for every
five seconds the violation continues.

d) The Human Player may not extend Inside the Playing Field Perimeter.

e) The Human Player is allowed to reach into the Tower Goal to retrieve stuck Rings when all Robots are
at least one (1) Tile away from the affected Tower Goal. A Disabled Robot in the vicinity does not
prevent Human Player retrieval of a stuck Ring.

f) The Human Player may hold more than one Ring at a time.

g) The Human Player may use a tournament provided tool to remove Rings that are stuck in the Return
Rack.

<GS5> Drive Teams Touching Robots or Driver Stations after Starter Stack Randomization – Drive
Teams are not allowed to touch or interact with their Robots or Driver Station once field personnel have begun
the randomization process. If this occurs, a Minor Penalty will be assessed, and the offending Robot is not
eligible to earn the Wobble Goal Delivery Score in the Autonomous Period. This Penalty only affects the
offending Team. The non-offending Alliance partner Robot remains eligible for the Wobble Goal Delivery
Scoring achievement.

<GS6> Control/Possession Limits of Scoring Elements –

1) Rings – A Robot may Control or Possess a maximum of three (3) Rings. A Launched Ring is
considered Controlled until it makes contact with something else (e.g. Playing Field Floor, net, Tower
Goal).

a) Plowing through any quantity of Rings is allowed but Herding or directing Rings above the allowed
limit to gain a strategic advantage (i.e., Scoring, accessibility, defense) is not allowed. The Penalty
for Controlling or Possessing more than the allowed quantity is an immediate Minor Penalty for
each Ring above the limit plus an additional Minor Penalty per Ring in excess of the limit for each 5-
second interval that this situation continues. An additional Minor Penalty will be assessed for each
Ring that is Scored while a Robot Controls or Possesses more than the allowed quantity. Continued
violation of this rule will escalate to Yellow Cards quickly.

b) Controlling or Possessing a Ring by a Robot before the Ring has been Supported by the Playing
Field Floor will earn a Minor Penalty for each occurrence. Strategies for Controlling Rings that deny
all access by other Robots are not allowed. Violation of this Rule will escalate to a Major Penalty
and potential Yellow Card on reoccurrence during the competition.

c) Rings Supported by a Wobble Goal are exempt from the Control/Possession Limit.

Rings that may become Possessed Inadvertently still earn a Penalty. Teams should design
their Robots to minimize the possibility of accidently Possessing a stray Ring.

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2) Wobble Goals - A Robot may Control or Possess a maximum of one (1) Wobble Goal. Inconsequential
Control of Wobble Goals above the limit is allowed. The Penalty for Controlling or Possessing more
than the allowed quantity is an immediate Minor Penalty for each Wobble Goal above the limit plus an
additional Minor Penalty per Wobble Goal for each five second interval that this situation continues. A
Major Penalty will be assessed for each Wobble Goal in excess of the limit that is Scored while a Robot
Controls or Possesses more than the allowed quantity. Continued violation of this rule will escalate to
Yellow Cards quickly.

<GS7> Launching of Game Elements –

1) Rings – Robots may Launch Rings during any Match Period. Any Ring Launched over a Playing Field
Wall that is not the Tower Goal Playing Field Wall will receive a Minor Penalty per Ring.

The intent of this rule is not to Penalize Inadvertent Launching of Rings over the Tower
while attempting to Score.

2) Wobble Goals – Launching Wobble Goals is not allowed. A Major Penalty will be assessed for
violating this rule and the Wobble Goal will not earn points for the period (Autonomous or Driver-
Controlled) when the violation occurred.

<GS8> Autonomous Interference - Robots may not Interfere with the opposing Alliance's Scoring attempts or
with the opposing Alliance’s Starter Stack Area during the Autonomous Period. A Major Penalty will be
assessed for each occurrence.

<GS9> Wobble Goal Constraints -

A Major Penalty will be assessed for each of the following circumstances:

a) Robots may not Interfere with or Control an opposing Alliance's Wobble Goal that is Completely In any
of its corresponding Alliance's Target Zones.
b) Robots are not allowed to De-score an opposing Alliance's Wobble Goal during the End Game.
c) Robots are not allowed to Block access to an opposing Alliance's Wobble Goal during the End Game.
d) Robots may not Interfere with an opposing Alliance's attempt to place a Wobble Goal in the Drop
Zone when the opposing Alliance's Robot is within one (1) Tile of the Front Wall during the End Game.

A Minor Penalty will be assessed for each of the following circumstances:

e) Robots are not allowed to De-score Rings from an opposing Alliance's Wobble Goal during the End
Game. A Penalty will be applied for each Ring that is De-scored.
f) Robots may not place Rings onto Wobble Goals except during the End Game. A Penalty will be
assessed for each Ring. Strategies aimed at hoarding Rings prior to End Game will be addressed per
Rule <G30>.

Inconsequential contact with an opposing Alliance's Wobble Goal will not be Penalized.

<GS10> Ring Interference - A Robot may not interfere with an opposing Alliance’s Launched Ring that is at
least 18 inches (45.7 cm) above the Playing Field Floor and was Launched with the intent of Scoring. A Major
Penalty will be assessed for each occurrence. Continued violations will escalate to Yellow Cards quickly.

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<GS11> Tower Goal Interference - A Robot may not prevent access to an opposing Alliance’s Tower Low
Goal. An immediate Major Penalty will be assessed for each occurrence. Continued violations will escalate to a
Yellow Card quickly.

The intent of this rule is to prevent goaltending in front of the Low Goal

<GS12> Illegal Tower Goal Scoring – A Robot Outside the Launch Zone that places or Launches a Ring into
a Mid or High Tower Goal receives a Major Penalty per Ring.

<GS13> Illegal Power Shot Scoring – Power Shot Targets may only be Scored by direct contact with a Ring
Launched by a Robot Completely In the Launch Zone. A Robot Outside the Launch Zone that Scores a Power
Shot Target by its actions (e.g. Launching a Ring, contact with the Power Shot assembly, etc.) or Completely
In the Launch Zone and Scores a Power Shot Target through indirect contact (e.g. Rings contacting Power
Shot assembly, etc.) is assessed a Major Penalty per Scored Power Shot Target.

<GS14> De-scoring - Robots may not cause (directly or indirectly) an Opposing Alliance's Power Shot
Targets to move from a Back to a Forward state. A double Major Penalty will be assessed for each Power
Shot Target that is de-scored.

4.7 Scoring Summary

The following table shows the possible Scoring achievements and their point values. The table is a quick
reference guide and not a substitute for a thorough understanding of the game manual.
Driver- End
Autonomous
Scoring Achievement Controlled Game Reference When Scored
Points
Points Points
Wobble Goals Delivered (each)
• Target Zone 15 - - 4.5.2.1
End of Period
• Start Line - - 5 4.5.4.1
• Drop Zone - - 20
Robot Navigating (each) 5 - - 4.5.2.2 End of Period
Rings Scored In Tower Goal (each)
• Low 3 2 4.5.2.3
Scored Live
• Mid 6 4 4.5.3
• High 12 6
Power Shot
• Target moved from Forward to 15 - 15 4.5.2.4 Scored at Rest
Back (each) 4.5.4.3
Wobble Goal Rings (each) - - 5 4.5.4.2 End of Period

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4.8 Rule Summary

The following table shows the possible rule violations and their consequences. The table is a quick
reference guide and not a substitute for a thorough understanding of the complete rule descriptions in
section 4.6.

Warning

Penalty
Penalty
Disable

Issued
Major
Minor

Card
Rule # Rule Consequence

Safety Rules
Disable if unsafe operation is
Unsafe Robot or likely to persist. Optional
YC*
<S1> Damage to the Yellow Card. Significant D*
RC*
Playing Field. damage and/or delays may
escalate to Red Card.
Contact Outside Immediate Yellow Card and
<S2> the Playing Optional Disable unless D* YC
Field. allowed by rule.
Warning and if not resolved
Per
within 30 seconds, the
Drive Team occurrence
offending member(s) of the
<S3> missing safety WT+ following
Drive Team must leave the
gear. Team
Competition Area and may
Warning
not be replaced.
General Rules – Further definitions, no Penalties earned
Autonomous to
Driver-
<G1>
Controlled
Period transition
Certifying the
<G2> Score at End of
Match
Forcing an
<G3> opponent to
break a rule
Scoring
Elements that
<G4>
are part of the
Robot
Scoring
<G5> Elements in two
or more areas
Disabled Robot
<G6>
eligibility
Playing Field
<G7>
Tolerances
<G8> Match Replay
Inadvertent and
<G9>
Inconsequential
Scoring Points are not earned for any
Elements in Scoring Elements in a Scoring
<G10>
contact with Area in contact with Robots of
Robots. the corresponding Alliance.

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Warning

Penalty
Penalty
Disable

Issued
Major
Minor

Card
Rule # Rule Consequence

General Rules – Pre-match Penalties

Drive Team
using disallowed Warning followed by a Minor
<G11> WT 1x
electronic Penalty.
communication
Measure, test,
Minor Penalty for pre-Match
or adjust Game
or post-Match violations.
Elements.
<G12> Major Penalty if delay start of 1x 1x YC
Playing Field
Match. Yellow Card if outside
inspection to
of normal Match play.
determine Score
Pre-Match
Minor Penalty if Teams delay
<G13> Robot 1x 1x*
the start of a Match.
placement.
Robot starting Robot is removed from the
<G14>
volume. Playing Field.
Robot setup
alignment Minor Penalty for each
<G15> 1x
devices/Match offense.
Delay.
Drive Team Warning for the first instance
W 1x
member(s) with any following instances
<G16>a leaving the resulting in a Minor Penalty.
Alliance Station.

Drive Teams
distracting
and/or
Immediate Major Penalty and
interfering with
<G16>b a possible Yellow Card. 1x YC*
each other or
the off-Field
Scoring
Elements.
Delay caused
by the removal
of Robots from
A Minor Penalty will be
<G17> the Playing 1x
assessed.
Field and Game
Elements from
Robots.
General Rules – Gameplay Penalties
Minor Penalty with the option
Starting of a Major Penalty if the early
<G18> Gameplay start results in a competitive 1x 1x*
Early. advantage for the offending
Alliance.

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Warning

Penalty
Penalty
Disable

Issued
Major
Minor

Card
Rule # Rule Consequence

Minor Penalty with the option

Late Start of the of a Major Penalty if the late
<G19> Autonomous start results in a competitive 1x 1x*
Period. advantage for the offending
Alliance.
Minor Penalty and the actions
of the Robot that occur after
the end of gameplay do not
Robot is not
count towards their Alliance’s
<G20> Parked at the end 1x 1x*
Score. Major Penalty if the late
of period.
stop results in a competitive
advantage for the offending
Alliance.

Robot control
during
Autonomous
<G21> Period / Early Major Penalty. 1x
stopping of the
Autonomous
code.
Warning for the first instance
Drive Team contact with any following instances
with the Playing resulting in a Minor Penalty.
<G22> WT 1x YC*
Field, Game Optional Yellow Card if contact
Element, or Robot. affects Scoring and/or
gameplay.
Drive Team Warning for the first instance
<G23> Coach Driver with any following instances WT 1x
Station control. resulting in a Major Penalty.
Robots Minor Penalty. Major Penalty
<G24> deliberately and a Yellow Card if it affects 1x 1x YC
detaching parts. gameplay.
Robots illegally Warning for the first instance
<G25> grasping Game with any following instances WT 1x
Elements. resulting in a Major Penalty.
Deliberate or chronic
Destruction,
violations of this rule will
<G26> damage, 1x YC
receive a Major Penalty and a
tipping, etc.
Yellow Card.
Deliberately
removing Game Minor Penalty per Game
<G27> Elements from Element deliberately removed 1x
the Playing from the Playing Field.
Field.

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Warning

Penalty
Penalty
Disable

Issued
Major
Minor

Card
Rule # Rule Consequence

Pinning,
Trapping, or
Blocking for
Minor Penalty for every five
more than 5-
<G28> seconds the Robot violates 1x+
seconds in the
this rule.
Driver-
Controlled
Period.
Illegal Use of Major Penalty will be
Game Elements assessed with any following
<G29> 1x YC
to ease or instances resulting in a Yellow
amplify Scoring. Card.
Major Penalty plus a Yellow
and/or Red Card. Possible
Egregious Match Disqualification. YC RC
<G30> 1x
behavior. Subsequent violations result DQ
in Team Disqualification for
the tournament.
Game-Specific Rules – Further definitions, no Penalties earned
Robot extension
<GS1> outside Playing
Field.
Human Player
<GS2> Station
movement.
Grasping
<GS3> Scoring
Elements.
Game-Specific Rules – Gameplay Penalties
Warning followed by a Minor
<GS4> Human Player Ring
Penalty per occurrence for WT 1x
Handling.
violating constraints.

Drive Teams
A Minor Penalty will be
touching Robots or
assessed, and the affected
<GS5> Driver Stations 1x
Robot is not eligible to earn the
after
Wobble Goal Delivery Score.
Randomization.

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Warning

Penalty
Penalty
Disable

Issued
Major
Minor

Card
Rule # Rule Consequence

a) Immediate Minor Penalty

per excess Ring plus a Minor
Penalty for each excess Ring
every five seconds. Additional
Minor Penalty for each Ring
Scored while in violation.
Escalates to a Yellow Card
quickly.
<GS6>1 Control/Possession 1x+ YC*
1x
Limits for Rings. b) Minor Penalty for Controlling
or Possessing a Ring before it
has been Supported by the
Playing Field Floor. Escalates
to a Major Penalty and
potential Yellow Card on
reoccurrence during the
competition.

a) Minor Penalty per excess

Wobble Goal plus a Minor
Penalty for each excess
Control/Possession Wobble Goal every five
<GS6>2 Limits for Wobble seconds. 1x+ 1x YC*
Goals.
b) Major Penalty for each
Wobble Goal Scored while in
violation. Escalates to a
Yellow Card quickly.

1x plus no
1) Launching Ring over front or Score per
<GS7> Launching Game side Playing Field Wall. 1x per Ring Wobble
Elements
Goal for
2) Launching Wobble Goal.
that period

<GS8> Autonomous A Major Penalty will be

1x
Period Interference assessed for each occurrence.

a) – d) A Major Penalty will be

assessed for each occurrence.
<GS9> Wobble Goal
Constraints 1x 1x
e) - f) A Minor Penalty will be
assessed for each occurrence.

A Major Penalty for each

<GS10> Ring Interference interfered Ring, escalating to 1x YC
Yellow Cards quickly.

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Warning

Penalty
Penalty
Disable

Issued
Major
Minor

Card
Rule # Rule Consequence

Immediate Major Penalty,

<GS11> Tower Goal
escalating to a Yellow Card 1x YC
Interference
quickly.

<GS12> Illegal Tower Goal

Major Penalty per Ring. 1x
Scoring

<GS13> Illegal Power Shot Major Penalty per Power Shot

1x
Scoring Target

Table Key
W: Warning WT: Tournament Warning
D: Robot Disabled 1x: Penalty at single cost
YC: Yellow Card issued 1x+: Penalty at single cost every 5 seconds
RC: Red Card issued 2x: Penalty at double cost
DQ: Disqualification * indicates optional

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Appendix A – Resources

Game Forum Q&A

https://ftcforum.firstinspires.org/
Anyone may view questions and answers within the FIRST® Tech Challenge game Q&A forum without a
password. To submit a new question, you must have a unique Q&A system username and password for your
team.

FIRST Tech Challenge Game Manuals

Part 1 and 2 - https://www.firstinspires.org/resource-library/ftc/game-and-season-info

FIRST Headquarters Pre-Event Support

Phone: 603-666-3906
Mon – Fri
8:30am – 5:00pm
Email: [email protected]

FIRST Websites
FIRST homepage – www.firstinspires.org
FIRST Tech Challenge Page – For everything FIRST Tech Challenge.
FIRST Tech Challenge Event Schedule – Find FIRST Tech Challenge events in your area.

FIRST Tech Challenge Social Media

FIRST Tech Challenge Twitter Feed - If you are on Twitter, follow the FIRST Tech Challenge Twitter feed for
news updates.
FIRST Tech Challenge Facebook page - If you are on Facebook, follow the FIRST Tech Challenge page for news
updates.
FIRST Tech Challenge YouTube Channel – Contains training videos, game animations, news clips, and more.
FIRST Tech Challenge Blog – Weekly articles for the FIRST Tech Challenge community, including outstanding
volunteer recognition!
FIRST Tech Challenge Team Email Blasts – contain the most recent FIRST Tech Challenge news for teams.

Feedback
We strive to create support materials that are the best they can be. If you have feedback about this manual, please email
[email protected]. Thank you!

Appendix A – Resources Revision 1: 8/24/2020

 FIRST® Tech Challenge Game Manual Part 2 – Traditional Events | 34

Appendix B – Playing Field Details

B-1 Tower Goals

B-2 Tower Goal Dimensions

Appendix B – Playing Field Details Revision 1.2: 2/3/2021

 FIRST® Tech Challenge Game Manual Part 2 | 35

B-3 Power Shot Dimensions

B-4 Playing Field Tape Dimensions

Note: These dimensions are approximate. Refer to the Set-up Guide for exact placement. In general, the tape
runs along the tabs of the Tile and the tape square is centered along one side of the Tile.

Appendix B – Playing Field Details Revision 1.2: 2/3/2021

 FIRST® Tech Challenge Game Manual Part 2 | 36

B-5 Target Zone Goal Dimensions

Appendix B – Playing Field Details Revision 1.2: 2/3/2021

 FIRST® Tech Challenge Game Manual Part 2 – Traditional Events | 37

Appendix C – Scoring Elements

C-1 Wobble Goal

C-2 Ring

Appendix C – Scoring Elements Revision 1.1: 9/29/2020

 FIRST® Tech Challenge Game Manual Part 2 – Traditional Events | 38

Appendix D – Starter Stack Randomization

D-1 Starter Stack Setup

Note: During setup, the Rings are centered on the tape squares

Appendix D – Starter Stack Randomization Revision 1: 8/24/2020

 FIRST® Tech Challenge Game Manual Part 2 – Traditional Events | 39

Appendix E – Wobble Goal Ring Scoring Examples

E-1 Wobble Goal Ring Scoring Examples

Appendix E – Scoring Examples Revision 1: 8/24/2020

 FIRST® Tech Challenge Game Manual Part 2 – Traditional Events | 40

Appendix F – Navigation Images

F-1 Navigation Image Locations

Appendix F – Navigation Images Revision 1.1: 9/29/2020