Examples of compliant and non-compliant extensions are shown in Figure 7‑2. ROBOT A violates this rule for having an extension that is too long, while ROBOTS B, C, and D do not violate this rule.

Figure 7‑2 Examples of compliance and non-compliance of this rule (examples A and B are side views, examples C and D are top views)

The intent of this rule is to prevent piling on a punitive response to a ROBOT that’s already experienced hardship and not leveraging that hardship for gain. Examples for this rule include the following:

A.            a physical device on a team’s ROBOT, whose purpose is to restrain their CORAL scoring arm from extending beyond the limit, breaks after a collision with another ROBOT. Provided the ROBOT does not use the now-too-long extension to score SCORING ELEMENTS, no violation is assigned.

B.            a vertical structural member of a ROBOT breaks at the bottom and rotates out such that it breaches the limit imposed. The ROBOT then parks such that its extension blocks opponent ROBOTS from reaching their PROCESSOR. A MAJOR FOUL is issued.

Teams should expect to have to demonstrate a ROBOT’S ability to constrain itself per above during inspection. Constraints may be implemented with either hardware or software.

See section 7.4.3 ROBOT for height and extension restrictions for various areas of the FIELD.

The intent of this rule is to provide the Head REFEREES the flexibility necessary to keep the event running smoothly, as well as keep the safety of all the participants as the highest priority. Behaviors that put the FIRST community or integrity of the game at risk are not allowed and are violations of this rule. Those behaviors include, but are not limited to the list below:

A.      inappropriate behavior as outlined in the blue box of G201,

B.      jumping over the guardrail,

C.      pushing past the FIELD reset person blocking an open gate to get on the FIELD,

D.      reaching into the FIELD and grabbing a ROBOT during a MATCH,

E.      PINNING in excess of 15 seconds,

F.      exploiting the 3-second window after a MATCH described in section 6.5 Scoring to avoid rule violations (e.g. triggering an over-extension that enables CAGE points or using a ROBOT’S residual energy to impact an opponent ROBOT on their BARGE),

G.     triggering scoring sensors or otherwise interfering with FMS or FIELD operation,

H.     climbing on the BARGE, and

I.        throwing an ALGAE directly at an opponent ROBOT

J.      deliberately, running an AUTO to disrupt the opponent ALLIANCE’S CAGES.

K.      deliberately, trying to disrupt multiple opponent ALLIANCE’S CAGES during TELEOP.

The Head REFEREE may assign a YELLOW or RED CARD for a single instance of a rule violation such as the examples given in items above, or for multiple instances of any single rule violation. Teams should be aware that any rule in this manual could escalate to a YELLOW or RED CARD. The Head REFEREE has final authority on all rules and violations at an event.

Teams should be ready to show INSPECTORS documentation of FMV for any COMPONENTS that appear to be in the range of the $600 USD limit.

The Analog Devices IMU MXP Breakout Board, P/N ADIS16448, does not have a published FMV. This device is considered to comply with this rule regardless of its true FMV.

The FMV of a COTS item is its price defined by a VENDOR for the part or an identical functional replacement. This price must be generally available to all FIRST Robotics Competition teams throughout the build and competition season (i.e. short-term sale prices or coupons do not reflect FMV), however teams are only expected to make a good faith effort at determining the item price and are not expected to monitor prices of ROBOT items throughout the season. The FMV is the cost of the item itself and does not include any duties, taxes, tariffs, shipping, or other costs that may vary by locality.

The FMV of COTS software is the price, set by the VENDOR, to license the software (or piece of the software) that runs on the ROBOT for the period from Kickoff to the end of the FIRST Championship. The FMV of software licensed free-of-cost, including through the Virtual KOP, for use on the ROBOT is $0.

The FMV of FABRICATED parts is the value of the material and/or labor, except for labor provided by team members (including sponsor employees who are members of the team), members of other teams, and/or event provided machine shops. Material costs are accounted for as the cost of any purchasable quantity that can be used to make the individual part (i.e. the purchasable raw material is larger than the FABRICATED part).

Example 1: A team orders a custom bracket made by a company to the team's specification. The company’s material cost and normally charged labor rate apply.

Example 2: A team receives a donated sensor. The company would normally sell this item for $450 USD, which is therefore its FMV.

Example 3: A team purchases titanium tube stock for $400 USD and has it machined by a local machine shop. The machine shop is not considered a team sponsor but donates 2 hours of expended labor anyway. The team must include the estimated normal cost of the labor as if it were paid to the machine shop and add it to the $400 USD.

Example 4: A team purchases titanium tube stock for $400 USD and has it machined by a local machine shop that is a recognized sponsor of the team. If the machinists are considered members of the team, their labor costs do not apply. The total applicable cost for the part would be $400 USD.

It is in the best interests of the teams and FIRST to form relationships with as many organizations as possible. Recognizing supporting companies as sponsors of, and members in, the team is encouraged, even if the involvement of the sponsor is solely through the donation of fabrication labor.

Example 5: A team purchases titanium tube stock for $400 USD and has it machined by another team. The total applicable cost for the part would be $400 USD.

Example 6: A team purchases a widget at a garage sale or online auction for $300, but it’s available for sale from a VENDOR for $700. The FMV is $700.

If a COTS item is part of a modular system that can be assembled in several possible configurations, then each individual module must fit within the price constraints defined in this rule.

If the modules are designed to assemble into a single configuration, and the assembly is functional in only that configuration, then the total cost of the complete assembly including all modules must fit within the price constraints defined in this rule.

In summary, if a VENDOR sells a system or a kit, a team must use the entire system/kit FMV and not the value of its COMPONENT pieces.

Example 7: VENDOR A sells a gearbox that can be used with a number of different gear sets, and can mate with 2 different motors they sell. A team purchases the gearbox, a gear set, and a motor, then assembles them together. Each part is treated separately for the purpose of determining FMV since the purchased pieces can each be used in various configurations.

Example 8: VENDOR B sells a robotic arm assembly that a team wants to use. However, it costs $630 USD, so they cannot use it. The VENDOR sells the “hand”, “wrist”, and “arm” as separate assemblies, for $210 USD each. A team wishes to purchase the 3 items separately, then reassemble them. This would not be legal, as they are really buying and using the entire assembly, which has a Fair Market Value of $630 USD.

Example 9: VENDOR C sells a set of wheels or wheel modules that are often used in groups of 4. The wheels or modules can be used in other quantities or configurations. A team purchases 4 and uses them in the most common configuration. Each part is treated separately for the purpose of determining FMV, since the purchased pieces can be used in various configurations.

A PASSIVE CONDUCTOR is any device or circuit whose capability is limited to the conduction and/or static regulation of the electrical energy applied to it (e.g. wire, splices, connectors, printed wiring board, etc.).

An ACTIVE DEVICE is any device capable of dynamically controlling and/or converting a source of electrical energy by the application of external electrical stimulus.

The “network of PASSIVE CONDUCTORS” only applies to the pins being used for PWM output to motors or servos. This means that connecting an ACTIVE DEVICE, such as a sensor to 1 MXP pin does not prevent other MXP pins from being used in accordance with B.

Please note that the Driver Station Software is a separate application from the Dashboard. The Driver Station Software may not be modified, while teams are expected to customize their Dashboard code.

Please note that while repairs are permitted, the allowance is independent of any manufacturer’s warranty. Teams make repairs at their own risk and should assume that any warranty or return options are forfeited. Be aware that diagnosing and repairing COMPONENTS such as these can be difficult.

For more information about modification O, please see this OM5P-AC Radio Modification article.

Motor Name	Part Numbers Available
AndyMark 9015	am-0912	AndyMark 9015
AndyMark NeveRest	am-3104
AndyMark PG	am-2161 (alt. PN am-2765)	am-2194 (alt. PN am-2766)
AndyMark RedLine Motor	am-3775	am-3775a
AndyMark Snow Blower Motor	am-2235	am-2235a
Banebots	am-3830 M7-RS775-18 RS775WC-8514	M5 – RS550-12 RS550VC-7527 RS550
CIM	FR801-001 M4-R0062-12 AM802-001A 217-2000 PM25R-44F-1005	PM25R-45F-1004 PM25R-45F-1003 PMR25R-45F-1003 PMR25R-44F-1005 am-0255
CTR Electronics Minion	24-777378	WCP-1691
CTR Electronics/VEX Robotics Falcon 500	217-6515 am-6515	19-708850 am-6515_Short
Current/former KOP automotive motors	Denso AE235100-0160 Denso 5-163800-RC1 Denso 262100-3030	Denso 262100-3040 Bosch 6 004 RA3 194-06 Johnson Electric JE-PLG-149 Johnson Electric JE-PLG-410
Nidec Dynamo BLDC Motor	am-3740	DM3012-1063
Playing with Fusion Venom	BDC-10001
REV Robotics HD Hex	REV-41-1291
REV Robotics NEO Brushless	REV-21-1650 (v1.0 or v1.1)	am-4258 am-4258a
REV Robotics NEO 550	REV-21-1651	am-4259
REV Robotics NEO Vortex	REV-21-1652	am-5275
VEX BAG	217-3351
VEX Mini-CIM	217-3371
West Coast Products Kraken x44	WCP-0941
West Coast Products Kraken x60	WCP-0940	am-5274
West Coast Products RS775 Pro	217-4347
Fans, no greater than 120mm (nominal) size and rated electrical input power no greater than 10 watts (W) continuous duty at 12 volts (VDC)
Hard drive motors part of a legal COTS computing device
Factory installed vibration and autofocus motors resident in COTS computing devices (e.g. rumble motor in a smartphone).
PWM COTS rotational servos with stall current ≤ 4A and mechanical output power ≤ 8W at 6V. PWM COTS linear servos with max stall current ≤ 1A at 6V.
Motors integral to a COTS sensor (e.g. LIDAR, scanning sonar, etc.), provided the device is not modified except to facilitate mounting
1 compressor compliant with R806 and used to compress air for the ROBOT’S pneumatic system
COTS linear actuators, electrical solenoid actuators, or electromagnets rated for 12V and wired downstream of a breaker 20A or less. Electrical solenoid actuators or electromagnets used at 24V must be rated for 24V.

For servos, note that the roboRIO is limited to a max current output of 2.2A on the 6V rail (12.4W of electrical input power). Teams should make sure that their total servo power usage remains below this limit at all times.

Servo mechanical output power is approximated by the following formula (using 6V data reported by manufacturer): Mechanical Output Power (in W) = 0.25 x (Stall Torque in N-m) x (No Load Speed in rad/s). This calculator from the FIRST Tech Challenge documentation can be used to help calculate output power from inputs of various units.

Given the extensive amount of motors allowed on the ROBOT, teams are encouraged to consider the total power available from the ROBOT battery during the design and build of the ROBOT. Drawing large amounts of current from many motors at the same time could lead to drops in ROBOT battery voltage that may result in tripping the main breaker or trigger the brownout protection of the roboRIO. For more information about the roboRIO brownout protection and measuring current draw using the PDP/PDH, see roboRIO Brownout and Understanding Current Draw.

AndyMark PG Gearmotors are sold with labeling based on the entire assembly. Assemblies labeled am-3651 through am-3656 contain legal motors specified in Table 8‑1. These motors may be used with or without the provided gearbox.

If a ROBOT is designed as intended and each side is pushed up against a vertical wall (in STARTING CONFIGURATION and with BUMPERS removed), only the ROBOT PERIMETER (or minor protrusions) will be in contact with the wall.

The allowance for minor protrusions in this rule is intended to allow protrusions that are both minor in extension from the ROBOT PERIMETER and cross-sectional area.

If a ROBOT uses interchangeable MECHANISMS per I103, Teams should be prepared to show compliance with this rule and R105 in all configurations.

As a guideline, reasonable flags are less than 3 ft. by 5 ft. (~91 cm by 152 cm) in size and weigh less than 2 lbs. (~907g). Reasonable flagpoles may not be more than 8 ft. (~243 cm) long and weigh less than 3 lbs. (~1360g).

It is recommended that all COMPONENTS in the high-pressure pneumatic circuit upstream from the regulator be rated for at least 115 psi (~793 kPa, 7.9 Bar) working pressure.

Hard parts include any items which are likely to cause damage to the cloth or padding of other BUMPERS such as nuts and bolts, cable ties, hard plastics, etc.

Slip rings containing mercury are prohibited per R203.

"Nut and bolt style" refers to any style battery terminal where the connector is secured to the battery using a threaded fastener.

Examples of batteries which meet these criteria include:

A.      Enersys (P/N NP18-12, NP18-12B, NP18-12BFR),

B.      MK Battery (P/N ES17-12),

C.      Battery Mart (P/N SLA-12V18),

D.      Sigma (P/N SP12-18),

E.      Universal Battery (P/N UB12180),

F.      Power Patrol (P/N SLA1116),

G.     Werker Battery (P/N WKA12-18NB),

H.     Power Sonic (P/N PS-12180NB),

I.        Yuasa (P/N NP18-12B),

J.      Panasonic (P/N LC-RD-1217),

K.      Interstate Batteries (P/N BSL1116), and

L.      Duracell Ultra Battery (P/N DURA12-18NB).

Teams should be aware that they may be asked to provide documentation of the specifications of any battery not listed above.

Batteries should be charged in accordance with manufacturer’s specification. (Please see the FIRST Safety Manual for additional information.)