2024-2025 FIRST® Tech Challenge

INTO THE DEEP

Competition Manual
INTO THE DEEP
Competition Manual

Contents
1 Introduction................................................................................................................................................ 5
1.1 About FIRST®...................................................................................................................................... 5
1.2 FIRST® Tech Challenge...................................................................................................................... 5
Gracious Professionalism®, a FIRST Credo ................................................................................................ 5
1.3 Coopertition® ...................................................................................................................................... 6
1.4 Spirit of Volunteering ......................................................................................................................... 7
1.5 Accessibility and Inclusion................................................................................................................ 7
1.6 This Document & Its Conventions .................................................................................................... 7
1.7 Translations & Other Versions .......................................................................................................... 9
1.8 Team Updates .................................................................................................................................... 9
1.9 Question and Answer System ......................................................................................................... 10
2 FIRST Season Overview .......................................................................................................................... 11
3 Competition Eligibility and Inspection (I) ............................................................................................... 13
4 Advancement ........................................................................................................................................... 15
5 Event Rules (E) ......................................................................................................................................... 17
5.1 General Rules ................................................................................................................................... 17
5.2 Machine Shops and Host Team Build Spaces .............................................................................. 21
5.3 Wireless Rules.................................................................................................................................. 21
5.4 Load-In .............................................................................................................................................. 21
5.5 Pits .................................................................................................................................................... 21
5.6 ROBOT Carts .................................................................................................................................... 23
5.7 Ceremonies ...................................................................................................................................... 23
5.8 In the Stands .................................................................................................................................... 24
6 Judged Awards ........................................................................................................................................ 25
7 Game Sponsor Recognition .................................................................................................................... 27
8 Game Overview ........................................................................................................................................ 29
9 ARENA ...................................................................................................................................................... 31
10 Game Details........................................................................................................................................ 33
11 Game Rules (G) .................................................................................................................................... 35

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12 ROBOT Construction Rules (R) ........................................................................................................... 37
12.1 General ROBOT Design ................................................................................................................ 39
12.2 ROBOT Safety & Damage Prevention ......................................................................................... 41
12.3 Fabrication.................................................................................................................................... 43
12.4 ROBOT SIGN Rules....................................................................................................................... 45
12.5 Motors & Actuators...................................................................................................................... 48
12.6 Power Distribution ....................................................................................................................... 51
12.7 Control, Command & Signals System......................................................................................... 57
12.8 Pneumatic Systems ..................................................................................................................... 62
12.9 OPERATOR CONSOLE ................................................................................................................. 62
13 Tournament (T) .................................................................................................................................... 67
14 League Play Tournaments (L) ............................................................................................................ 69
15 FIRST Championship Tournament (C) ............................................................................................... 71
16 Glossary ............................................................................................................................................... 73

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1 Introduction
1.1 About FIRST®
FIRST® (For Inspiration and Recognition of Science and Technology) was founded by inventor Dean
Kamen to inspire young people’s interest in science and technology. As a robotics community that
prepares young people for the future, FIRST is the world’s leading youth-serving nonprofit advancing
STEM education. For 30 years, FIRST has combined the rigor of STEM learning with the fun and
excitement of traditional sports and the inspiration that comes from community through programs that
have a proven impact on learning, interest, and skill-building inside and outside of the classroom. FIRST
provides programs that span a variety of age groups:
− FIRST® Robotics Competition for grades 9-12, ages 14-18
− FIRST® Tech Challenge for grades 7-12, ages 12-18
− FIRST® LEGO® League for grades Pre-K-8, ages 4-16
− FIRST® LEGO® League Challenge for grades 4-8 (ages 9-16, ages vary by country)
− FIRST® LEGO® League Explore for grades 2-4 (ages 6-10)
− FIRST® LEGO® League Discover for grades Pre-K-1 (ages 4-6)
Please visit the FIRST website for more information about FIRST and its programs.

1.2 FIRST® Tech Challenge

FIRST® Tech Challenge is a student-centered program that focuses on giving young people a unique
and stimulating experience. Each year, small teams of students with the help of mentors engage in a
new dynamic challenge where they design, build, test, and program ROBOTS that must perform a series
of game tasks autonomously and under driver control. Participants and alumni of FIRST programs gain
access to education and career discovery opportunities, connections to exclusive scholarships and
employers, and a place in the FIRST community for life. To learn more about FIRST® Tech Challenge and
other FIRST® Programs, visit www.firstinspires.org.

Gracious Professionalism®, a FIRST Credo

Gracious Professionalism® is part of the ethos of FIRST. It’s a way of doing things that encourages high
quality work, emphasizes the value of others, and respects individuals and the community.
Gracious Professionalism is not clearly defined for a reason. It can and should mean different things to
everyone.
Some possible meanings of Gracious Professionalism include:
− gracious attitudes and behaviors are win-win,
− gracious folks respect others and let that respect show in their actions,
− professionals possess special knowledge and are trusted by society to use that knowledge
responsibly, and
− gracious professionals make a valued contribution in a manner pleasing to others and to
themselves.

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In the context of FIRST, this means that all teams and participants should:
− learn to be strong competitors, but also treat one another with respect and kindness in the
process and
− avoid leaving anyone feeling as if they are excluded or unappreciated.
Knowledge, pride, and empathy should be comfortably and genuinely blended.
In the end, Gracious Professionalism is part of pursuing a meaningful life. When professionals use
knowledge in a gracious manner and individuals act with integrity and sensitivity, everyone wins and
society benefits.
Figure 1-1 Dr. Woodie Flowers, Gracious Professionalism advocate and exemplar

“The FIRST spirit encourages doing high-quality, well-informed work in a manner that
leaves everyone feeling valued. Gracious Professionalism seems to be a good descriptor
for part of the ethos of FIRST. It is part of what makes FIRST different and wonderful.”
- Dr. Woodie Flowers, (1943 – 2019)
Distinguished Advisor to FIRST

It is a good idea to spend time going over this concept with your team and reinforcing it regularly. We
recommend providing your team with real-life examples of Gracious Professionalism in practice, such
as when a team loans valuable materials or expertise to another team that they will later face as an
opponent in competition. Routinely highlight opportunities to display Gracious Professionalism at
events and encourage team members to suggest ways in which they can demonstrate this quality
themselves and through outreach activities.

1.3 Coopertition®
At FIRST, Coopertition® is displaying unqualified kindness and respect in the face of fierce competition.
Coopertition is founded on the concept and philosophy that teams can and should help and cooperate
with one another even as they compete. Coopertition involves learning from teammates and mentors.
Coopertition means competing always but assisting and enabling others when you can.

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1.4 Spirit of Volunteering
FIRST can only hope to achieve our mission of providing life-changing robotics programs that give
young people the skills, confidence, and resilience to build a better world with your help.
There are two phrases which drive and motivate the individuals that volunteer their time for FIRST:
“Giving Back” and “Pay It Forward.” Each year, you have the extraordinary opportunity to help create the
best-ever experience for our fellow volunteers, mentors, COACHES, and students by becoming a FIRST
volunteer
To our team members and mentors: remember that the volunteers you interact with are dedicating their
most precious asset - their time - to ensure that all teams have a fulfilling, fun, and memorable
competition. Volunteers are the lifeblood of FIRST, and without them, FIRST would not be where it is
today. We urge you to remember that Gracious Professionalism is part of the ethos of FIRST. It's a way
of doing things that encourages high-quality work, emphasizes the value of others, and respects
individuals and the community. We strive to train each volunteer to always exhibit Gracious
Professionalism - we hope we can work together to create an environment where all feel safe and
welcome.
Please consider volunteering at local events near you but know that not all applicates can be placed in
all roles at any given event. Please work with your volunteer coordinator and local program delivery
partner to help identify the most meaningful way you can help in your region. A complete set of all role-
specific volunteer materials can be found on our Volunteer Resources Page.

1.5 Accessibility and Inclusion

FIRST is committed to Equity, Diversity, and Inclusion and as such, FIRST makes reasonable
accommodations for persons with disabilities that request accommodation. If a participant needs an
accommodation for an event, please contact your local leadership before the event so they can help
ensure the accommodation is provided. Local leadership may make exceptions to event rules to allow
for reasonable accommodations given the exceptions do not create an undue hardship or cause safety
concerns.

1.6 This Document & Its Conventions

The 2024 Competition Manual is a resource for all FIRST Tech Challenge teams for information specific
to the 2024 season and the INTO THE DEEP game. Its audience will find the following detail:
− a general overview of the INTO THE DEEP game (to be released 9/7/2024),
− detail about the INTO THE DEEP playing FIELD (to be released 9/7/2024),
− a description of how to play the INTO THE DEEP game (to be released 9/7/2024),
− rules (related to safety, conduct, game play, inspection, event, etc.),
− ROBOT construction rules, and
− a description of how teams advance at 2024-25 tournaments and throughout the season (to
be released 9/7/2024),
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’ve read everything, you know
everything.

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Specific methods are used throughout this manual to highlight warnings, cautions, key words, and
phrases. These conventions are used to alert the reader to important information and are intended help
teams in constructing a ROBOT that complies with the rules in a safe manner.
Links to other section headings and rule references within this manual appear in blue underlined
text with a grey background. Links to external resources appear blue underlined text.
For linked references not included in a preview release of this document, the links will appear with the
section letter and ### for the rules number within square brackets. For example, a cross link to a game
rule before a game rule is released will appear as [G###] and will be replaced with the current linked
rule when that section of the manual is released.
Key words that have a particular meaning within the context of the FIRST Tech Challenge and INTO THE
DEEP are defined in section 16 Glossary and indicated in ALL CAPS throughout this document.
The rule numbering method indicates the section, subsection, and position of the rule within that
subsection. The letter indicates the section in which the rule is published.
− I for Section 3 Competition Eligibility and Inspection (I)
− E for Section 5 Event Rules (E)
− G for Section 11 Game Rules (G)
− R for Section 12 ROBOT Construction Rules (R)
− T for Section 13 Tournament (T)
− L for Section 14 League Play Tournaments (L)
− C for Section 15 FIRST Championship Tournament (C)
The following digit(s) represents the subsection in which the rule can be found. The final digits indicate
the rule’s position within that subsection.
Figure 1-1 Rule numbering method

Warnings, cautions, and notes appear in orange boxes. Pay close

attention to their contents as they’re intended to provide insight into the
reasoning behind a rule, helpful information on understanding or
interpreting a rule, and/or possible “best practices” for use when
implementing systems affected by a rule.
While orange boxes are part of the manual, they do not carry the weight of
the actual rule (if there is an inadvertent conflict between a rule and its
orange box, the rule supersedes the language in the orange box).
Imperial dimensions are followed by comparable metric dimensions in parentheses to provide metric
users with the approximate size, mass, etc. Metric conversions for non-rules (e.g. dimensions) round to
the nearest whole unit, e.g. "17 in. (~43 cm)” and “6 ft. 4 in. (~193 cm).” Metric conversions in rules

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round such that the metric dimension is compliant with the rule (i.e. maximums round down, minimums
round up). The metric conversions are offered for convenient reference only and do not overrule or take
the place of the imperial dimensions presented in this manual and the official drawings (i.e. dimensions
and rules will always defer to measurements using imperial units).
Rules include colloquial language, also called headlines, in an effort to convey an abbreviated version of
the rule or rule set. There are two versions of headline formatting. Evergreen rules, rules which are
expected to go relatively unchanged from season to season, are indicated with their headline presented
in *bold green text with a leading asterisk. “Relatively unchanged” means that the overall intent and
presence of the rule from season to season is constant, but game specific terms may be updated as
needed (e.g. changing Cones to Pixels in a rule about what COACHES may not contact during a
MATCH). These rules also start their respective section, so their rule number is less likely to change
from season to season. All other rule headlines use bold orange text. Any disagreement between the
specific language used in the rules and the colloquial language is an error, and the specific rule
language is the ultimate authority. If you discover a disparity, please let us know at
[email protected].
Team resources that aren’t generally season specific (for example, what to expect at an event,
communication resources, team organization recommendations, and award descriptions) can be found
on the FIRST Tech Challenge website.

1.7 Translations & Other Versions

The FIRST Tech Challenge manual is originally and officially written in English and is occasionally
translated into other languages for the benefit of FIRST Tech Challenge teams whose native language
may not be English. These assets are posted on the Translated Manuals page.
A text-based English version can be provided only for use with assistive devices and not for
redistribution. For more information, please contact the FIRST Tech Challenge at
[email protected].
In the event that a rule or description is modified in an alternate version of this manual, the English pdf
version as published on the Game and Season web page is the authoritative version.

1.8 Team Updates

Team Updates are used to notify the FIRST Tech Challenge community of revisions to the official
season documentation (for example, the manual, drawings, etc.) or important season news. Team
Update posts are scheduled as follows:
− Every other Thursday beginning on kickoff day and ending two weeks prior to the FIRST
Championship.
Team Updates are posted on the Game and Season web page and are generally posted at 1pm Eastern.
Team Updates are indicated using the following formatting:
− Additions are highlighted in yellow. This is an example.
− Deletions are indicated with a strikethrough. This is an example.

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1.9 Question and Answer System
The Question and Answer System (Q&A) is a resource for teams to ask questions about gameplay,
competition rules, judging and advancement, ROBOT build rules, and FIELD setup. Teams can search
for previously asked questions and responses or pose new questions. Questions can include examples
for clarity or reference multiple rules to understand the relationships and differences between them.
The Q&A opens on September 16th, 2024, 12:00 PM Eastern. Access to the Game Q&A forum is through
the Lead COACH 1 and/or Lead COACH 2’s account through the www.firstinspires.org/ dashboard.
Follow the instructions on how to create an official Q&A account. Teams may still create a separate
view -only account to read the forum.
The Q&A may result in revisions to the text in the official manuals (which are communicated using the
process described in section 1.8 Team Updates).
The responses in the Q&A do not supersede the text in the manual, although every effort will be made
to eliminate inconsistencies between the two. While responses provided in the Q&A may be used to aid
discussion at each event, REFEREES and INSPECTORS are the ultimate authority on rules. If you have
concerns about enforcement trends by volunteer authorities, please notify FIRST at
[email protected].
The Q&A is not a resource for firm predictions on how a situation will play out at an event. Questions
about the following may not be addressed:
− rulings on vague situations,
− challenging decisions made at past events, or
− design reviews of a ROBOT system for legality.
Questions that are overly broad, vague, and/or include no rule references. Some examples of questions
that may not be answered in the Q&A are:
− How should the REFEREE have ruled when this specific game play happened?
− Duplicate questions
− Questions clearly defined/addressed in this manual
Good questions ask generically about features of parts or designs, gameplay scenarios, or rules, and
often reference one or more relevant rules within the question. Some examples of questions that will
likely be answered in the Q&A are:
− A device we are considering using on the ROBOT comes with purple AWG 40 wire, does this
comply with R?? and R??
− We’re not sure how to interpret how Rule G?? applies if blue ROBOT A does X and red
ROBOT B does Y, can you please clarify?
− If a ROBOT does this specific action, is it doing what this defined term is describing?
Questions from “FTC 1000” represent content asked by key volunteers (e.g., REFEREES, INSPECTORS,
etc.), answered by FIRST, and are considered relevant to teams.

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2 FIRST Season Overview

Explore the Future

The ocean is more than what you can see on the horizon. Beneath the surface lies our planet’s most
complex ecosystems, full of life and potential for exploration and learning, where each inhabitant has a
role to play in building a thriving environment.
During the 2024-2025 FIRST season, FIRST® DIVE℠ presented by Qualcomm, teams will use their STEM
and collaboration skills to explore life beneath the surface of the ocean. Along the way, we’ll uncover
the potential in each of us to strengthen our community and innovate for a better world with healthy
oceans. Join us as we explore the future.

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3 Competition Eligibility and Inspection (I)

This section will be updated with the Kickoff Competition Manual release
on September 7th, 2024

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Inspection (I)
4 Advancement

This section will be updated with the Kickoff Competition Manual release
on September 7th, 2024

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5 Event Rules (E)
This section of event rules are general rules which apply from the beginning of the public schedule
when teams arrive through the end of the event with departure from the venue. They are high level rules
intended to promote an orderly and safe experience for all participants. The event director may specify
additional restrictions beyond those listed here based on local venue requirements.
Safety is always paramount, and many rules are intended to establish
norms at each event that will mitigate injury risk to all participants.
The event director has the final decision authority for all safety-related
issues within a venue.

5.1 General Rules

The rules below apply throughout an event, i.e. from when Load-In begins to when Load-Out is
complete.
Universal Violation Note: A violation of any Event Rules (E) will result in a verbal warning.
Egregious or subsequent violations will be addressed by the Head REFEREE, the Lead ROBOT
INSPECTOR (LRI) and/or event director. Teams should note that egregious and/or frequent
violations may be shared with the Judge Advisor which could lead to disqualification from
awards. Criminal behavior will not be tolerated and may be met with immediate disqualification
for the team from the game and judging.
Additional rule specific violations, if applicable, are listed with their corresponding rule.
E101 *Personal safety comes first. All team members must observe the following safety practices
throughout the event:
A. wear safety glasses (only ANSI-approved, UL Listed, CE EN166 rated, AS/NZS certified,
or CSA rated non-shaded) while in and around the playing FIELD and in the pit area. Clear
or lightly tinted safety glasses are preferred. Shaded glasses are allowed for those who
need them and do not require a specific accommodation request. The only instances
where teams are not required to wear safety glasses are in their first 10 minutes of their
event load in, and for the first 10 minutes pits are open each day of the event as long as
they’re not working on the ROBOT or setting up their pit.
B. wear closed toed/heeled shoes.
C. control entanglement risks by tying back long hair and removing other dangling
decorations including lanyards, spirit wear and rings as needed while working on or
around a ROBOT or ROBOT related materials or tools.
D. wear appropriate clothing.
E. walk in the venue.
F. comply with government and venue-specific health and safety requirements in place for
that event (e.g. mask wearing).
For more information about safety at FIRST events, please reference the
FIRST Safety Manual.

Section 5 Event Rules (E) V0 17 of 75

E102 *Be a Gracious Professional. All participants must be gracious and professional at all times
while attending a FIRST Tech Challenge event. Uncivil behavior toward any participants is not
tolerated.
Examples of inappropriate behavior include, but are not limited to
A. use of offensive language or other uncivil conduct towards someone,
B. intentionally blocking the view of other participants or spectators for
an extended period (team members momentarily holding up team
signs while directly supporting their team is not considered a violation
of this rule.), and
C. jamming or interfering with the remote sensing capabilities of a
ROBOT or the FIELD while in open-access spectator seating areas.
Examples of remote sensing capabilities include, but are not limited to,
vision systems, acoustic range finders, sonars, and infrared proximity
sensors.
Use of imagery that, to a reasonably astute observer, mimics the
AprilTags employed on the FIELD is a violation of this rule.
Examples of particularly contemptible behavior that may result in ejection
from the event include, but are not limited to, the following:
A. assault, e.g. throwing something that hits another person (even if
unintended),
B. threat, e.g. saying something like “if you don’t reverse that call, I’ll
make you regret it,”
C. harassment, e.g. badgering someone with no new information after a
decision’s been made or a question’s been answered,
D. bullying, e.g. using body or verbal language to cause another person
to feel inadequate or unsafe,
E. insulting, e.g. telling someone they don’t deserve to be on a team,
F. swearing at another person (versus swearing under one’s breath or at
oneself), and
G. yelling at another person(s) in anger or frustration.
E103 *Children with adults, please. Children under 12 must be accompanied in the pits by an adult at
all times.
E104 *Respect the venue. Teams may not damage the venue, including but not limited to bleachers,
floors, walls, railings, etc., in any way. This includes littering with team giveaways including
candies, flyers and stickers.
E105 *Teams must check in. An adult team member must check in at the Pit Administration station,
or the designated check in location, no later than 45 minutes before Qualification MATCHES are
scheduled to start unless otherwise specified or approved by the event director.
Violation: Failure to check in may result in a team not participating in the event.

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E106 *Event resources are for competing teams only. Only teams registered for an event may use
that event’s competition FIELD, practice FIELD, and inspection. Host teams supplying practice
FIELD elements and/or machine shop resources may use them, however teams registered for
that event must be granted priority.
E107 *Practice only when/where permitted. Teams may only practice with their ROBOT in their pit
space, in the designated event practice areas, or while in a practice MATCH.
Teams may not set up their own practice equipment outside their pit in
other areas of the event venue. When practicing in their pit, safety must
remain the top priority. If the event director determines a pit practice
setup is unsafe or interferes with activity in adjacent pits or aisles, the
team must discontinue the activity.
E108 *Work in designated areas only. At the event venue, teams may only produce FABRICATED
ITEMS as follows:
A. in their pit area,
B. in another team’s pit area with permission from that team,
C. while queued for a MATCH or practice FIELD (given space constraints, extra scrutiny
regarding safety is required),
D. any area designated by event staff (e.g. playoff pit area, etc.), or
E. as permitted at provided machine shops that are available to all teams.
E109 *Some things don’t belong at events. Do not bring or use the following:
A. skateboards
B. ‘hoverboards’
C. drones
D. bottled gas tanks (e.g. helium)
E. noisy devices or noisemakers, such as floor stompers, whistles and/or air horns
F. walkie-talkies
G. scooters, except for those used for accommodations
E110 *Don’t arrange for additional utilities. Do not arrange for power, internet access, or phone lines
from venue service providers or attempt to use venue internet connections reserved for event
purposes (e.g. FIRST event management software or web casting).
E111 *Don’t sell stuff. Teams may not conduct sales at an event. This includes, but is not limited to,
raffle tickets, food, hats, shirts, candy, water, soft drinks, fruit, or any promotional products
unless specifically allowed by the event director.
E112 *Make FIRST loud, but with restrictions. Do not invite or bring live bands to play in the audience.
Do not play loud music.
E113 *Hang banners with care. Be respectful when hanging your banners.
A. Do not cover or move other team or sponsor signs already in place.
B. Share the available space fairly with other teams.
C. Do not obstruct the view of spectators.
D. Get permission from the event director before hanging banners outside of your pit.

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 E. Hang signs and banners in a safe manner.
F. Banners hung outside team pits must not be larger than 25 ft.2 (2.3 m2).
We encourage teams to bring team flags and/or signs for display in their
pits and/or the playing FIELD area.
To find your event director, inquire at the pit administration desk.
Respect venue-specific rules regarding sign location and hanging
methods. At the end of the event, safely remove all signs and anything
used to hang the signs (tape, string, etc.).
E114 *Limit flag and flagpole size if used on the FIELD. Flags and flagpoles may not
be of unreasonable size and weight if they are going to be used on or around the
FIELD.
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).
E115 *No firearms or other weapons. Firearms or other weapons are prohibited at all
FIRST events for all FIRST programs, including without limitation, all official FIRST
Events posted here. This rule includes prop or simulated weapons which appear
to be real. This policy does not apply to law enforcement or venue security
personnel.
E116 *Inspection required for practice FIELD access. A team may only use a practice
FIELD with a ROBOT that has passed an initial, complete inspection. This rule
only applies to events not using scheduled inspection times.
E117 *Don’t record FIRST staff or volunteers at the event without their consent. Do
not record your interactions with FIRST event staff, or anyone at an event, without
the person’s consent and do not challenge the decision to decline consent to be
recorded. FIRST event staff are empowered to excuse themselves from an
interaction in which they are being recorded after declining consent.
Laws regarding recording of conversations vary state-to-state and
country-to country, and, in some cases, recording without consent may be
criminal. Introducing the idea of recording a conversation with an implied
reason of proving someone’s error can escalate a discussion and is likely
to increase its adversarial nature.

Section 5 Event Rules (E) V0 20 of 75

5.2 Machine Shops and Host Team Build Spaces
Rarely, some events host a machine shop or open their team’s build space, during specific hours (see
the event public agenda), to help teams with repair and fabrication of their ROBOT. Machine shops are
typically sponsored by the local host organization. In most cases, the machine shop is on site and
readily accessible to all teams.

5.3 Wireless Rules

E301 *No wireless communication. Teams may not set up their own Wi-Fi (802.11a/b/g/n/ac/ax/be)
wireless communication (e.g. access points or ad-hoc networks) in the venue.
A wireless hot spot created by a cellular device, camera, smart TV, etc. is
considered an access point.
Some smart TVs have access points enabled by factory default. Please
make sure that functionality is disabled for any TVs brought to the event.
E302 *Don’t interfere with wireless networks. Participants may not interfere, attempt to interfere, or
attempt to connect with any other team or FIRST wireless network without expressed
permission.
Teams are encouraged to report suspected wireless security
vulnerabilities to the FIRST Technical Advisor (FTA) or event director if at
the event or to FIRST via [email protected] to report a suspected
issue after the event.
Violation: Subsequent violations may lead to dismissal from the event and/or legal action based
on applicable laws.

5.4 Load-In
Some large events (often multi-day events) may set specific time frames, published on the event public
schedule, in which teams are invited to load their ROBOT and equipment into their pit areas before pits
officially open.
Load-in can be stressful for teams and volunteers, which can be mitigated by preparation and planning.
Unanticipated factors, like traffic or weather, can change a team’s scheduled arrival time, making the
process difficult. The most important things a team should remember are to be safe, gracious, and
professional. Teams who experience smooth and easy load-ins are encouraged to check with others to
see if they can help and make their experience as positive as possible.

5.5 Pits
A team pit is the designated space, typically a 10 ft. by 10 ft. by 10 ft. (~3 m x 3 m x 3 m) area, where a
team may work on their ROBOT. Each team is assigned a pit space marked with their team number.
This helps team members, judges, and visitors find teams easily. Pit spaces may vary based on
competition venue size limits.

Section 5 Event Rules (E) V0 21 of 75

The pit area refers to the general area where team pits are located which encompasses the aisles
between the pits, pit admin, ROBOT inspection, practice FIELD, or other areas where ROBOTS may be
active or worked on. All pit rules apply to the full pit area.
Additional limitations beyond those listed below may be imposed by the event director but they should
be clearly communicated at least 48 hours before the event start time and applied to all teams fairly.
Team pits may or may not have a table and power outlet. If individual team outlets are not provided, the
venue must provide access to team-useable outlets in the pit area for charging batteries.
Teams, volunteers, FIRST staff, and guests spend a lot of time in the pits. Get to know other teams and
help each other when you can. Time is short and help is very often right "next door" in the adjacent
team pits.
Small, bench-top machinery, with appropriate guards, is permitted in team pits. ‘Small’ machinery is
machinery that can be easily lifted by one person and examples include, but are not limited to, 3D
printers, small band saws, small drill presses, desktop CNC mills, and sanders.
E501 *Pits are unavailable if closed. Teams may not be in their team pit outside the designated pit
hours.
E502 *Stay in your pit. Teams may neither allow their materials to expand beyond their team pit
(including running power or internet lines from their team pit to any other area), swap team pits
with other teams, nor move themselves to empty team pits.
E503 *Keep aisles clear. Aisles must be kept clear.
E504 *No sparks. Tools that throw sparks or produce open flames are prohibited.
Examples of tools that violate this rule include, but are not limited to,
welders, bench and angle grinders, gas torches, etc.
E505 *Nothing too big. Floor standing power tools are prohibited.
Examples include but are not limited to full-size drill presses, band saws,
and table saws.
Violation: Teams will be asked to remove or not bring in floor standing power tools. Any items
that are deemed unsafe or outside specifications by FIRST personnel and/or event director must
be removed.
E506 *No brazing or welding. Brazing/welding is prohibited.
Violation: Teams will be asked to remove or not bring in brazing/welding tools. Any items that are
deemed unsafe or outside specifications by FIRST personnel, and/or event director must be
removed.
E507 *Solder with specific tools only. Soldering may be done using an electric iron/gun only.
Violation: Any items that are deemed unsafe or outside specifications by FIRST personnel and/or
the event director must be removed.

Section 5 Event Rules (E) V0 22 of 75

E508 *Structures must be safe. Teams may not build any structure that supports the weight of
people or stores items overhead. Structures may not block or inhibit fire sprinkler systems or
otherwise be unsafe.
Violation: Any pit structures that are deemed unsafe or outside specifications by FIRST personnel
and/or the event director must be removed.
E509 *Secure team identification assets. Team signs, flags, and displays must be securely mounted
to the pit structure.
Violation: Any pit structures that are deemed unsafe or outside specifications by FIRST personnel
and/or the event director must be removed.
E510 *Only use aerosol or other chemicals with noxious fumes in approved areas. Any aerosol or
chemical that produces noxious fumes or spray particulates should only be used in approved
areas. Not all venues will allow the use of these products anywhere on site.
Violation: Any items that are deemed unsafe or outside specifications by FIRST personnel and/or
the event director must be removed.

5.6 ROBOT Carts

Most teams use carts to transport their ROBOT throughout an event. Carts are not required but are
strongly recommended (to minimize risk of muscle strains, dropped ROBOTS, and other hazards). In
addition to the rules listed below, teams are strongly encouraged to put the team’s number on the cart,
refer to the FIRST Safety Manual for ROBOT lifting techniques, and practice putting the ROBOT on and
off the cart to develop a safe, quick, fluid routine.
E601 *Carts must be safe and easy to use. Carts must be easy to control, maneuver, and pose no risk
to bystanders.
E602 *Carts shouldn’t be too big. Carts must fit through a standard 30-inch door.
E603 *Carts can’t park anywhere. Carts must remain in the team pit (or cart staging area during a
MATCH) when not in use.
E604 *No noisy carts. Carts may not be equipped with music or other sound-generating devices.
E605 *No motor driven carts. ROBOT carts may not use powered propulsion.

5.7 Ceremonies
At every event, there are opening and closing ceremonies to show honor and respect for represented
countries, sponsors, teams, mentors, volunteers, and award winners. Ceremonies provide everyone with
the opportunity to collectively applaud the successes of all participants. They also give teams a chance
to "meet" the volunteers and other people and sponsors involved with the event. Closing ceremony
elements at the end of the event are integrated into and presented between playoff MATCHES.
At the awards ceremony, FIRST presents trophies and medallions to outstanding teams. All team
members are encouraged to attend the ceremonies, be punctual, and show appreciation to volunteers
that staffed the event.

Section 5 Event Rules (E) V0 23 of 75

E701 *Quiet in the pits during ceremonies. During ceremonies outside of playoff MATCHES, team
members may not:
A. use power tools
B. use loud hand tools (hammers, saws, etc.)
C. shout, yell, or use loud voices, unless as a demonstration of approval during a
ceremonial activity.
E702 *Pit person limit during Ceremonies is 5. No more than 5 team members may be in the pits
during Ceremonies outside of Playoff MATCHES.
All teams are encouraged to have as many people in the stands for
ceremonies as possible. This is important both to celebrate all who are
recognized during ceremonies, but also to listen for important day-of
information from event organizers which might be critical for your team.
E703 *Be respectful during anthems. Team members, including any remaining in the pits, should
exhibit peaceful behavior during the presentation of all national anthems. Traditionally, team
members stand to face the flag, remove hats, and either sing along or maintain a respectful
silence during the anthems of all nations present at the event. If team members wish to abstain,
they have a right to do so, as long as they remain silent and non-disruptive.

5.8 In the Stands

E801 *No saving seats. Teams are not permitted to save or designate seats for team members that
are not present.
Teams may not hang banners or ribbons or otherwise designate seating.
(Event staff will remove and discard any banners, roping, etc., used to
designate seating.) Please take turns sitting in the bleachers/stands if
seating is limited. If there is a crowding problem, we ask that you kindly
leave after your team's MATCH and return later, if possible.
The event director may reserve seats for attendees who require
accessible seating or to ensure teams in the playoffs have seats to watch
their teams play.
E802 *Don’t throw items from the stands. Items may not be thrown from audience seating.

Section 5 Event Rules (E) V0 24 of 75

6 Judged Awards

This section will be updated with the Kickoff Competition Manual release
on September 7th, 2024

Section 6 Judged Awards V0 25 of 75

7 Game Sponsor Recognition

Section 7 Game Sponsor Recognition V0 27 of 75

8 Game Overview

This section will be updated with the Kickoff Competition Manual release
on September 7th, 2024

Section 8 Game Overview V0 29 of 75

9 ARENA

This section will be updated with the Kickoff Competition Manual release
on September 7th, 2024

Section 9 ARENA V0 31 of 75
10 Game Details

This section will be updated with the Kickoff Competition Manual release
on September 7th, 2024

Section 10 Game Details V0 33 of 75

11 Game Rules (G)

This section will be updated with the Kickoff Competition Manual release
on September 7th, 2024

Section 11 Game Rules (G) V0 35 of 75

12 ROBOT Construction Rules (R)
The rules listed below explicitly address legal parts and materials and how those parts and materials
may be used on a ROBOT. A ROBOT is an electromechanical assembly built by the FIRST Tech
Challenge team to play the current season’s game and includes all the basic systems required to be an
active participant in the game –power, communications, control, and movement about the FIELD.
There are many reasons for the structure of the rules, including safety, reliability, parity, creation of a
reasonable design challenge, adherence to professional standards, and impact on the competition.
Another intent of these rules is to have all energy sources and active actuation systems on the ROBOT
(e.g. batteries, motors, servos, and their controllers) drawn from a well-defined set of options. This is to
ensure that all teams have access to the same actuation resources and that the INSPECTORS can
accurately and efficiently assess the legality of a given part.
ROBOT construction rules in this section only apply to the construction of
your ROBOT as it might be inspected. MATCH play rules and
consequences for violating rules during MATCH play are outlined in
section 11 Game Rules (G).
ROBOTS are made up of COMPONENTS and MECHANISMS. A COMPONENT is any part in its most
basic configuration, which cannot be disassembled without damaging or destroying the part or altering
its fundamental function. A MECHANISM is an assembly of COMPONENTS that provide specific
functionality on the ROBOT. A MECHANISM can be disassembled (and then reassembled) into
individual COMPONENTS without damage to the parts.
Many rules in this section reference Commercial-Off-The-Shelf (COTS) items. A COTS item must be a
standard (i.e. not custom order) part commonly available from a VENDOR for all teams for purchase.
To be a COTS item, the COMPONENT or MECHANISM must be in an unaltered, unmodified state (with
the exception of installation or modification of any software). Items that are no longer commercially
available but are functionally equivalent to the original condition as delivered from the VENDOR are
considered COTS and may be used.
Example 1: A team orders 2 ROBOT panels from RoboPanels Corp. and
receives both items. They put 1 in their storeroom and plan to use it later.
Into the other, they drill “lightening holes” to reduce weight. The first panel
is still classified as a COTS item, but the second panel is now a
FABRICATED ITEM, as it has been modified.
Example 2: A team obtains openly available blueprints of a drive module
commonly available from Wheels-R-Us Inc. and has local machine shop
“We-Make-It, Inc.” manufacture a copy of the part for them. The produced
part is not a COTS item, because it is not commonly carried as part of the
standard stock of We-Make-It, Inc.
Example 3: A team obtains openly available design drawings from a
professional publication and uses them to fabricate a gearbox for their
ROBOT. The design drawings are considered a COTS item and may be

Section 12 ROBOT Construction Rules (R) V0 37 of 75

 used as “raw material” to fabricate the gearbox. The finished gearbox
itself would be a FABRICATED ITEM, and not a COTS item.
Example 4: A COTS part that has non-functional label markings added
would still be considered a COTS part, but a COTS part that has device-
specific mounting holes added is a FABRICATED ITEM.
Example 5: A team has a COTS gearbox which has been discontinued. If
the COTS gearbox is functionally equivalent to its original condition, it
may be used.
A VENDOR is a legitimate business source for COTS items that satisfies all the following criteria:
A. has a Federal Tax Identification number. In cases where the VENDOR is outside of the
United States, they must possess an equivalent form of registration or license with the
government of their home nation that establishes and validates their status as a
legitimate business licensed to operate within that country.
B. is not a “wholly owned subsidiary” of a FIRST team or collection of teams. While there
may be some individuals affiliated with both a team and the VENDOR, the business and
activities of the team and VENDOR must be completely separable.
C. should maintain sufficient stock or production capability so they are able to ship any
general (i.e., non-FIRST unique) product within a timely manner. It is recognized that
certain unusual circumstances (such as a global supply chain disruption and/or 1,000
FIRST teams all ordering the same part at once from the same VENDOR) may cause
atypical delays in shipping due to backorders for even the largest VENDORS. Such
delays due to higher-than-normal order rates are excused. This criterion may not apply to
custom-built items from a source that is both a VENDOR and a fabricator.
For example, a VENDOR may sell flexible belting that the team wishes to
procure to use as treads on their drive system. The VENDOR cuts the
belting to a custom length from standard shelf stock that is typically
available, welds it into a loop to make a tread, and ships it to a team. The
fabrication of the tread takes the VENDOR 2 weeks. This would be
considered a FABRICATED ITEM, and the 2-week ship time is acceptable.
Alternately, the team may decide to fabricate the treads themselves. To
satisfy this criterion, the VENDOR would just have to ship a length of
belting from shelf stock (i.e. a COTS item) to the team within 5 business
days and leave the welding of the cuts to the team.
D. makes their products available to all FIRST Tech Challenge teams. A VENDOR must not
limit supply or make a product available to just a limited number of FIRST Tech
Challenge teams.
The intent of this definition is to be as inclusive as possible to permit
access to all legitimate sources, while preventing ad hoc organizations
from providing special-purpose products to a limited subset of teams in
an attempt to circumvent any applicable cost accounting rules.

Section 12 ROBOT Construction Rules (R) V0 38 of 75

 FIRST desires to permit teams to have the broadest choice of legitimate
sources possible, and to obtain COTS items from the sources that provide
them with the best prices and level of service available. Teams also need
to protect against long delays in availability of parts that will impact their
ability to complete their ROBOT. The build season is brief, so the VENDOR
must be able to get their product, particularly FIRST unique items, to a
team in a timely manner.
Ideally, chosen VENDORS should have effective distribution channels.
Remember, FIRST Tech Challenge events are not always near home –
when parts fail, local access to replacement materials is often critical.
A FABRICATED ITEM is any COMPONENT or MECHANISM that has been altered, built, cast,
constructed, concocted, created, cut, heat treated, machined, manufactured, modified, painted,
produced, surface coated, or conjured partially or completely into the final form in which it will be used
on the ROBOT.
Note that it is possible for an item (typically raw materials) to be neither
COTS nor a FABRICATED ITEM. For example, a 20 ft. (~610 cm) length of
aluminum which has been cut into 5 ft. (~152 cm) pieces by the team for
storage or transport is neither COTS (it’s not in the state received from
the VENDOR), nor a FABRICATED ITEM (the cuts were not made to
advance the part towards its final form on the ROBOT).
Teams may be asked to provide documentation (i.e. reference the relevant rule in this manual) proving
the legality of items during inspection where a rule specifies limits for a legal part (e.g. motors, servos,
current limits, COTS electronics, etc.).
Some of these rules make use of English unit requirements for parts. If your team has a question about
a metric-equivalent part’s legality, please e-mail your question to the FIRST Tech Challenge at
[email protected] for an official ruling. To seek approval for alternate parts/devices
for inclusion in future FIRST Tech Challenge seasons, please use the Part Suggestion Form.
FIRST Tech Challenge can be a high-contact competition and may include rigorous game play. While
the rules aim to limit severe damage to ROBOTS, teams should design their ROBOTS to be robust.

12.1 General ROBOT Design

R101 *STARTING CONFIGURATION is limited to an 18-inch Cube. In the STARTING CONFIGURATION
(the physical configuration in which a ROBOT starts a MATCH), the ROBOT must be fully self-
contained within an 18-inch wide, by 18 inch long, by 18-inch-high volume. The only exceptions
are:
A. preloaded game elements may extend outside the starting size constraint.
B. minor protrusions (0.25 inches) by flexible materials (i.e., zip tie, surgical tube, string,
etc.) may extend beyond the 18-inch (45.72 cm) size constraint
If a ROBOT uses interchangeable MECHANISMS per [I###], teams
should be prepared to show compliance with this rule and R104 in all
configurations.

Section 12 ROBOT Construction Rules (R) V0 39 of 75

R102 *ROBOTS may assist in holding the STARTING CONFIGURATION. In the STARTING
CONFIGURATION, ROBOTS must be fully self-supported (i.e., does not exert force on the sides
or top of a sizing tool). ROBOTS may accomplish this using any combination of:
A. mechanical means while powered-off, and/or
B. initializing an OpMode that pre-positions servos and motors to a desired stationary
position. The OpMode may control motors and servos to hold their position to maintain
the STARTING CONFIGURATION.
ROBOTS holding STARTING CONFIGURATION during inspection or
waiting for a MATCH to start may have to do so for several minutes and
should limit the possibility of thermal failure (e.g. not having motors
stalled against a hard stop). Teams must also be especially cautious
when operating a running ROBOT during inspection, notifying the
INSPECTOR that the ROBOT is live and taking every precaution to ensure
the process is carried out safely.
R103 *There is no ROBOT weight limit. There is no explicit weight limit for FIRST Tech Challenge
ROBOTs
While there is no official weight limit, teams should still consider the
impact of a ROBOT’s weight on various factors, including but not limited
to:
− FIELD TILE damage
− battery consumption
− ROBOT transportation
− total ROBOT performance
R104 There is a horizontal expansion limit. After the MATCH has started, ROBOTS may expand
beyond the STARTING CONFIGURATION but must stay within an overall working ARENA TILE
footprint. The overall working footprint has the following constraints:
A. has no vertical height limit
B. is a 20” x 42” (50.8cm x 116.8cm) rectangle measured parallel (coplanar) to the TILE
floor
C. is always a vertical projection relative to the TILES, so robots which change orientation
(drive, tip, spin, etc.) during the match are still subject to the horizontal expansion limit
measured parallel (coplanar) to the TILES.
D. [game specific exception may be added at kickoff on 9/7/2024]
This rule is intended to limit the amount of floor area each robot can
cover with the maximum mechanical range of motion of all extensions.
Teams should be prepared to show compliance with this rule and
demonstrate their robot expansions during the inspection process. During
inspection each ROBOT will need to demonstrate that the full mechanical
range of motion of all extensions outside of STARTING CONFIGURATION
will be contained within a fixed 20 in by 42 in working area.

Section 12 ROBOT Construction Rules (R) V0 40 of 75

 Teams are subject to penalties listed in [G###] for any violations during
the MATCH.

Figure 12-1: Expansion Limits

12.2 ROBOT Safety & Damage Prevention

R201 *Don’t damage the TILE floor. Traction devices must not have surface features which could
damage the TILE floor. Traction devices are all parts of the ROBOT that are designed to transmit
any propulsive and/or braking forces between the ROBOT and the FIELD.
Examples of traction devices known to cause damage when used directly
on TILE floors are high traction wheels (for example, AndyMark am-2256)
and high grip tread (for example, Roughtop, AndyMark am-3309). While
these (and other) COMPONENTS are not outright prohibited, e.g. used as
part of an intake, MECHANISMS that involve these COMPONENTS
contacting the TILE floor are not allowed.
R202 *No exposed sharp edges. Protrusions from the ROBOT and exposed surfaces on the ROBOT
shall not pose hazards to the ARENA elements (including SCORING ELEMENTS) or people.

Section 12 ROBOT Construction Rules (R) V0 41 of 75

R203 *Design ROBOTS for safety. ROBOT parts shall not be made from hazardous materials, be
unsafe, cause an unsafe condition, or interfere with the operations of other ROBOTS. Examples
of items that will violate this rule include (but are not limited to):
A. shields, curtains, or any other devices or materials designed or used to obstruct or limit
the vision of any DRIVE TEAM members and/or interfere with their ability to safely
control their ROBOT,
B. speakers, sirens, air horns, or other audio devices that generate sound at a level
sufficient to be a distraction,
C. any devices or decorations specifically intended to jam or interfere with the remote
sensing capabilities of another ROBOT, including vision systems, acoustic range finders,
sonars, infrared proximity detectors, etc. (e.g. including imagery on your ROBOT that
utilizes or closely mimics 36h11 AprilTags),
D. flammable gasses,
E. any device intended to produce flames or pyrotechnics,
F. hydraulic fluids or hydraulic items,
G. switches or contacts containing liquid mercury,
H. exposed, untreated hazardous materials (e.g. lead weights) used on the ROBOT. These
materials may be permitted if painted, encapsulated, or otherwise sealed to prevent
contact. These materials may not be machined in any way at an event.
I. high intensity light sources used on the ROBOT may only be illuminated for a brief time
while targeting and may need to be shrouded to prevent any exposure to participants.
Complaints about the use of such light sources will be followed by re-inspection and
possible disablement of the device,
J. animal based materials,
K. any device designed to damage or flip competing ROBOTS,
L. devices or conditions that pose an unnecessary risk of entanglement
Flashing lights can be particularly distracting and can cause harm to
some individuals. Decorative or functional lighting which flashes at
greater than 2Hz will invite additional scrutiny and teams may be asked to
disable or modify their lighting at the discretion of the Head REFEREE
and/or LRI.
R204 *SCORING ELEMENTS stay with the FIELD. ROBOTS must allow removal of SCORING
ELEMENTS from the ROBOT and the ROBOT from FIELD elements while powered off.
Teams must make sure that SCORING ELEMENTS and ROBOTS can be
quickly, simply, and safely removed per [G###] and [G###].
Teams are encouraged to consider [G###] when developing their
ROBOTS.

Section 12 ROBOT Construction Rules (R) V0 42 of 75

R205 *Don’t Contaminate the FIELD. ROBOTs may not contain any materials which if unintentionally
released would damage the FIELD, other ROBOTs or delay the start of a MATCH due to required
decontamination. Lubricants may be used only to reduce friction within the ROBOT. Lubricants
must not contaminate the FIELD or other ROBOTS.
Lubricants used on the ROBOT must not be excessively applied such that
they spin off or drip off during normal ROBOT operations on the FIELD.
Additional examples of items that will violate this rule include (but are not
limited to):
− any ballast not secured sufficiently, including loose ballast e.g. sand,
ball bearings etc., such that it may be released on the FIELD during a
MATCH
− liquid or gel materials
− tire sealant, and
− Other lubricants
R206 *Don’t damage SCORING ELEMENTS. ROBOT elements likely to contact SCORING ELEMENTS
shall not pose a significant hazard to the SCORING ELEMENT.
SCORING ELEMENTS are expected to undergo a reasonable amount of
wear and tear as they are handled by ROBOTS, such as scratching or
marking. Gouging, tearing off pieces, or routinely marking SCORING
ELEMENTS are violations of this rule.
R207 *No Air Power on the ROBOT. ROBOTS may not use any closed air devices such as but not
limited to: pneumatic solenoids or cylinders, gas storage vessels, gas springs, compressors, or
vacuum generating devices. Air-filled (pneumatic) wheels are exempt from this rule.

12.3 Fabrication
R301 *Legal COTS Parts and Raw materials can be modified. Allowed raw materials and Legal COTS
parts can be modified (drilled, cut, painted, etc.) as long as no other rules are violated.
Raw materials referrers to unfinished building stock such as but not
limited to:
− sheet stock
− extruded shapes
− metals, plastic, rubber, and wood
− magnets
R302 *Custom parts can be reused year to year. FABRICATED ITEMS created before Kickoff are
permitted.
R303 *Custom designs and software can be reused year to year. ROBOT software and designs
created before Kickoff are permitted.

Section 12 ROBOT Construction Rules (R) V0 43 of 75

R304 *SCORING ELEMENTS are not allowed for ROBOT Construction. Current season SCORING
ELEMENTS or replicas of SCORING ELEMENTS are not allowed to be used as part of ROBOT
construction or for any other team supplied SCORING ELEMENTS.
R305 *During an event, work can occur outside of pit hours. During an event a team is attending
(regardless of whether the team is physically at the event location), the team may work on or
practice with their ROBOT or ROBOT elements outside of the hours that pits are open.
For teams who chose to work offsite during an event please work smart
and safely. Ensure team members get adequate rest and have sufficient
adult supervision during afterhours and off-site work.
Note that E107 and E108 impose additional restrictions on work done on
the ROBOT or ROBOT materials while attending an event.
R306 *COTS MECHANISMS have limits. COTS MAJOR MECHANISMS (as defined in [I###])
purposefully designed to complete a game task are prohibited.
Allowed exceptions to this rule are:
A. COTS drive chassis, provided none of the individual parts violate any other rules
COTS parts are intended to help teams design and build ROBOT
MECHANISMS to complete game tasks and solve challenges but are not
intended to be purpose-built complete bolt-on out-of-the-box solution to
complete game objectives.
R307 *COTS should be single DoF. COTS COMPONENTS and MECHANISMS must not exceed a
single degree of mechanical freedom (DoF). Examples of allowed COTS single degree of
freedom MECHANISMS and COMPONENTS are as follows:
A. linear slide kit,
B. linear actuator kit,
C. single speed (non-shifting) gearboxes,
D. pulley,
E. turntable, and
F. lead screw
G. single DoF grippers
Allowed exceptions to this rule are:
H. ratcheting devices (wrenches, bearings, etc.),
I. Holonomic wheels (omni or mecanum), and
J. dead-wheel odometry kits
The general test for a single degree of freedom MECHANISM is whether
the orientation and position of each COMPONENT in the MECHANISM
can be generally predicted based on the orientation and position of a
single COMPONENT (such as the input) of the system.

Section 12 ROBOT Construction Rules (R) V0 44 of 75

12.4 ROBOT SIGN Rules
A ROBOT SIGN is a required assembly which attaches to the ROBOT. A ROBOT SIGN simultaneously
identifies a ROBOT’s team number as well as its ALLIANCE affiliation for FIELD STAFF. Criteria used in
writing these rules include the following:
− Maximize FIELD STAFF’s ability to determine team number and ALLIANCE of a ROBOT,
− Minimize the amount of design challenge in creating ROBOT SIGNS, and
− Increase consistency in displaying ROBOT identification.
R401 *Two ROBOT SIGNS per ROBOT. ROBOT SIGNS must be placed in at least two separate
locations on the ROBOT. These locations must be on opposite or adjacent surfaces of the
ROBOT, ≥90 degrees apart. All ROBOT surfaces visible to FIELD STAFF can be used for placing
ROBOT SIGNS including the top of the ROBOT. The intent of this rule is for FIELD STAFF to
easily view ROBOT SIGNS from at least 12 feet (3.66 meters) away before, during, and after the
MATCH. ROBOT SIGNS must meet the following criteria:
A. be made of a robust material,
B. minimally be 6.5 inches (16.51 cm) wide (Figure 12-2),
C. minimally be 2.5 inches (6.35 cm) tall (Figure 12-2), and
D. be supported by the structure/frame of the ROBOT
Examples of robust materials that satisfy this rule include, but are not
limited to, acrylic, plastic laminated paper, wood, and metal. ROBOT
SIGNS must be designed to withstand vigorous game play.
Figure 12-2: Team Number ROBOT SIGN Sizing

Section 12 ROBOT Construction Rules (R) V0 45 of 75

R402 *ROBOT SIGNS indicate your ALLIANCE. Each ROBOT SIGN must contain a red or blue opaque
background to indicate their ALLIANCE color, as assigned in the MATCH schedule at the event.
Visible markings on ROBOT SIGNS when installed on the ROBOT, other than the following, are
prohibited:
A. those required per R403,
B. solid white FIRST logos no larger than 1.5 in. (3.81 cm) in height (Figure 12-3),
C. small amounts of hook-and-loop tape, hard fasteners, or functional equivalents, and
D. narrow areas of differing colors exposed at corners, folds, or cutouts.
ROBOT SIGNS that are reversible or configurable must not allow the
opposite ALLIANCE color to be visible to FIELD STAFF, except where
permitted by this rule.
Figure 12-3: Legal team number display for team 117 playing on the red ALLIANCE

R403 *Team number on ROBOT SIGNS. Team numbers must be displayed and positioned on the
ROBOT SIGN as shown in Figure 12-2, Figure 12-3 and Figure 12-4, and meet the following
additional criteria:
A. consist of solid opaque white Arabic numbers (e.g. 1,2,3,4) 2 inches (5.08 cm) tall,
B. there must be a minimum of 1/4” inches (6.35 mm) of background surrounding the
numbers,
C. numbers may not be vertically stacked (Figure 12-5)
D. be made of robust materials
E. cannot be powered or rely on power from any sources to illuminate/reveal numbers
Figure 12-4: Legal number for team 21001 playing on the blue ALLIANCE

Section 12 ROBOT Construction Rules (R) V0 46 of 75

 Figure 12-5: Team number orientation examples for team 1355 playing on the blue ALLIANCE

If a team at an event does not have completely legal ROBOT SIGNS, and
there is no color printer or other means available at the event to create a
legal ROBOT SIGN, the head REFEREE may approve an alternate
substitute for use at the event.
Team numbers must be robust enough to withstand the rigors of MATCH
play. Example robust materials include:
− self-adhesive numbers (mailbox or vinyl numbers)
− ink jet or laser printed numbers on paper and laminated or protected
from ROBOT-to-ROBOT interaction.

Examples of prohibited team numbers on ROBOT SIGNS include but are

not limited to:
− Edge lit engraved plastic
− LED Display numbers

Section 12 ROBOT Construction Rules (R) V0 47 of 75

12.5 Motors & Actuators
R501 *Allowable motors. The only allowed motor actuators are:
Table 12-1 Motor allowances

Part Numbers
Motor Name Notes
Available
AndyMark NeveRest 12V DC am-3104
AndyMark NeveRest Hex 12V DC am-3104c
5201, 5202, 5203, and 5204
goBILDA Yellow Jacket 520x Series 12V DC 5201-0002-0026, etc
series
Modern Robotics / MATRIX 12V DC 5000-0002-0001
REV Robotics HD Hex 12V DC REV-41-1291
REV Robotics Core Hex 12V DC REV-41-1300
Studica Robotics Maverick 12V DC 75001
TETRIX MAX 12V DC 739530 Discontinued
TETRIX MAX TorqueNADO 12V DC W44260
VEX EDR 393 276-2177 Counts as a servo for R503
Factory installed vibration and autofocus motors resident in COTS computing devices (e.g. rumble
motor in a smartphone). Can only be used as part of the device, cannot be removed and/or
repurposed. These motors do not count toward the limit in R503.
Motors integral to a COTS sensor (e.g. LIDAR, scanning sonar, etc.), provided the device is not
modified except to facilitate mounting. These motors do not count toward the limit in R503.

Many legal gearmotors are sold with labeling based on the entire
assembly. These motors may be used with or without the provided
gearbox.

Section 12 ROBOT Construction Rules (R) V0 48 of 75

R502 *Allowable servos. Servo actuators must meet the requirements below. Servos must be
compatible with the power regulation devices they are ultimately used with (per R505) and may
include additional servo position output interfaces (e.g. 4th Wire Position Feedback).
Table 12-2 Servo Requirements at 6V

Actuator Mechanical Example Servos (including, but not limited to)

Class Stall Current
Output Power NOT COMPLETE LIST
AndyMark High-Torque Servos (am-4954)
Axon MAX+ Servo (Axon MAX+)
DSSERVO 35KG Coreless (DS3235MG)
Servo ≤ 8 watts @6V ≤ 4 amps @6V FEETECH Digital Servo (FT5335M-FB)
goBILDA Dual Mode Servo (2000-0025-0003)
REV Robotics Smart Servo (REV-41-1097)
Studica Multi-Mode Smart Servo (75002)
Actuonix Micro Linear Servo (P8-100-252-12-R)
Linear Servo N/A ≤ 1 amps @6V Hitec Linear Servo (HLS12-3050-6V)
Studica Linear Servo RC Actuator (75014)
Servo mechanical output power is approximated by the following formula (using 6V data reported
by manufacturer):
• Mechanical Output Power = 0.25 x (Stall Torque in N-m) x (No Load Speed in rad/s)

Servos must meet both requirements to be legal for use. Refer to the
Legal and Illegal Parts List for a list of servos that are pre-approved,
otherwise teams must be able to provide documentation verifying servo
specifications. Use the online calculator to verify output power
compliance.
If a manufacturer does not provide 6V specs, any specs for voltages that
exceed 6V are allowed to be used.
Stall current is the maximum stall current possible for the device at the
specified voltage, regardless of any programmable software limits that
may be available within the servo.
It is important to ensure the voltage provided by the intended power
regulation device is within the operating voltage range of the desired
servo. The REV Control Hub and REV Expansion Hub provide 5V to servos,
and the REV Servo Power Module and Studica Servo Power Block provide
6V to servos. While virtually all servos are compatible with 6V, servos with
an operating voltage range of 6-8.4 DCV, for example, may not work
properly when only provided 5V.

Section 12 ROBOT Construction Rules (R) V0 49 of 75

R503 *ROBOTs are limited to a total of 8 motors and 12 servos. A ROBOT may not have more than 8
motors and 12 servos from the allowable actuator lists per R501 and R502 for all MECHANISMS
used in all configurations, with the following exceptions:
A. The VEX EDR 393 (276-2177) motor is counted as a servo instead of a motor.
If a ROBOT has multiple configurations used at a single event which use
different MECHANISMS the sum total of all motors and servos must be
less than or equal to the limit set in this rule.
For servos, note that each REV Expansion Hub and REV Control Hub
provide 5V and are limited to a max current output of 5A total shared
across all servo ports and the +5V auxiliary power port, with a 2A
maximum limit across paired servo ports (10W of maximum electrical
output power per port pair, 25W total). Teams should make sure that their
total servo power usage always remains below this limit.
Given the extensive number of motors and servos 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 and/or servos at the same time
could lead to drops in ROBOT battery voltage that may result in exceeding
the battery fuse limits or browning out the control system leading to
power loss or communications loss.
R504 *Don’t modify actuators unless explicitly allowed. The integral mechanical and electrical
system of any motor or servo must not be modified. Motors and servos used on the ROBOT
shall not be modified in any way, except as follows:
A. the mounting brackets and/or output shaft/interface may be modified to facilitate the
physical connection of the motor to the ROBOT and actuated part,
B. the electrical leads may be trimmed to length as necessary and connectors or splices to
additional wiring may be added,
C. servos may be modified as specified by the manufacturer (e.g. re-programming or
modification for continuous rotation),
D. minimal labeling may be applied to indicate device purpose, connectivity, functional
performance, etc. as long as the team applied label doesn’t obstruct the markings used
to identify the device,
E. insulation may be applied to electrical terminals,
F. repairs, provided the original performance and specifications are unchanged, and
G. maintenance recommended by the manufacturer.

Section 12 ROBOT Construction Rules (R) V0 50 of 75

R505 *All actuators must be powered from approved devices. With the exception of servos, fans, or
motors integral to sensors of COTS computing devices permitted in R501, each actuator must
be controlled by a power regulating device. The only power regulating devices for actuators
permitted on the ROBOT are:
Table 12-3 Power Regulators and Limits

Power Regulating Device Part Number Load Limit per Device

REV Control Hub or REV-31-1153 /
2 Motors per Port
Expansion Hub Motor Ports REV-31-1595
REV Control Hub or REV-31-1153 /
2 Servos per Port
Expansion Hub Servo Ports REV-31-1595
2 Servos per Port OR
REV Servo Power Module REV-11-1144 2 VEX Motor Controller 29
(one per port)
REV SPARKmini REV-31-1230 2 Motors per Device
Studica Servo Power Block 75005 2 Servos per Port
1 VEX EDR 323 Motor
VEX Motor Controller 29 276-2193
(Counts as a Servo per R503)

R506 *No relays or alternative electrical actuation. The application of electromechanical actuation
through the use of additional relays, electromagnets, electrical solenoid actuators, or related
systems is prohibited. In addition, the use of relays and electromagnets is also prohibited.

12.6 Power Distribution

In order to maintain safety, the rules in this section apply at all times while at the event, not just while
the ROBOT is on the FIELD for MATCHES.
R601 *Battery limit – everyone has the same main ROBOT power. The only legal source of electrical
energy for the ROBOT control system and actuation during the competition, the ROBOT battery,
must be 1 and only 1 approved 12V NiMH main battery. The ROBOT main battery must have a
COTS equivalent in-line 20A ATM mini blade fuse installed. Installed connectors may be
replaced with other popular connectors such as Anderson Powerpole, XT30, or any connector
with a comparable power rating. The only allowed ROBOT main power battery packs are:
Table 12-4 Legal ROBOT Main Power Battery Packs

Battery Pack Part Number Notes

AndyMark Flat Pack Battery DC 12V am-5290
goBILDA 12V NiMH Nested Battery 3100-0012-0020

Matrix 12V 3000mAh NiMH 14-0014

REV 12V Slim Battery REV-31-1302

Section 12 ROBOT Construction Rules (R) V0 51 of 75

 Battery Pack Part Number Notes
Studica 12V 3000mAh NiMH 70025
TETRIX MAX 12V 3000mAh NiMH W39057 Formerly 739023

There are many other similar style batteries available from multiple
VENDORS but only the listed manufactures and part numbers are legal for
use at FIRST Tech Challenge Events.
Batteries should be charged in accordance with manufacturer’s
specification. (Please see the FIRST Safety Manual for additional
information.)
R602 *Other batteries are only allowed for peripheral devices and LEDs only. COTS USB battery
packs with a capacity of 100Wh or less (27000mAh at 3.7V), with 5V/5A max output or 12V/5A
max output using USB-PD per port, and batteries integral to a self-contained camera (e.g. GoPro
style camera) may be used provided they are:
A. connected only using unmodified COTS cables,
B. charged according to manufacturer recommendations,
C. securely fastened to the ROBOT,
D. not supplement power to any of the ROBOT actuators, and
E. not used by any devices receiving control signals from the ROBOT control system (i.e.
COTS USB battery packs must remain electrically isolated from the ROBOT power
systems.)
Exceptions to part E of this rule are:
1. powered USB Hubs, and
2. ROBOT CONTROLLER smartphones
For example, a REV Blinkin powered by a COTS USB battery pack cannot
be controlled by signals from a REV Control or Expansion Hub. Any device
receiving signals from a REV Control or Expansion Hub must be powered
by the main ROBOT battery.
R603 *Charge batteries with safe connectors. Any battery charger used to charge a ROBOT battery
must have a corresponding polarized connector installed.
Batteries must never be charged using alligator clips or similar.
R604 *Charge batteries at a safe rate. Any battery charger used to charge a ROBOT battery may not
be used such that it exceeds a 3-amp average charge current. Follow all manufacturer
recommendations when charging batteries.
R605 *Batteries are not ballast. No batteries other than those allowed per R601 and R602 are allowed
on the ROBOT, whether or not they are being used to supply power.
For example, teams may not use additional batteries as extra weight on
their ROBOTS.

Section 12 ROBOT Construction Rules (R) V0 52 of 75

R606 *Batteries should be securely mounted. The ROBOT battery must be secured such that it will
not dislodge during vigorous ROBOT interaction including if the ROBOT is turned over or placed
in any arbitrary orientation. Batteries must be mounted such that they are protected from direct
contact with other ROBOTs or any sharp edges.
R607 *Electrical connections should be robust and must be insulated. All electrical paths may
include intermediate elements such as COTS connectors (Anderson Powerpole, XT30, and
similar crimp or quick-connect style connectors), splices, COTS flexible/rolling/sliding contacts,
and COTS slip rings, as long as the entire electrical pathway is via appropriately gauged/rated
elements and all connections are protected from accidental electrical shorts
Teams are strongly encouraged to insulate all exposed electrical
terminations or provide physical barricades to protect from accidental
electrical shorts.
R608 *Limit non-battery energy. Non-electrical sources of energy used by the ROBOT (i.e., stored at
the start of a MATCH) shall come only from the following sources:
A. a change in the altitude of the ROBOT center of gravity, or
B. storage achieved by deformation of ROBOT parts including, but not limited to, springs,
rubber bands, surgical tubing, etc.
R609 *Connect the ROBOT battery safely though the Main Power Switch. Exactly one main power
switch must control all power provided by the ROBOT battery pack to all power regulating
devices on the ROBOT such that all the following conditions are met:
A. must be one of the following approved power switches:
Table 12-5 Legal Power Switches

Power Switch Part Number

AndyMark FTC Power Switch w/ Bracket am-4969
REV Switch Cable and Bracket REV-31-1387
TETRIX R/C Switch Kit W39129

B. must be mounted or located where it’s accessible to the team and FIELD STAFF
C. a “Main Power Switch” label no smaller than 1” x 2.5” must be placed near the switch on
a flat surface.
D. secondary power switches can be used on the 12V line downstream of the main power
switch provided they are clearly labeled as “secondary switch” and must still be one of
the approved switches.
There are no specific location requirements for the main power switch,
but it should be located clear of any moving parts and other obstructions
that would block its access during normal ROBOT operations.
Examples considered not “quickly and safely accessible” include main
power switches covered by an access panel or door, or mounted on,
underneath or immediately adjacent to moving COMPONENTS.

Section 12 ROBOT Construction Rules (R) V0 53 of 75

 The main power switch should be mounted on the ROBOT so it is
protected from ROBOT-to-ROBOT contact to avoid inadvertent actuation
or damage.
R610 *Fuse ratings should not be altered. Fuses must not be replaced with fuses of higher rating
than originally installed or according to manufacturer's specifications; fuses may not be shorted
out. Fuses must not exceed the rating of those closer to the battery. If necessary, a fuse may be
replaced with a smaller rating. Replaceable fuses must be single use only; self-resetting fuses
(breakers) are not allowed.
R611 *The ROBOT frame is not a wire. All wiring and electrical devices shall be electrically isolated
from the ROBOT frame. The ROBOT frame must not be used to carry electrical current.
Electrically grounding the control system electronics to the frame of the ROBOT is only
permitted such that all of the following conditions are met
A. must use one of the following approved parts:
Table 12-6: Legal ROBOT Grounding Straps

Grounding Strap Part Number

AndyMark Resistive Grounding Strap am-4648
REV Resistive Grounding Strap REV-31-1269

B. the strap must directly connect to a fully COTS COMPONENT with an XT30 connector,
and also must connect directly to the frame of the ROBOT.
C. no ROBOT COMPONENTS or MECHANISMS are designed to electrically ground the
ROBOT frame to the FIELD
Compliance with this rule can be checked by observing a >120Ω
resistance between both the (+) or (-) terminal of the ROBOT main power
switch in the “ON” position and any point on the ROBOT. Most aluminum
has a clear anodizing layer or oxidation layer on it that acts as an
insulator. In order to make a good electrical connection with the
grounding strap to the frame, it may be necessary to scratch/file/remove
the anodize/oxidation layer from the area of contact with the metal first.
Note that some cameras, decorative lights, and sensors (e.g. some
encoders, some IR sensors, etc.) have grounded enclosures or are
manufactured with conductive plastics. These devices must be
electrically isolated from the ROBOT frame to ensure compliance with
this rule.
Examples of devices with COTS XT30 connectors include but are not
limited to the REV Control Hub (REV-31-1595), a COTS XT30 power
distribution block (such as a REV-31-1293), or a COTS Anderson
Powerpole to XT30 Adapter (such as REV-31-1385). For additional details
on installation of the grounding strap, please see the ROBOT Wiring
Guide.

Section 12 ROBOT Construction Rules (R) V0 54 of 75

R612 *Electrical system must be inspectable. All power regulating devices (per R505), associated
wiring, and all fuses must be visible for inspection.
“Visible for inspection” does not require that the items be visible when the
ROBOT is in STARTING CONFIGURATION, provided the team can make
the items viewable during the inspection process.
R613 *No high voltage allowed. Any active electrical item that is not an actuator (specified in R501) or
power regulation device (specified in R505) is considered a CUSTOM CIRCUIT. CUSTOM
CIRCUITS shall not provide regulated output voltages exceeding 5V, but may pass through
unregulated battery voltage.
R614 *Energize Power Regulating Devices as specified. All power regulating devices (R505) must be
powered per the manufacturer’s instructions and the following table must be true:
Table 12-7 Power Regulation Device Power Requirements

Power Regulating Device Part Number Method of Powering

REV Control Hub / REV-31-1153 / Only powered using one of the

XT30 connectors on the device by
REV Expansion Hub REV-31-1595 the ROBOT main battery
Only powered using the screw
terminals and must always be
REV Servo Power Module REV-11-1144
powered by the ROBOT main
battery
Only powered by the Power input
REV SPARKmini REV-31-1230 and must always be powered by
the ROBOT main battery
Only powered by JST-VH power
connector, and must always be
Studica Servo Power Block 75005
powered by the ROBOT main
battery
VEX Motor Controller 29 276-2193 Only powered via servo connector

Section 12 ROBOT Construction Rules (R) V0 55 of 75

R615 *Use appropriately sized wire. All circuits shall be wired with appropriately sized insulated
copper wire (SIGNAL LEVEL cables don’t have to be copper):
Table 12-8 Wire sizing requirements

Application Minimum Wire Size

12V Main Battery Power
18 AWG
Motor Power (unless otherwise listed)
(19 SWG or 1 mm2)
11-20A fuse protected circuit
Motor Power - TETRIX MAX 12V DC Motors, REV
Robotics Core Hex (REV-14-1300)
PWM / Servo 22 AWG
(22 SWG or 0.5 mm2)
LEDs (5V / 12V)
≤10A fuse protected circuit
SIGNAL LEVEL circuits (i.e. circuits which draw ≤1A
continuous and have a source incapable of delivering 28 AWG
>1A, including but not limited to I2C, DIO, Analog, (29 SWG or .08 mm2)
encoder and RS485 connections)

Integrated wires originally attached to legal COTS devices are considered part of the device and
by default legal. Such wires are exempt from this rule.
In order to show compliance with these rules, teams should use wire with
clearly labeled sizes if possible. If unlabeled wiring is used, teams should
be prepared to demonstrate that the wire used meets the requirements of
this rule (e.g. wire samples and evidence that they are the required size).
R616 *Use specified wire colors. All non-SIGNAL LEVEL wiring with a constant polarity (i.e., except for
outputs of motor controllers, or sensors) must use consistent color-coding with different colors
used for the positive (red, yellow, white, brown, or black with white stripe) and negative/common
(black, blue) wires.
R617 *Powered USB Hubs must draw energy from approved sources. Powered USB hubs used on
the ROBOT can only be powered through one of the following ways:
A. an approved COTS USB battery Pack per R602, or
B. the 5V auxiliary power port on the REV Expansion Hub or REV Control Hub
R618 *Don’t modify critical power paths. CUSTOM CIRCUITS shall not directly alter the power
pathways between:
A. the ROBOT battery and main power switch,
B. the main power switch and a power regulating device (per R609),
C. any two power regulating devices (per R613), or
D. power regulating devices and actuators.

Section 12 ROBOT Construction Rules (R) V0 56 of 75

 Custom high impedance voltage monitoring or low impedance current monitoring circuitry
connected to the ROBOT’S electrical system is acceptable if the effect on power pathways is
inconsequential.
Altering a power pathway includes, but is not limited to, altering the
voltage of the power pathway using a boost (DC voltage step-up) or buck
(DC voltage step-down) converter or otherwise altering the natural
variable DC voltage provided by the ROBOT battery to create a constant
DC voltage.
R619 *Don’t mix and match power on or between power regulation devices. The following rules must
be adhered to when using power on any power regulation device (per R505):
A. other than power used to energize the power regulation device (per R614) no power
originating outside the power regulation device may be used on or with devices
connected to the power regulation device. The only exceptions are connections intended
for communication between devices (RS485/USB/PWM/etc).
Example 1: The +5V port on a REV Expansion Hub cannot be used to
power devices connected to a REV Control Hub’s I2C ports.
Example 2: A regulated 5V output provided by a CUSTOM CIRCUIT cannot
be used to power an I2C device connected to a REV Control Hub.
B. power originating from ports/connectors on power regulation devices may only be used
for devices directly connected to that port/connector. The only exception to this is +5V
power from the +5V power port on the REV Control Hub or REV Expansion Hub may be
used in conjunction with any Analog, Digital, or I2C port on that device. In addition the
+5V power port may be used to power external devices.
Example 1: The power provided by Digital Port 0-1 on a REV Control Hub
should not be used to power devices connected to I2C Port 0. However,
power provided by Digital Port 0-1 can be used to power devices
connected to both signal channels N and N+1 on Digital Port 0-1.
Example 2: The +5V power can be used to power external devices such as
externally powered USB hubs (per R617).
C. 6V power provided by the REV Servo Power Module or Studica Servo Power Block may
only be used for powering servos.

12.7 Control, Command & Signals System

R701 *Control the ROBOT with a single ROBOT CONTROLLER. ROBOTS must be controlled via 1
programmable ROBOT CONTROLLER. The ROBOT CONTROLLER is the only source of control
for the ROBOT actuators and must be comprised of:
A. REV Control Hub (REV-31-1595), or
B. an allowed smartphone Android device connected to a REV Expansion Hub (REV-31-
1153)

Section 12 ROBOT Construction Rules (R) V0 57 of 75

 In addition to A and B, a ROBOT may also contain:
C. no more than one additional REV Expansion Hub (REV-31-1153)
R702 *No general purpose co-processors. General purpose co-processors, such as Raspberry Pi,
Arduino boards, or similar are prohibited, including devices containing such co-processors
unless explicitly permitted in this rule or rule R703. Permitted devices may not be user-
programmed but firmware provided by the manufacturers may be updated. Permitted devices
are:
Table 12-9: Allowed exceptions containing general-purpose co-processors

Device Part Number

REV Robotics Blinkin LED Driver REV-11-1105
Digital Chicken Labs OctoQuad DCL-OQF1

R703 *Programming vision is okay. Supported vision co-processors are allowed to be programmed.
Current vision co-processors that are allowed are:
Table 12-10 - Supported Vision co-processors

Device Part Number

Limelight Vision Limelight 3A LL_3A

R704 *Use only legal Android smartphone devices. Android smartphone devices, if used, must
minimally be running the Android 7 (Nougat) operating system. The following table lists the
legal Android smartphones:
Table 12-11: Legal Android Smartphones

Phone Notes
Motorola Moto G4 Play Sometimes noted as “4th Generation”
Motorola Moto G5
Motorola Moto G5 Plus
USA versions only, includes SKUs
Motorola Moto E4 XT1765, XT1765PP, XT1766, and
XT1767
Motorola Moto E5 XT1920
Motorola Moto E5 Play XT1921

Some supported models still using Android 6.x (Marshmallow) might be

updatable by the Motorola Rescue and Smart Assistance Tool.
Teams outside North America with extenuating circumstances (such as
international purchasing limitations) are allowed to use alternate Android

Section 12 ROBOT Construction Rules (R) V0 58 of 75

 smartphones if necessary. Teams doing so are required to fill out this
alternate Android Smartphone survey.
R705 *Smartphone android devices used as a ROBOT CONTROLLER must connect to the REV
Expansion Hub using USB. If used as a ROBOT CONTROLLER, the smartphone android device
must be connected via its integrated micro USB port to a REV Expansion Hub either:
A. a mini USB to OTG Micro Cable, or
B. any combination of Mini USB Cable, a USB Hub (powered or unpowered) and an OTG
Micro adaptor (the hub can be integrated into the USB Hub).
R706 *Bandwidth is restricted. Communication between the ROBOT and the DRIVER STATION is
limited to ROBOT command data from the DRIVER STATION app, debugging data and telemetry
from the ROBOT to the DRIVER STATION app, and single frame images used during ROBOT set-
up pre-MATCH. No streamed video or audio may be sent.
R707 *Configure devices for your team number. The ROBOT CONTROLLER, DRIVER STATION, and
any spares used must be configured/named to correspond to the correct team number as
follows:
A. ROBOT CONTROLLER should be named <team number>-RC (e.g. 12345-RC)
B. DRIVER STATION should be named <team number>-DS (e.g. 12345-DS)
C. If a spare ROBOT CONTROLLER or DRIVER STATION is configured, a letter designator
may be added <team number>-<letter>-RC/DS (e.g. 12345-A-DS, 12345-B-DS)
See the DRIVER STATION Instructions and ROBOT CONTROLLER
Instructions for a detailed procedure for updating DRIVER STATION and
ROBOT CONTROLLER “names.”
R708 *Don’t interfere with the ROBOT networks. During a MATCH, all communications signals must
originate from only the ROBOT CONTROLLER device or the DRIVER STATION device using the
ROBOT CONTROLLER Wi-Fi network. No other devices may attempt to connect to, interfere with,
or alter the ROBOT CONTROLLER Wi-Fi network.
Teams are allowed to connect programming laptops and other devices to
the ROBOT CONTROLLER Wi-Fi network outside of a MATCH. These
devices must be disconnected from the ROBOT CONTROLLER Wi-Fi
network prior to and during a MATCH.
R709 *No other wireless allowed. No form of wireless communication shall be used to communicate
to, from, or within the ROBOT, except those specified per R706 and R708.
Devices that employ signals in the visual spectrum (e.g. cameras) and
non-RF sensors that don’t receive human-originated commands (e.g.
“beam break” sensors or IR sensors on the ROBOT used to detect FIELD
elements) are not wireless communication devices and thus this rule
doesn’t apply.
R710 *ROBOT CONTROLLER must be visible for inspection. The ROBOT CONTROLLER device must
be mounted on the ROBOT such that the diagnostic lights, or device screen if applicable, can be
visible for inspection.

Section 12 ROBOT Construction Rules (R) V0 59 of 75

 “Visible for inspection” does not require that the items be visible when the
ROBOT is in STARTING CONFIGURATION or normally during a MATCH,
provided the team can make the items viewable during the inspection
process if necessary.
Teams are strongly encouraged to make the diagnostic lights visible
during normal match play ROBOT configurations. If diagnostic LEDs are
not visible during a MATCH, FIELD STAFF may not be able to provide
comprehensive support to the team.
Teams are encouraged to mount the ROBOT CONTROLLER device away
from noise generating devices such as motors and EMF shielding
materials like sheets of metal.
R711 *Only specified modifications to core control system devices permitted. The DRIVER STATION
device and software, Android-based ROBOT CONTROLLER device, main and secondary power
switch(es), power regulation devices, fuses, and batteries shall not be tampered with, modified,
or adjusted in any way (tampering includes drilling, cutting, machining, rewiring, disassembling,
painting, removing enclosures and replacing with custom enclosures, etc.), with the following
exceptions:
A. wires, cables, and signal lines may be connected via the standard connection points
provided on the devices,
B. fasteners (including adhesives) may be used to attach devices to the OPERATOR
CONSOLE or ROBOT or to secure cables to the device,
C. thermal interface material may be used to improve heat conduction,
D. labeling may be applied to indicate device identification, purpose, connectivity,
functional performance, etc. as long as they do not cover labels or markings used to
identify the product,
E. jumpers may be changed from their default location,
F. jumpers or switches may be moved to configure devices per the manufacturer’s manual,
G. device firmware may be updated with manufacturer supplied firmware,
H. integral wires on motor controllers may be cut, stripped, and/or connectorized,
I. devices may be repaired, provided the performance and specifications of the device
after the repair are identical to those before the repair,
J. add insulating material to exposed conductors, and
K. tape may be applied for debris protection.
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. Repairs
must be functionally equivalent to original device condition.
Be aware that diagnosing and repairing COMPONENTS such as these can
be difficult.
For example, “repairs” that change connector types, include device
footprint modifications, or provide mechanical enhancements, are
prohibited.

Section 12 ROBOT Construction Rules (R) V0 60 of 75

R712 *Always keep control system device software up to date. The following table lists the
recommended software versions for each core control electronics module, and a link on how to
update this software. Note that some devices have multiple pieces of software that may need to
be updated each season, and not all software is available prior to kickoff each season. Check
the FIRST Tech Challenge Blog for release announcements.
Regardless of the versions selected, it is highly recommended that the installed ROBOT
CONTROLLER App and DRIVER STATION App versions match major and minor values to ensure
compatibility as not all software versions are compatible with each other.
Table 12-12 - Recommended Software for Control System Devices

Software and
Device How to Update
Recommended Versions
Control Hub OS
REV Control Hub (REV-31-1595) Updating the Control Hub OS
Recommended: 1.1.2
Hub Firmware
REV Control Hub (REV-31-1595) Updating the Hub Firmware
Recommended: 1.8.2
ROBOT CONTROLLER App Updating the ROBOT
REV Control Hub (REV-31-1595)
Recommended: 10.0 CONTROLLER App
Hub Firmware
REV Expansion Hub (REV-31-1153) Updating the Hub Firmware
Recommended: 1.8.2
Android Smartphone ROBOT CONTROLLER App Updating the ROBOT
(ROBOT CONTROLLER device) Recommended: 10.0 CONTROLLER App
Android Smartphone DRIVER STATION App Updating the DRIVER STATION
(DRIVER STATION device) Recommended: 10.0 App
Driver Hub OS
REV Driver Hub (REV-31-1596) Updating the Driver Hub OS
Recommended: 1.2.0
DRIVER STATION App Updating the DRIVER STATION
REV Driver Hub (REV-31-1596)
Recommended: 10.0 App

Software at or above the recommended versions have the latest bugfixes

and updates. Teams are highly encouraged to update their software
minimally to the recommended version. FIELD STAFF will not be able to
provide comprehensive support to teams with software older than the
recommended version.
Teams may choose to run older versions without affecting their ROBOT
inspection status.

Section 12 ROBOT Construction Rules (R) V0 61 of 75

R713 *USB is for vision. Only the following devices may be connected to the ROBOT control system
using USB:
A. webcams and optical vision sensors per R714,
B. USB hub, and
C. a REV Expansion Hub (if using a smartphone per R704 as the ROBOT CONTROLLER)
R714 *Use only supported Vision. Only single image sensor vision devices that are natively supported
by the ROBOT CONTROLLER App are allowed (stereoscopic cameras are not allowed). This
includes the following:
A. all UVC compatible USB webcams (Logitech C270, and related),
B. DFRobot HuskyLens (SKU: SEN0305, SEN0305-S), and
C. Limelight Vision Limelight 3A (SKU: LL_3A)
To request support (or to provide sample drivers) for alternate vision
devices for inclusion in future FIRST Tech Challenge seasons, please use
the Part Suggestion Form.
UVC compatible USB webcams may only use the UVC provided stream /
data. No other interfaces or data provided by the webcam may be used.
R715 *Recording devices are okay. Self-contained video recording devices (GoPro or similar) are
allowed providing they are used only for non-functional post-MATCH viewing and the wireless
capability is turned off.
R716 *Lasers must be safe. Lasers are not allowed unless they meet all of the following criteria:
A. must be part of a sensor,
B. must be rated as IEC/EN 60825-1”Class I” or IEC/EN 62471 “Exempt”
C. non-visible spectrum

12.8 Pneumatic Systems

In order to maintain safety, the rules in this section apply at all times while at the event, not just while
the ROBOT is on the FIELD for MATCHES.
R801 *No Pneumatics. No closed air systems are allowed on FIRST Tech Challenge ROBOTS except
for those explicitly listed in R207.

12.9 OPERATOR CONSOLE

R901 *Use only a specified DRIVER STATION device. The OPERATOR CONSOLE may only have one
approved android-based DRIVER STATION device connected and powered on. The OPERATOR
CONSOLE must have at least one of the following:
A. REV Driver Hub (REV-31-1596) or
B. Approved Android Device from rule R704 with one OTG cable and COTS USB cable to
connect the required gamepad controller(s).

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 Teams who wish to have a spare DRIVER STATION device as part of their
OPERATOR CONSOLE may do so as long as only one DRIVER STATION
device is connected and powered on at a time.
R902 *The OPERATOR CONSOLE must make the touch screen accessible. The OPERATOR
CONSOLE, the set of COMPONENTS and MECHANISMS used by the DRIVE TEAM to relay
commands to the ROBOT, must make the touch screen of the DRIVER STATION device
accessible. The DRIVER STATION device must be positioned within the OPERATOR CONSOLE
so that the screen display can be clearly seen during inspection and in a MATCH.
R903 *Options for portable power to the DRIVER STATION device are limited. The DRIVER STATION
device can be charged using one (1) COTS USB external battery as long as the following
requirements are met:
A. COTS USB battery is limited by R602-A and R602-A
B. Controller is charged through the built-in USB-C port on the REV Driver Hub or through a
USB Hub connected to the smartphone Android Device.
R904 *Only limited gamepads are supported. The OPERATOR CONSOLE may have no more than two
(2) electrically unmodified gamepads in any combination from the following list connected to
the DRIVER STATION at any time:
Table 12-13 - Allowed Gamepads on OPERATOR CONSOLE

Gamepad Part Number Notes

Logitech F310 gamepad 940-00010
Xbox 360 Controller for Windows 52A-00004

Sony DualShock 4 Wireless Operating in wired mode only (i.e., connected

N/A through USB cable without being Bluetooth
Controller for PS4
paired to any device)
Sony DualSense Wireless This DOES NOT include the Sony DualSense
N/A
Controller for PS5 Edge Wireless Controller in any configuration
Etpark Wired Controller for PS4 REV-39-1865
REV Robotics USB PS4
REV-31-2983
Compatible Gamepad
Quadstick game controller in
any model
Xbox 360 Emulation Mode

Enhancements to the gamepad that do not modify the electronics are

legal. Different color gamepads are allowed provided they are the same
model as the allowed gamepad.
Teams are strongly encouraged to use short USB cable extenders with
the USB ports on the DRIVER STATION device. These extenders are used
to reduce the wear and tear on the DRIVER STATION device ports from
frequent plugging and unplugging – instead of plugging/unplugging

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 directly into the DRIVER STATION device, gamepads are plugged and/or
unplugged from the cable extenders. The extenders are intended to
remain forever plugged into the DRIVER STATION device and, with proper
strain relief employed, can protect the port from accidental damage.
Teams who wish to have spare gamepad(s) available as part of their
OPERATOR CONSOLE may do so as long as no more than two gamepads
are connected at any time.
R905 *OPERATOR CONSOLE physical requirements. The OPERATOR CONSOLE must not
C. include more than one (1) connected external USB hub,
D. contain any non-decorative electronics not otherwise required,
E. exceed a volume of 3ft wide, 1ft deep and 2 ft tall (excluding any items that are held or
worn by the DRIVERS during the MATCH)
Please note that while there is no hard weight limit, OPERATOR
CONSOLES that weigh more than 20 lbs. (~9 kg.) will invite extra scrutiny
as they are likely to present unsafe circumstances.
Teams who wish to have a spare external USB hub as part of the
OPERATOR CONSOLE may do so as long as only one USB hub is
connected at any time.
R906 *ROBOT application wireless communication only. Other than the connection controlled by the
ROBOT CONTROLLER app running on the ROBOT and the DRIVER STATION app running on the
DRIVER STATION device, no other form of wireless communications shall be used to
communicate to, from, or within the OPERATOR CONSOLE during a MATCH.
Examples of prohibited wireless systems include, but are not limited to,
active wireless network cards and Bluetooth devices.
Because this system uses a built-in wireless radio teams are strongly
encouraged to ensure there is no metal material blocking the line-of-sight
between the DRIVER STATION device and the ROBOT CONTROLLER
device which could impede the signal quality.
R907 *No unsafe OPERATOR CONSOLES. OPERATOR CONSOLES shall not be made using hazardous
materials, be unsafe, cause damage, cause an unsafe condition, distract, or interfere with other
DRIVE TEAMS or the operation of other ROBOTS.
DRIVER STATION sounds which are distracting or which mimic MATCH
sounds are examples of disallowed OPRATOR CONSOLE features.
Sounds which are frequent or continuous which serve no apparent value
to the MATCH play would likely be considered distracting.
The intent of this rule is to allow teams to use a container to store,
organize, and transport the DRIVER STATION device and supporting
electronics. The OPERATOR CONSOLE rules are not intended to allow

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 systems that function as a ROBOT cart or replace a competition-provided
OPERATOR CONSOLE stand, table, etc.

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13 Tournament (T)

This section will be updated with the Kickoff Competition Manual release
on September 7th, 2024

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14 League Play Tournaments (L)

This section will be updated with the Kickoff Competition Manual release
on September 7th, 2024

Section 14 League Play Tournaments (L) V0 69 of 75

15 FIRST Championship Tournament (C)

This section will be updated with the Kickoff Competition Manual release
on September 7th, 2024

Section 15 FIRST Championship V0 71 of 75

Tournament (C)
16 Glossary
The following definitions and terms are used for a FIRST Tech Challenge game INTO THE DEEP.
Defined terms are in ALL CAPITAL LETTERS throughout the manual (for example, ALLIANCE).
Competition rules mean exactly and only what it plainly says. If a word isn't given a game definition,
then you should use its common conversational meaning.

Term Definition
ALLIANCE a cooperative of two FIRST Tech Challenge teams
includes all elements of the game infrastructure that are required to
play this season's FTC game including: the FIELD, SCORING
ARENA
ELEMENTS, queue area, team media area, and all equipment needed
for FIELD control, ROBOT control, and scorekeeping
COACH a guide or advisor
any part in its most basic configuration, which cannot be
COMPONENT disassembled without damaging or destroying the part or altering its
fundamental function
a standard (i.e. not custom order) part commonly available from a
COTS
VENDOR for all teams for purchase
Any active electrical item that is not an actuator (specified in R501 or
CUSTOM CIRCUIT
R502) or core control system item (specified in R711)
a set of up to 4 people from the same FIRST Tech Challenge team
DRIVE TEAM
responsible for team performance for a specific MATCH
Android device (smartphone or REV Driver Hub) that runs the DRIVER
DRIVER STATION
STATION App software to communicate with a ROBOT.
any COMPONENT or MECHANISM that has been altered, built, cast,
constructed, concocted, created, cut, heat treated, machined,
FABRICATED ITEM manufactured, modified, painted, produced, surface coated, or
conjured partially or completely into the final form in which it will be
used on the ROBOT
an approximately 12 ft by 12 ft foam TILE covered area bounded by
FIELD
the outside edge of the extrusion of the FIELD perimeter walls.
the collective group of people working on or near the FIELD
responsible for making sure the MATCHES are cycled through
FIELD STAFF
efficiently, fairly, safely, and with a spirit of cooperation, Gracious
Professionalism, and generosity of spirit
FTA FIRST Technical Advisor

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Term Definition
a person determined by FIRST to accurately and efficiently assess the
INSPECTOR
legality of a given part of a ROBOT
LRI the Lead ROBOT INSPECTOR
a group of COMPONENTS and/or MECHANISMS assembled together
to address at least 1 game challenge: ROBOT movement, SCORING
MAJOR MECHANISM
ELEMENT manipulation, FIELD element manipulation, or performance
of a scorable task without the assistance of another ROBOT.
the 2-minute and 30-second in which a ROBOT is enabled to play the
MATCH
current seasons game
an assembly of COMPONENTS that provide specific functionality on
the ROBOT. A MECHANISM can be disassembled (and then
MECHANISM
reassembled) into individual COMPONENTS without damage to the
parts.
the set of COMPONENTS and MECHANISMS used by the DRIVERS
OPERATOR CONSOLE
and/or HUMAN PLAYERS to relay commands to the ROBOT
an official who is certified by FIRST to enforce the rules of the current
REFEREE
season’s game.
an electromechanical assembly built by the FIRST Tech Challenge
team to play the current season’s game and includes all the basic
ROBOT
systems required to be an active participant in the game –power,
communications, control, and movement about the FIELD
Android device (smartphone or REV Control Hub) that runs the ROBOT
ROBOT CONTROLLER
CONTROLLER App to control the ROBOT as defined in R701 and R704
A regulated way for a team to display their team number and
ALLIANCE color on their ROBOT for FIELD STAFF, other volunteers,
ROBOT SIGN
and teams to identify their ROBOT during competition as defined in
section 12.4 ROBOT SIGN Rules
SCORING ELEMENT Objects that ROBOTS manipulate to earn points for their ALLIANCE.
a term used to characterize circuits which draw ≤1A continuous and
have a source incapable of delivering >1A, including but not limited to
SIGNAL LEVEL
REV Control and Expansion Hub sensor input/output signals (DIO,
analog, I2C, encoder, 485)
STARTING CONFIGURATION the physical configuration in which a ROBOT starts a MATCH
An approximate 24-inch x 24-inch (61 cm x 61 cm) foam rubber
TILE
interlocking mat. The FIELD floor has thirty-six (36) TILES.
a legitimate business source for COTS items that satisfies criteria
VENDOR
defined in section 12 ROBOT Construction Rules (R)

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