2023-2024 FIRST® Tech Challenge

Game Manual Part 2 –

Remote Events
2 | FIRST® Tech Challenge Game Manual Part 2 – Remote Events

Sponsor Thank You

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

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Revision History
Revision Date Description
1 9/9/2023 Initial Release
1.1 10/11/2023 • Section 4.1 and 4.2.2 – Updated Raytheon Technologies to RTX
• Section 4.3 – Corrected referenced images in Mosaic definition
• Section 4.4.1 – Pre-Match 3.c) – Clarification that only one Drone may be brought to
each match
• Section 4.5.3 – Added <GS11>h.
• Section 4.7 – Added new rules to Rule Summary

Contents
Contents ............................................................................................................................................................ 3
1.0 Introduction .................................................................................................................................................. 5
What is FIRST® Tech Challenge? .................................................................................................................. 5
2.0 Gracious Professionalism® .......................................................................................................................... 5
3.0 How to Use This Document ......................................................................................................................... 5
4.0 The Game ................................................................................................................................................... 6
4.1 Introduction .............................................................................................................................................. 6
4.2 Game Description .................................................................................................................................... 6
4.2.1 Field Illustration ..................................................................................................................................... 6
4.2.2 Gameplay Overview .......................................................................................................................... 8
4.2.3 Gameplay Technology ....................................................................................................................... 8
4.3 Game Definitions ...................................................................................................................................... 9
4.4 Gameplay .............................................................................................................................................. 14
4.4.1 Pre-Match ........................................................................................................................................ 14
4.4.2 Autonomous Period ......................................................................................................................... 15
4.4.3 Driver-Controlled Period .................................................................................................................. 16
4.4.4 End Game ....................................................................................................................................... 16
4.4.5 Post Match ...................................................................................................................................... 17
4.4.6 Penalties.......................................................................................................................................... 17
4.4.7 Flowchart of Match Play .................................................................................................................. 17
4.5 Rules of Gameplay................................................................................................................................. 18
4.5.1 Safety Rules .................................................................................................................................... 18
4.5.2 General Game Rules ....................................................................................................................... 18
4.5.3 Game-Specific Rules ....................................................................................................................... 22
4.6 Scoring Summary................................................................................................................................... 25
4.7 Rule Summary ....................................................................................................................................... 26
Appendix A – Resources ................................................................................................................................. 30
Game Forum Q&A ....................................................................................................................................... 30

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Volunteer Forum .......................................................................................................................................... 30

FIRST Tech Challenge Game Manuals ........................................................................................................ 30
FIRST Headquarters Pre-Event Support ...................................................................................................... 30
FIRST Websites ........................................................................................................................................... 30
FIRST Tech Challenge Social Media ........................................................................................................... 30
Feedback ..................................................................................................................................................... 30
Appendix B – Playing Field Locations .............................................................................................................. 31
Appendix C – Playing Field Details .................................................................................................................. 32
Appendix D – Scoring Element ........................................................................................................................ 41
Appendix E – Randomization .......................................................................................................................... 42
Appendix F – Scoring Examples ...................................................................................................................... 46
Appendix G – AprilTags ................................................................................................................................... 49

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1.0 Introduction

What is FIRST® Tech Challenge?

FIRST® Tech Challenge is a student-centered program that focuses on giving students a unique and
stimulating experience. Each year, teams engage in a new game where they design, build, test, and program
autonomous and driver operated robots that must perform a series of tasks. 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 [Link].

2.0 Gracious Professionalism®

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

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

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

3.0 How to Use This Document

The Game Manual Part 2 – Remote Events is a resource for all FIRST® Tech Challenge Teams for information
specific to the 2023-2024 season’s game. There are two types of event formats a Team might experience this
season: traditional events and remote events. This manual describes the game and rules for remote events.
Remote events were developed to mimic traditional FIRST Tech Challenge events, while practicing social
distancing guidelines. In some Regions Teams are not able to gather and compete in the traditional head-to-
head competition format, the season’s official full Playing Field and rules have been adapted to allow Teams to
play Matches as a single Team. Remote Teams may order an official partial version of this season’s field or
compete using a low-cost version of the field.

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

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

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6 | FIRST® Tech Challenge Game Manual Part 2 – Remote Events

4.0 The Game

4.1 Introduction
This document describes the remote game version of CENTERSTAGESM presented by RTX, the FIRST® Tech
Challenge game for the 2023-2024 season. We recommend viewing the game animation prior to reading this
manual to gain a general understanding of the similar traditional game. The animation is a brief summary of the
game; it is not intended to provide the necessary information to fully understand the official game rules. The
animation can be accessed on our website under “Videos and Promotional Materials”:
[Link]

Teams must comply with all the rules and requirements stated in this document and in the Game Manual Part
1 - Remote Events. Clarifications to the game rules are issued on the question & answer section of the forum
at [Link] Forum rulings take precedence over information in the game manuals.

Teams should refer to the Game Manual Part 1 – Remote Events for information about the competition such as
how rankings work (Ranking and TieBreaker Points), advancement, judged awards, Robot construction rules,
and general competition rules.

4.2 Game Description

4.2.1 Field Illustration

The following illustrations identify the Game Elements and give a general visual understanding of the game.
Teams should refer to [Link]/FTC for the exact Game Element dimensions. The official Playing Field
documents, including the official Field Setup and Assembly Guide, are available at
[Link] Please note: Playing Field Wall heights
are different depending on the manufacturer. Playing Field Wall height measurements for each manufacturer
are in the official Field Setup and Assembly Guide. During the season, Teams that participate in Remote
events may also transition to Traditional events that use Playing Field Walls from different manufacturers.
Please incorporate that into the design of your Robot. The following illustrations show the Playing Field with the
optional perimeter wall as the Playing Field Boundary.

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Figure 4.2-1 – Isometric view of the remote Playing Field

Figure 4.2-2 – Top view of the remote Playing Field

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8 | FIRST® Tech Challenge Game Manual Part 2 – Remote Events

4.2.2 Gameplay Overview

Welcome to CENTERSTAGESM presented by RTX. Remote Matches are played on a Playing Field initially set
up as illustrated in Figure 4.2 -1. The object of the game is to earn as many points as possible by performing
the achievements outlined below.
The Match starts with a 30-second Autonomous Period in which Robots operate using only pre-programmed
instructions and sensor inputs. The following Robot actions earn points during the Autonomous Period:
1. Navigating to their Backstage.
2. Placing Pixels On their Backdrop or In their Backstage.
3. Identifying the Randomization Object on the randomly selected Spike Mark. Robots can earn points by:
a. Placing a purple Pixel On the randomly selected Spike Mark.
b. Placing a yellow Pixel On the Backdrop in the location corresponding to the randomly selected
Spike Mark.
Additional points are earned for these tasks when a Team uses their Team Prop in place of the a white
Pixel.
The two-minute Driver-Controlled Period follows the Autonomous Period. Robots earn points by:
1. Placing Pixels On their Backdrop or In their Backstage.
2. Creating Mosaics.
3. Scoring Pixels that cross the Set Line.
The final 30 seconds of the Driver-Controlled Period is called the End Game. In addition to the previously listed
Driver-Controlled Period Scoring activities, Robots earn points by:
1. Suspending from their Rigging.
2. Parking In their Backstage.
3. Parking their Launched Drone In Landing Zone 1, 2, or 3.

4.2.3 Gameplay Technology

Each game comes with its own unique set of challenges. In CENTERSTAGESM there are multiple ways a
Team can utilize technology to assist them in solving these challenges. A Team may use the built-in
technology, or they can come up with their own solutions to solve the challenges.

This season, the challenges include:

1. Object Identification:
a) A Robot can use their on-board control system and sensors to identify Game Elements.
b) A Robot can use the built-in TensorFlow technology to decode the randomized Autonomous
task.
2. Field Navigation: Built-in AprilTag technology helps the Robot identify and navigate to important
locations on the Playing Field.
3. Situational Awareness: Sensors provide situational awareness during the Autonomous Period,
automate operations, and provide feedback during the Driver-Controlled Period. Cameras, IMUs,
motor encoders, distance, and color sensors are useful for solving gameplay tasks.

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For resources on how to use the available technologies, please visit [Link]
[Link]/control_hard_compon/rc_components/sensors/[Link].

4.3 Game Definitions

The following definitions and terms are used for CENTERSTAGESM. Defined terms begin with a capital letter
and are italicized throughout the manual (for example, Alliance). Game 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.

Alliance Station – The designated red or blue Alliance Area adjacent to the Playing Field where the Drive
Team stands during a Match.

AprilTag – A visual fiducial system, useful for a wide variety of tasks including augmented reality, robotics, and
camera calibration1. Three (3) AprilTags are affixed to the Backdrop to identify target locations for the
Autonomous randomization task outlined in section 4.4.2. One additional set of AprilTags is placed at the
audience side of the field for assistance with field localization. Information about AprilTags may be found here:
[Link]
1
See [Link] accessed on 5/18/2023.

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

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

Backdrop – A structure upon which a Robot places Pixels to score points. There is one (1) Backdrop
located on the Playing Field. See Appendix C-2 for specifications.

Backstage – The Area beneath a Backdrop. The Backstage is defined by nominal 1-inch (24 mm) wide
tape and is approximately 72-inches (183 cm) long by 23-inches (58.4 cm) deep.

Coach – A Student Team member or adult mentor designated as the Drive Team advisor during the Match.

Competition Area – The Area where all the Playing Field, scoring areas, and other competition items
relating to Match play are located.

Control / Controlling – An object is Controlled by a Robot if the object is following the movement of the
Robot. Objects that are Controlled by a Robot are considered to be a part of the Robot. See also the
definition of Possess / Possessing. Examples of interaction with Game Elements that are Controlled include,
but are not limited to:

a) Carrying one or more Game Elements.

b) Herding of Game Elements. See also the definition of Herding in this section.
c) Propelled Game Elements are considered Controlled until they make contact with something
other than the Playing Field Floor or come to rest. See also the definition of Propelled in this
section. Inadvertent loss of Control of a Scoring Element is not considered Propelling.
Examples of interaction with Game Elements that are not Controlled include, but are not limited to:

d) Plowing of Game Elements is not considered Control. See also the definition of Plowing in this
section.

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10 | FIRST® Tech Challenge Game Manual Part 2 – Remote Events

e) Inadvertent contact with a Propelled Game Element as it bounces off the Playing Field or a
Robot. See also the definition of Inadvertent in this section.

Disable / Disabled – A Robot that is no longer active for the remainder of the Match due to a Robot failure.

Drive Team – Up to four (4) representatives; two (2) Drivers, one (1) Human Player and one (1) Coach from
the same Team.

Driver – A Student Team member responsible for operating and controlling the Robot.

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

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

Drone – A paper airplane Scoring Element built and supplied by a Team. The Drone must be constructed
using materials and methods described in Game Manual Part 1 – Remote Events and has passed
inspection.

End Game – The last thirty (30) seconds of the two-minute Driver-Controlled Period.

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

Field Personnel – People selected by the Team to help run an official remote competition Match. Typical
activities performed by Field Personnel include preparing the Playing Field for a Match, performing the
Playing Field randomization task, keeping track of the Match Score, running the cloud-based scoring
system, and providing as needed technical assistance to the Drive Team during pre-Match setup. One
person may fill several roles. At a Traditional competition, these activities are performed by trained
volunteers. Teams may select anyone except for the Drive Team to be Field Personnel. Some Field
Personnel roles require specialized knowledge. For example, the person scoring the Match should be able
to recall rules and Penalties in real time while watching an official Match.

Game Element – Any item a Robot interact with to play the game. Game Elements for this year’s game
include Pixels, Backdrops, Trusses, Stage Door, Riggings, Team Prop, and Drone.

Grasp – Securely holding an object.

Herding – Pushing or moving one or more Scoring Elements to a desired location or direction that gains a
strategic advantage beyond moving the Robot around the Playing Field. See also the related definition of
Plowing in this section.

Human Player – A Student Team member responsible for handling Scoring Elements.

Human Player Station – The designated Area adjacent to the Playing Field where the Human Player is
located during a Match.

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

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Inadvertent – An unintended side effect of a Robot action. Unforced or unexpected Robot actions based on
software commands are not considered to be Inadvertent.

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

Landing Zone – The Area outside the Playing Field Perimeter on the audience side of the Playing Field
Boundary. There are three (3) Landing Zones:

a) Landing Zone 1 – A 144-inch (3.66 m) wide x 24-inch (610 mm) deep area immediately adjacent
to the audience side Playing Field Boundary.
b) Landing Zone 2 – A 144-inch (3.66 m) wide x 24-inch (610 mm) deep area immediately adjacent
to Landing Zone 1.
c) Landing Zone 3 – A 144-inch (3.66 m) wide x 24-inch (610 mm) deep area immediately adjacent
to Landing Zone 2.

The first white tape line from the Playing Field Boundary is part of Landing Zone 1, the second white tape
line is part of Landing Zone 2, and the third white line is part of Landing Zone 3. (see Appendix C-9).

Recognize that Landing Zone surfaces and marking materials may vary from event to event. Potential
surfaces include hardwood floors, carpeting, gym tarp, cement, tiles, mats, etc. Potential marking materials
include tape, paint, etc. Teams should plan for these variances when competing at different events.

Launch / Launching – Propelling Game Elements through the air or water above the Playing Field Floor.

Match –Matches are made up of several periods totaling two minutes and thirty seconds (2:30). There is a
thirty (30) second Autonomous Period, followed by a two (2) minute Driver-Controlled Period. The last thirty
(30) seconds of the Driver-Controlled Period is called the End Game. There is an eight-second transition
between the Autonomous Period and the Driver-Controlled Period for the Drive Team to pick up the
controllers and switch programs.

Mosaic – A cluster of three (3) non-white Pixels Scored On a Backdrop. See Appendix F, figures F-2 and F-
3 for examples.

1. A Mosaic consists of three (3) non-white Pixels, either all the same color (all green, all purple or all
yellow) or each Pixel a different color (one (1) green, one (1) purple, and one (1) yellow).
2. A completed Mosaic cannot be in contact with another non-white Pixel.
3. Each Pixel in a Mosaic must be in contact with the other two (2) Pixels of that Mosaic.

Navigating – A Scoring task where a Robot is Parked In or Completely In a specified Area.

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

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

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

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

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12 | FIRST® Tech Challenge Game Manual Part 2 – Remote Events

Penalty – The consequence imposed for a rule or procedure violation that is identified by specified Field
Personnel. When a Penalty occurs, points will be deducted from the Score of the Robot. Penalties are
further defined as Minor Penalties and Major Penalties

Pixel – A hexagonal shaped Scoring Element, 3-inches (76.2 mm) across by 0.5-inches (12.7 mm) thick.
There are thirty-two (32) white Pixels, five (5) yellow Pixels, five (5) green Pixels, and five (5) purple Pixels.

Pixel Storage – The designated area outside of the Playing Field Boundary directly adjacent to the Wing
(see Figure 4.2-2) where Pixels are stored to be introduced by the Human Player. There is one (1) Pixel
Storage area.

Playing Field – The part of the Competition Area that includes the 12 ft. x 8 ft. (3.66 m x 2.44 m) field, the
Landing Zones and all the Game Elements described in the official field documents. There are two
equivalent official versions of the Playing Field: red or blue.

Playing Field Boundary – A taped line or a wall that marks the Area where a Robot operates.

Playing Field Damage – A physical change to a Game Element or Playing Field that affects gameplay.

Playing Field Floor – The top surface of the Area inside the Playing Field Boundary.

Plowing – Inadvertent contact with Game Elements while in the path of the Robot moving about the Playing
Field that provides no additional advantages beyond field mobility. See also the definition of Herding in this
section.
Possess / Possessing – An object is Possessed by a Robot if, as the Robot moves or changes orientation
(for example, moves forward, turns, backs up, spins in place), the object remains in approximately the same
position relative to the Robot. Objects Possessed by a Robot are considered to be Controlled, and they are
part of the Robot. See also Control/Controlling.
Pre-Load – A Game Element that a Drive Team positions during pre-Match setup so that it touches a Robot
or is Possessed by a Robot at the start of the Autonomous Period.

Propel / Propelling – Giving Game Elements enough force such that they move independent of contact
with the Robot or Human Player. Movement solely due to gravity is not Propelling. Launching, Rolling, and
Sliding are forms of Propelling.

Randomization Object – A white Pixel or Team Prop that is placed in one of three randomly chosen
locations. There are two (2) Randomization Objects, one (1) placed on each center Spike Mark.

Randomization Task – An Autonomous Period Scoring achievement designated by the target

Randomization Object.

Rigging – Part of the Truss from which Robots Suspend. There are two (2) Riggings, either two (2) red or
two (2) blue.

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

Rolling – Propelling Game Elements along the Playing Field Floor.

Score / Scoring – A Robot earns points by interacting with Scoring Elements and Navigating to specific Areas
of the Playing Field.

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The specific method for each Scoring achievement is stated in the achievement’s description in Section 4.4.
Individual Scoring achievements are determined by one of three methods:

1. Scored as Completed: The achievement is considered Scored the moment it is successfully

completed, i.e., all criteria are met.

2. Scored at End of the Period: The achievement’s Scoring status is determined based on the Robot or
Scoring Element’s position at the End of the Period (Autonomous or Driver-Controlled).

3. Scored at Rest: The achievement is considered Scored based on the position of the Robot or Scoring
Element when the entire field has come to rest after the Period (Autonomous or Driver-Controlled)
ends.

Use of the real-time scoring system display is intended to help the Team keep up with the action on the
Playing Field and give a general sense of the Match Score. Those watching should keep in mind that the
Scoring for the Match is not official until the Field Personnel finalize the Score after the End of the Match.

Scoring Elements – Objects that a Robot manipulates to earn points for their Alliance. The Scoring
Elements for CENTERSTAGESM are Pixels and Drones.

Set Bonus – Scoring achieved by Robots when they place Pixels that cross the bottom edge of a Set Line
on the Backdrop.

Set Line – A line on the Backdrop that indicates a height achievement. There are three (3) Set Lines on the
Backdrop.

Slide / Sliding – Propelling Game Elements along the Playing Field Floor.

Spike Mark – A one (1) inch by eighteen (12) inch long tape line. There are three (3) Spike Marks in each of
the Tiles. Spike Marks are located in Tiles B2 and B4 for blue field setup, or Tiles E2, and E4 for red field
setup. They are positioned on the left, center, and right of the Tiles from the corresponding Alliance Station
perspective. The Spike Marks identify locations for the Autonomous Randomization Task outlined in section
4.4.2.

Stage Door – A horizontally hinged, height restricting barrier that spans the gap between the Trusses. A
Robot can manipulate to allow their passage from one side of the Playing Field to another. The Stage Door
opens towards the rear of the Playing Field (see Appendix C for a drawing of the Stage Door’s range of
motion).

Student – A person who has not completed high-school, secondary school, or the comparable level as of
September 1st prior to the season Kickoff.

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

Suspend / Suspended – A Robot is Suspended when it is Completely Supported by the Rigging and is not
in contact with any other Game Element or the Playing Field Floor. Incidental contact with Scoring
Elements, the Truss, or the Stage Door is allowed (for example, Possession of Scoring Elements is
allowed). Teams are encouraged to make these actions obvious and unambiguous.

Team – Mentors, supporters, and Students affiliated with an entity registered with FIRST and for the
competition.

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Team Prop – A Team designed and supplied Game Element used during the Autonomous Period. The
Team Prop must meet the specifications described in Game Manual Part 1 – Remote Events.

Tile – An approximate 24-inch x 24-inch (610 mm x 610 mm) foam rubber mat. Tile size may vary
depending on which manufacturer’s Tile is used at the event. Robots should be built to interact with all legal
Tiles. Tile size variation may affect locations of Game Elements and gap sizes between the Tile and Playing
Field Boundary.

Truss – A structure that contains two (2) Riggings.

Wing – A Taped off location on the Playing Field Floor where a Human Player places Pixels and a Drone.

Warning – An alert given by Field Personel to an individual or to the Team. Warnings are applied to the
entire Team, and they have no effect on an Team’s Score. Warnings are used as a way to point out rule
violations while not issuing formal Penalties..

4.4 Gameplay
Prior to the start of the Match, the Drive Team performs some basic Robot setup steps that are described in
section 4.4.1. Matches are made up of several periods totaling two minutes and thirty seconds (2:30). There is
a thirty (30) second Autonomous Period, followed by a two (2) minute Driver-Controlled Period. The last thirty
(30) seconds of the Driver-Controlled Period is called the End Game. There is an eight-second transition
between the Autonomous Period and the Driver-Controlled Period for the Team to pick up the controllers and
switch programs. When the Match is over and Field Personnel signal, the Drive Team collects their Robot and
Team Supplied Game Element, return Possessed Game Elements to the Playing Field, and exit the
Competition Area.

4.4.1 Pre-Match
1. Field Personnel set up the Playing Field as depicted in Figure 4.2-1.
2. Pixel placement
a) On-Field:
i. Three (3) stacks of five (5) white Pixels
b) Pixel Storage: there is one Pixel Storage location, either red or blue. A Pixel Storage contains
the following:
i. Three (3) stacks of five (5) white Pixels
ii. One (1) stack of five (5) purple Pixels
iii. One (1) stack of five (5) yellow Pixels
iv. One (1) stack of five (5) green Pixels
c) Randomization Task
i. Two (2) white Pixels, one (1) for each set of Spike Marks. The Pixels will start in the center
of the center Spike Marks.
3. The Drive Team sets up their Robot on the Playing Field with the following constraints:

a) Starting Location
i. The Drive Team selects their Robot’s starting location.

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ii. Blue Alliance Robots must start Completely In Tile A2 or A4, red Alliance Robots must
start Completely In Tile F2 or F4. See Appendix B for Tile nomenclature.
iii. The Drive Team must place their Robot, in any orientation, touching the Playing Field
Boundary adjacent to their Alliance Station.
b) Pre-Loaded Pixels – The Drive Team may Pre-Load exactly one (1) yellow Pixel and/or one (1)
purple Pixel. If used, Pre-Loaded Pixels are taken from Pixel Storage. When loaded, the Pre-
Loaded Pixels must be Outside all Scoring Areas.
c) Drone – The Drive Team may either Pre-Load exactly one (1) Drone or place one (1) Drone into
the Pixel storage area.
d) Team Prop – The Drive Team intending to use their Team Prop must place it centered on top of
the center Spike Mark closest to their Robot. If a Team Prop is used, the white Pixel is placed
into Pixel Storage.
e) Op Mode –
i. The Drive Team use their Driver Station to select an Autonomous Op Mode. If the Team
does not have an Autonomous Op mode, steps ii and f) below can be skipped.
ii. Press the Driver Station “Init” button.
f) Autonomous Timer – The thirty-second timer must remain enabled.
g) Robot Motion - Robot must be motionless prior to the start of the Match.
h) Driver Station – The Drive Team may not touch their Driver Station or controllers until the
Autonomous Period has ended, except to start their Autonomous program (if applicable) with a
single touch to the Driver Station Android device screen.
4. Once the Field Personnel signal that set-up is complete:
a) The Drive Team may no longer touch their Robot until the conclusion of the Match.
b) The Drive Team may not touch their Driver Station or controllers until the Autonomous Period
has ended. Exceptions to this include using the Driver Station to start their Autonomous
program or to Disable their Robot as instructed by Field Personnel.
c) The Scoring System will choose one of the Spike Marks (left, center, right) as the target for the
Randomization Tasks. Field Personnel will move the Randomization Object to the chosen
Spike Mark as specified in Appendix E.

4.4.2 Autonomous Period

The Match starts with a thirty (30) second Autonomous Period where Robots are operated only via pre-
programmed instructions. The Team is not allowed to control Robot behavior with the Driver Station or any
other actions during the Autonomous Period. The Driver Station is placed in a hands-off location during the
Autonomous Period so that it is evident that there is no human control of Robots. The only exception is to allow
the Drive Team to start their Robot with the “start” command issued on the Driver Station touch screen. Teams
must use the built-in thirty-second timer.

Following a countdown by Field Personnel, the Autonomous Period begins. The Drive Team may issue Robot
start commands with their Driver Station Android device to run the Autonomous Op Mode that was selected
during Pre-Match setup. Failure to adhere to this procedure may subject the Team to a Penalty as specified in
the game rules in section 4.5.2. The Drive Team is not required to start executing an Op Mode during the
Autonomous Period.
Autonomous points are Scored at Rest for the following achievements:
1. Navigating – A Robot that Parks In the Backstage earn five (5) points.
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2. Randomization Tasks – There are two distinct tasks based on the Spike Mark location that was
designated during Randomization:
a) A purple Pixel placed On the Robot’s designated Spike Mark in the Tile immediately adjacent to
the starting location, earns points depending on the Randomization Object used:
i. Ten (10) points for using the white Pixel; or
ii. Twenty (20) points if Team Prop is used.
b) A yellow Pixel on the Backdrop in the location corresponding to the designated Spike Mark
earns points depending on the Randomization Object used:
i. Ten (10) points for using the white Pixel; or
ii. Twenty (20) points if Team Prop is used.
3. Pixels – A Robot placing Pixels earn points as follows:
a) All Pixels On the recessed Scoring area of their Backdrop earn five (5) points per Pixel.
b) Pixels In their Backstage earn three (3) points per Pixel.
c) Pixels that are Scored in the Autonomous Period will earn additional points at the end of the
Driver-Controlled Period if they remain in place.

4.4.3 Driver-Controlled Period

Directly following the end of the Autonomous Period, the Drive Team has five (5) seconds plus a “3-2-1-go”
countdown to prepare their Driver Station for the start of the 120 second Driver-Controlled Period. On the
countdown word “go,” the Driver-Controlled Period starts, and the Drive Team presses their Driver Station
start button to resume playing the Match.
Driver-Controlled tasks are Scored at Rest for the following achievements:

1. Pixel – Robots placing Pixels earn points as follows:

a) Pixels On the recessed Scoring area of their Backdrop earn three (3) points per Pixel.
b) Pixels In the Backstage earn one (1) point per Pixel.
2. Artist Bonus – Mosaics earn ten (10) points per Mosaic.
3. Set Bonus – A Team earns ten (10) points when Scored Pixels On a Backdrop extend In a horizontal
Set Line. Vertically crossing In each Set Line earns one (1) Set Bonus, regardless of the number of
Pixels that cross it. The maximum Set Bonus for a Team is thirty (30) points.

4.4.4 End Game

The last thirty seconds of the Driver-Controlled Period is called the End Game. Driver-Controlled Period
Scoring can still take place during the End Game. End Game achievements, other than Navigating, begun
before the start of End Game are worth zero (0) points.

1. Robot Location – There are two mutually exclusive location-based Scoring opportunities. A Robot may
only earn points for one of these tasks. The Team is encouraged to make these actions obvious and
unambiguous. Robot Location is Scored at End of the Period.
a) Suspended from the Rigging - A Robot Suspended by the Rigging earns twenty (20) points.
b) Parked In the Backstage – A Robot that Parks In the Backstage earns five (5) points.

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2. Drone Launching – A Launched Drone that end up Parked In a Landing Zone earn points as shown
below. A Launched Drone must pass over the Truss and/or Stage Door for each scoring attempt to
earn points. Drone Launching is Scored at Rest.
a) Landing Zone 1 earns thirty (30) points.
b) Landing Zone 2 earns twenty (20) points.
c) Landing Zone 3 earns ten (10) points.

4.4.5 Post Match

By the conclusion of the stop Match sound, Drive Teams must press the stop button on their Driver Stations.
Field Personnel will then finalize the Score. Field Personnel will signal for the Drive Team to enter the Playing
Field and retrieve their Robot and Drone. The Drive Team should return any Game Elements that are
Possessed by the Robot to the Playing Field. The Playing Field reset crew will set up the Playing Field for the
next Match.

4.4.6 Penalties
Penalty points are deducted from the Team’s Score at the End of the Match. Minor Penalties subtract ten (10)
points per occurrence. Major Penalties subtract thirty (30) points per occurrence. Warnings have no effect on a
Team’s Score.

4.4.7 Flowchart of Match Play

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

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4.5 Rules of Gameplay

Gameplay is restricted by the Safety rules (<S#>), the General rules (<G#>), and the Game-Specific rules
(<GS#>). Violation of rules may lead to Penalties and/or a Disabled Robot. Rules apply to all periods of play
unless otherwise specified. If rules are in conflict, Safety rules take precedence over all rules and Game-
Specific rules take precedence over General rules. The official FIRST Tech Challenge Question &
Answer Forum rulings take precedence over all information in the game manuals.

4.5.1 Safety Rules

<S01> Unsafe Robot or Playing Field Damage – If at any time the Robot operation is deemed unsafe or
has damaged the Playing Field, the Robot may be Disabled by Field Personnel.

<S02> Robot Extension Outside the Playing Field Perimeter – If any portion of the Robot contacts
anything Outside the Playing Field Boundary, the Team will be issued a Major Penalty. See the game
definitions in section 4.4 for a complete description of the Playing Field Boundary.

The intent of this rule is not to Penalize a Team for Inadvertent, safe Robot extension
Outside the Playing Field Perimeter. Intentional Robot extension Outside the Playing Field is
not permitted.

<S03> Safety Gear – Matches must not be played until all members of the Drive Team are wearing approved
eye protection and shoes with closed-toes and a closed-back.

4.5.2 General Game Rules

<G01> Autonomous to Driver-Controlled Period Transition – At the conclusion of the Autonomous Period,
the Robot will remain in a hands-off state. Field Personnel will not enter the field and will not touch the Robot
on the field during the Autonomous to Driver-Controlled transition. The scoring system display will provide
visual and audio cues for the Drive Team to pick up their Driver Station. The Drive Team will have five (5)
seconds to pick up and prepare their Driver Station. After five (5) seconds, there will be a “3-2-1 go” countdown
and the Driver-Controlled Period of the Match will begin.

<G02> Score Certification at the End of the Match – Scores will be tracked by Field Personnel throughout
the Autonomous and Driver-Controlled Periods of the Match. At the End of the Match, the final Score will be
certified as quickly as possible. A change in state of a Game Element or Robot at the End of the Match after its
final Score is recorded will not change an already-recorded Score. Scoring Elements will not be recounted after
the End of the Match unless otherwise specified by a Game-Specific rule.

<G04> Robot Manipulation of Scoring Elements – Scoring Elements that are Controlled or Possessed by a
Robot are part of the Robot except when determining the location of the Robot or otherwise specified by a
Game-Specific rule.

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

<G05> Robot or Scoring Elements In Two or More Scoring Areas – A Robot or Scoring Elements that are
eligible for two or more Scoring achievements earn points only for the highest value achievement. If the
achievement values are equal, only one achievement counts as Scored.

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<G06> Scoring Elements in Contact with Robots – Scoring Elements in a Scoring Area that are in contact
with or Controlled by a Robot for the Scoring Area have zero Score value.

<G07> Disabled Robot Eligibility – A Disabled Robot is not eligible to Score or earn points for the remainder
of the Match.

<G08> Playing Field Tolerances – Competition provided Playing Field and Game Elements will start each
Match with tolerances that may vary by +/-1.0 inch (25.4 mm). Teams must design their Robots accordingly.

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

<G09> Match Replay – Once started, Matches are not paused or replayed. Unexpected Robot behavior will
not result in a Match replay. Team-induced failures, such as low battery conditions, processor sleep time-outs,
Robot mechanical, electrical, software, or communication failures, etc. are NOT valid justifications for a
replaying of a Match.

<G10> Inadvertent and Inconsequential – Robot actions that violate a rule may be ruled by Field Personnel
to be Inconsequential and Inadvertent and will not be Penalized.

<G12> Playing Field Access – Team members must not enter the Playing Field for any reason other than to
place/retrieve their Robot. While placing their Robot, the Team may not measure, test, or adjust Game
Elements Inside or Outside of the Playing Field unless allowed by Section 4.4.1.

The consequences for violating this rule are:

a) Minor Penalty for violations during Match setup or following the End of the Match.
b) Major Penalty for violations that delay the start of the Match.
<G13> Pre-Match Robot Placement – At the beginning of a Match, the Robot must be set up on the Playing

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

Field according to section 4.4.1 Pre-Match. After the Robot is set up on the Playing Field, the Drive Team must
stand Inside the Alliance Station.

<G14> Robot Starting Volume – Before the start of a Match, the Robot in its starting location must not exceed
a volume of 18 inches (457.2 mm) by 18 inches (457.2 mm) by 18 inches (457.2 mm). Flexible materials (i.e.,
zip tie, surgical tube, string, etc.) may extend up to 0.25 inches (0.635 cm) beyond the 18 inch (45.72 cm) size
constraint. A Pre-Loaded Scoring Element may extend Outside the 18-inch (457.2 mm) cube volume constraint.
Match play must not begin until the Robot’s starting volume constraint is satisfied.

After the start of a Match, the Robot may extend in any direction unless otherwise specified by the Game-Specific
rules detailed in section 4.5.3.

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

<G16> Alliance and Human Player Stations – During a Match, the Drive Team must remain In their Alliance
or Human Player Station.

a) The Drive Team may be anywhere in their respective Alliance Station or Human Player Station.
b) The first instance of leaving the Alliance or Human Player Station will result in a Warning, with any
following instances during the Match resulting in a Minor Penalty. Leaving the Alliance or Human Player
Station for safety reasons will not result in a Warning or Penalty.

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

d) After the Robot is set up on the Playing Field, and before the Match starts, the Drive Team must stand
Inside their respective Alliance or Human Player Station. Once the Match starts, the members of the
Drive Teams may stand, sit, or kneel for the remainder of the Match. Violations of this rule (for example,
lying down in the Alliance Station) will result in a Minor Penalty.

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

<G18> Starting Gameplay Early – A Robot that starts playing the game (Autonomous or Driver-Controlled
Period) prior to the start of a Match Period receive a Minor Penalty.

<G19> Late Start of the Autonomous Period – A Drive Team that starts their Robot’s Autonomous Op Mode
late will receive a Minor Penalty. Any delay in Robot movement must be done by its programming.

<G20> Robot Actions at End of the Period –

a) The Robot must Park at the end of the Autonomous and Driver-Controlled Periods. A Robot that is not
Parked at the conclusion of the “game sound” receives a Minor Penalty and the following actions of the
Robot do not count towards the Team’s Score. The Drive Team should make their best effort to stop
gameplay immediately when the End of the Period game sound begins. Field Personnel have the
option of issuing a Major Penalty in place of the Minor Penalty if the late stop results in a competitive
advantage (other than Scoring) for the offending Team.
b) Scoring achievements that were started (unless disallowed by Game-Specific rules) before the End of
the Period are eligible to be counted as Scored.

c) Robot Scoring achievements that occur after the announced End of the Autonomous Period and before
the start of the Driver-Controlled Period do not count towards the Score for the Autonomous or Driver-
Controlled Periods.

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<G21> Robot Control During Autonomous Period – During the Autonomous Period, the Drive Team may
not directly or indirectly control or interact with their Robot or Driver Station. Early stopping of the Robot while
running its Autonomous code is not allowed, except in cases of personal or equipment safety, and any
achievements earned due to early stoppage will not Score points. A Major Penalty will be assessed for
violating this rule. A Team that stops their Robot during the Autonomous Period are allowed to participate in
the Driver-Controlled Period provided it can be done safely.

<G22> Drive Team Contact with the Playing Field or Robot – During a Match, the Drive Team is prohibited
from making contact with the Playing Field, their Robot, or any Game Element unless allowed by Game-Specific
rules. The first instance of contact will result in a Warning, with any following instances during the competition
resulting in a Minor Penalty.. Contact with the Playing Field, a Game Element, or a Robot for safety reasons
will not result in a Warning or Penalty.

For example, a Game Element is Launched from a Robot on the Playing Field and it
Inadvertently hits a Team member in the Alliance Station and is deflected back onto
the field. The Team would not receive a <G22> Penalty because the Team member
was protecting themself (safety). However, if that same Game Element is caught
and/or directed to a specific location on the Playing Field, the Team may be issued a
<G22> Penalty.

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

<G24> Robots Deliberately Detaching Parts – A Robot may not deliberately detach parts during a Match or
leave mechanisms on the Playing Field unless permitted by a Game-Specific rule. Possessed or Controlled
Scoring Elements are not considered to be a part of the Robot for the purpose of this rule. The consequence of
deliberately detaching a part is a Minor Penalty per occurrence. If a deliberately detached component or
mechanism affects gameplay, the offending Robot will receive a Major Penalty.

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

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

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

<G27> Removing Game Elements from the Playing Field – A Robot may not deliberately remove Game
Elements from the Playing Field during a Match unless specifically allowed by Game-Specific rule(s) listed in
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section 4.5.3. Game Elements that Inadvertently fall Outside the Playing Field will be returned to the Playing
Field by Field Personnel at the earliest safe and convenient opportunity at a non-Scoring location
approximately where it left the field. Game Elements removed from the Playing Field in an attempt to Score are
also not subject to this Penalty. A Team deliberately removing Game Elements from the Playing Field will incur
a Minor Penalty per Game Element removed from the Playing Field. Game-Specific rules listed in section 4.5.3
that address the removal of specified Scoring Elements from the Playing Field take precedence over this
general game rule.

<G29> Illegal Usage of Game Elements – A Robot may not deliberately use Game Elements to ease or
amplify the difficulty of any Scoring or game activity. A Major Penalty will be assessed for violations of this rule.

4.5.3 Game-Specific Rules

<GS01> General Rule Exceptions – The following instances of gameplay are Game-specific exceptions to
General Game Rules in section 4.5.2:
a) Robot contact with a Pixel in a Backstage is allowed as an exception to rule <G06> if the Pixel is not
Possessed by the Robot.
b) A Robot is allowed to Grasp the Rigging as an exception to rule <G25>.
c) A Robot may Launch their Drone to the Outside of the Playing Field as an exception to rule <G27>.
<GS02> Drive Team Touching their Robot or Driver Station after Randomization – The Drive Team is not
allowed to touch or interact with their Robot or Driver Station once Field Personnel have begun the Playing
Field randomization process. If this occurs, a Minor Penalty will be assessed, and the Team is not eligible to
earn points for the Randomization Tasks in the Autonomous Period.

<GS05> Robot Control/Possession Limits for Scoring Elements –

a) A Robot may Control or Possess a maximum of two (2) Pixels and one (1) Drone at a time. Controlling
or Possessing more than the allowed quantity of Scoring Elements is an immediate Minor Penalty for
each Scoring Element above the limit plus an additional Minor Penalty per Scoring Element in excess
of the limit for each 5-second interval that the situation continues.
b) Scoring a Pixel while in Control or Possession of more than the allowed quantity of Scoring Elements
will result in a Minor Penalty per Element Scored.
c) Control/Possession limit exceptions:
i. Knocking over a stack of unscored Pixels is allowed.
ii. Inadvertent and Inconsequential movement of a pre-set stack of unscored Pixels is allowed.
Moving the stack Completely Off the tape is considered consequential.
iii. Plowing through any quantity of Scoring Elements is allowed.
iv. Pixels In the Backstage that are directly Supported by the Playing Field Floor or Supported by a
Pixel that is directly Supported by the Playing Field Floor, are exempt from the
Control/Possession limit. The intent of this rule is to prevent penalizing a Robot maneuvering In
the Backstage.
v. Pixels On the Backdrop are exempt from the Control/Possession limit.

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<GS06> Truss Constraints –

a) A Robot may only Grasp one of either Rigging of their Truss. Contact with the other parts of the Truss
is allowed for stabilization of the Robot while Suspended. The intent is that the Rigging is the primary
support for the Robot. Violation of this rule results in zero Score value for the Suspend task.
b) A Robot may not Grasp or Suspend from any other part of the Truss structure. Violation of this rule
results in a Minor Penalty per occurrence.
<GS07> Stage Door Constraints –.

a) A Robot may not Grasp the Stage Door. Violation of this rule results in a Major Penalty.
<GS08> Backdrop and Backstage Constraints –

d) A Robot located In Tile rows 1, 2, or 3 may not Score into the Backstage or Backdrop. Each violation
will receive a Minor Penalty.
<GS09> Wing Constraints –
d) There can be a maximum of six (6) Pixels In the Wing at any one time. A Minor Penalty will be
assessed for each additional Pixel beyond the maximum. Pixels in the Possession of a Robot do not
count towards this limit.
<GS10> Pixel Constraints – Pixels may not be Propelled. Each violation of this rule results in a Minor
Penalty.
<GS11> Drone Constraints –
a) A Drone is pre-loaded onto the Robots during Pre-Match setup as described in section 4.4.1 or
introduced into the Playing Field during the Driver Controlled Period via the Wing.
c) A Drone Launched before the End Game have zero (0) Score value.
d) A Drone may be Launched from Suspended Robots.
e) For each scoring attempt (Launch, fly, land), a Launched Drone must pass over a Rigging or top pole of
the Stage Door before it is eligible to Score points.
f) To Score a Drone, the Drone must be in a legal configuration. Altering a Drone after inspection or
during Match play to better the chance of Scoring is not in the spirit of this rule and will not be
considered a Scored Drone.
g) Drone Interference:
v. The Drive Team, Field Personnel, or physical structures outside of the Playing Field Boundary
may not directly or indirectly affect the flight of a Drone. Affecting the Drone’s flight results in no
points for that Drone. The Drone flight barrier outlined in the Remote Field Requirements guide
is excluded from this rule.
h) Drones must be Parked Completely Outside the Playing Field Perimeter to be eligible to Score points.
<GS12> Human Player Constraints – Each violation of this rule results in a Minor Penalty.
a) A Drone and Pixels In the Pixel Storage Area may not be handled until after the Match has begun with
the exception of the Pre-Load Scoring Elements.
b) A Drone and Pixels may be placed or dropped only In the Wing and only during the Driver-Controlled
Period. A Drone and Pixels can be in any orientation and may be in contact with Pixels In the Wing.
c) The Human Player may place a maximum of two (2) Pixels or one (1) Drone In a Wing at a time.
d) Once a Pixel or Drone has been placed in the Wing, a Human Player may not pick it up or reposition it.

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e) The Human Player may not Propel Pixels or the Drone Out of the Wing.

The Human Player should take care when releasing Scoring Elements into the
Wing. The final resting place of the Pixel or Drone is the responsibility of the
Human Player, regardless of what the Pixel or Drone hits as it is released.
f) The Human Player may enter the area between the Human Player Station and the adjacent Playing
Field Boundary while placing a Pixel or Drone In the Wing, provided that it is done safely.
g) The Human Player may not use tools or devices (including another Pixel) to manipulate a Pixel or
Drone. Accommodations and exceptions for Human Players with disabilities or extenuating
circumstances will be made at the discretion of the Field Personnel.
h) For safety reasons, a Human Player cannot break the vertical plane of the Playing Field Perimeter or
hand-deliver a Pixel or Drone to the Playing Field when there is a Robot In the Wing.
i) A Robot cannot enter the Wing while a Human Player is In the Wing.

The intent of this rule is to prevent Robot to human contact and is meant to
ensure Human Player safety.

<GS13> Truss/Stage Door Safety – The Drive Team may never step/jump over any section of the Truss
and/or Stage Door. The first instance will result in a warning to the Team. The next instance will be a Major
Penalty.

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4.6 Scoring Summary

The following table shows the possible Scoring achievements and their point values. The table is a quick
reference guide and not a substitute for a thorough understanding of the game manual. All achievements are
Scored at Rest except for Robot location during End Game, which is scored at End of the Period.

Driver- End
Autonomous
Scoring Achievement Controlled Game Reference
Points
Points Points
Navigating: Robot Parked In Backstage 5 4.4.2
Placement: Pixel placed On the Team’s Backdrop 5 4.4.2
Placement: Pixels placed In the Team’s Backstage 3 4.4.2

Randomization: Purple Pixel placed on the 10 4.4.2

designated Spike Mark using white Pixel
Randomization: Yellow Pixel placed On the Team’s 10 4.4.2
designated Backdrop location using white Pixel
Randomization: Purple Pixel placed On the 20 4.4.2
designated Spike Mark using Team Prop
Randomization: Yellow Pixel placed On the Team’s 20 4.4.2
designated Backdrop location using Team Prop
Placement: Pixels placed In the Team’s Backstage 1 4.4.3
Placement: Pixels placed On the Team’s Backdrop 3 4.4.3

Artist Bonus: Completed Mosaic 10 4.4.3

Set Bonus: Scored Pixel extends In a Backdrop 10 4.4.3
Set Line
Robot Location: Robot Suspended from Rigging 20 4.4.4
Robot Location: Robot Parked In the Backstage 5 4.4.4
Drone Launch 4.4.4
Zone 1 30
Zone 2 20
Zone 3 10

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4.7 Rule Summary

The following table shows the possible rule violations and their consequences. The table is a quick
reference guide and not a substitute for a thorough understanding of the complete rule descriptions in
section 4.5.

Warning

Penalty
Penalty
Disable

Major
Minor
Rule # Rule Consequence

Unsafe Robot or
Disable if unsafe operation is likely
<S01> Damage to the Playing D*
to persist.
Field.
Contact Outside the
<S02> Major Penalty per offense. 1x
Playing Field.
Drive Team missing
<S03> Match will not begin until resolved.
safety gear.
Autonomous to Driver-
<G01> Controlled Period
transition.
Certifying the Score at
<G02>
End of the Match.
Scoring Elements
Controlled or
<G04> Possessed are part of
the Robot except for
Robot location.
Robot or Scoring Element eligible for
Robot or Scoring
two or more Scoring achievements
<G05> Element in two or
earn points only for highest
more Scoring Areas.
achievement value.
Points are not earned for any Scoring
Scoring Elements in
<G06> Elements in a Scoring Area in contact
contact with a Robot.
with a Robot.
A Disabled Robot does not earn
Disabled Robot points. Penalties do not apply to
<G07>
eligibility. Disabled Robots except as outlined
in GS rules.
Playing Field
<G08>
Tolerances.
<G09> Match Replay.
Inadvertent and Inconsequential rule
Inadvertent and
<G10> violations are not Penalized at Field
Inconsequential.
Persone’s discretion.
Measure, test, or
adjust Game Minor Penalty for pre-Match or post-
<G12> Elements. Playing Match violations. Major Penalty if 1x 1x
Field inspection to delay start of Match.
determine Score.
Pre-Match Robot Robot must be set up on the Playing
<G13>
placement. Field according to section 4.4.1.

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Warning

Penalty
Penalty
Disable

Major
Minor
Rule # Rule Consequence

Robot is removed from the Playing

<G14> Robot starting volume. Field if not resolved within 30
seconds.
Robot setup alignment
<G15> Minor Penalty for each offense. 1x
devices/Match delay.
Drive Team Warning for the first instance with
<G16>b member(s) leaving the any following instances resulting in a W 1x
Alliance Station. Minor Penalty.
Drive Teams may only
<G16>d sit, stand, or kneel in Minor Penalty for each offense. 1x
Driver Station.
Post-Match removal of
Robot causes a delay
<G17> A Minor Penalty will be assessed. 1x
or damage to the
Playing Field.
Starting Gameplay
<G18> A Minor Penalty will be assessed. 1x
early.
Late start of the
<G19> A Minor Penalty will be assessed. 1x
Autonomous Period.
Minor Penalty and the actions of the
Robot that occur after the end of
Robot is not Parked at gameplay do not count towards their
<G20> 1x 1x*
the end of period. Team’s Score. Major Penalty if the
late stop results in a competitive
advantage for the offending Team.
Robot control during
Major Penalty will be assessed..
Autonomous Period /
<G21> Achievements earned during that 1x
early stopping of the
time result in zero Score.
Autonomous code.
Drive Team contact with Warning for the first instance with any
<G22> the Playing Field, Game following instances resulting in a W 1x
Element, or Robot. Minor Penalty.
Warning for the first instance with
Drive Team Coach
<G23> any following instances resulting in a W 1x
Driver Station control.
Major Penalty.
Robos deliberately Minor Penalty. Major Penalty if it
<G24> 1x 1x
detaching parts. affects gameplay.
Warning for the first instance with
Robot illegally
any following instances resulting in a
<G25> Grasping Game W 1x
Major Penalty except as outlined in
Elements.
GS rules.
Destruction, damage, Deliberate or chronic violations of
<G26> 1x
tipping, etc. this rule will receive a Major Penalty.
Minor Penalty per Game Element
Deliberately removing
deliberately removed from the
<G27> Game Elements from 1x
Playing Field except as outlined in
the Playing Field.
GS rules.
Illegal Use of Game
<G29> Elements to ease or Major Penalty will be assessed.. 1x
amplify Scoring.

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Warning

Penalty
Penalty
Disable

Major
Minor
Rule # Rule Consequence

General Game rule

<GS01>
exceptions.
Drive Team touching
Minor Penalty and Robot not eligible
<GS02> Robot or Driver Station 1x
for Autonomous tasks.
after Randomization.
Minor Penalty for each Pixel
<GS04> Descoring. 1x
descored.
Minor Penalty for each Scoring
Control of more Scoring Element above the limit plus
<GS05>a 1x+
Elements than allowed. additional Minor Penalty per Scoring
Element above the limit every 5 sec.
Scoring a Pixel while Minor Penalty for each Pixel Scored
<GS05>b Controlling more Scoring while in possession of more than the 1x
Elements than allowed. allowed Scoring Elements.
A Robot may only Grasp Zero Score value for the Suspend
<GS06>a
one Rigging. task.
A Robot may not Grasp
or Suspend from any
<GS06>b Minor Penalty per occurrence. 1x
other part of the Truss
structure.
<GS07>a Grasping the Stage Door. Major Penalty for each offense. 1x
Robot Scoring Pixels
<GS08>d Minor Penalty for each offense. 1x
from Tile rows 1, 2, 3.
Exceeding allowed Minor Penalty for each Pixel over the
<GS09>d 1x
quantity of Pixels in Wing. maximum of 6 Pixels in Wing.
<GS10> Propelling Pixels. Minor Penalty for each offense. 1x
Drive Team, Field
Personell, or physical Affecting own Team’s Drone results in
<GS11>[Link]
structures affects the no Score value for the Drone.
flight of a Drone.
Drones must Park Completely
<GS11>h Drones Parked Outside of the Playing Field Perimeter
to Score.
Scoring Elements in Pixel
Storage may not be
<GS12>a Minor Penalty for each offense. 1x
handled until start of
Match.
The Human Player may
only place Pixels or their
<GS12>b Minor Penalty for each offense. 1x
Drone in Wing during
Driver-Controlled Period.
Placing more than 2
Pixels or more than 1
<GS12>c Minor Penalty for each offense. 1x
Drone in the Wing at a
time.

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Warning

Penalty
Penalty
Disable

Major
Minor
Rule # Rule Consequence

Repositioning already
<GS12>d placed Scoring Elements Minor Penalty for each offense. 1x
in Wing.
Propelling Pixels or a
<GS12>e Minor Penalty for each offense. 1x
Drone Out of the Wing.
Using tools to place
<GS12>g Minor Penalty for each offense. 1x
Pixels or a Drone.
Human Player cannot
break the vertical plane of
<GS12>h the Playing Field Minor Penalty for each offense. 1x
Perimeter while a Robot
is in the Wing.
Robot enters Wing while
<GS12>i Human Player is In the Minor Penalty for each offense. 1x
Wing.
The Drive Team First instance results in a Warning.
<GS13> stepping/jumping over Subsequent violations will result in a W 1x
Truss or Stage Door. Major Penalty.

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

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30 | FIRST® Tech Challenge Game Manual Part 2 – Remote Events

Appendix A – Resources

Game Forum Q&A

[Link]

Anyone may view questions and answers within the FIRST® Tech Challenge game Q&A forum without a
password. To submit a new question, you must have a unique Q&A system user name and password for your
team.

Volunteer Forum
Volunteers can request access to role specific volunteer forums by emailing
FTCTrainingSupport@[Link]. You will receive access to the forum thread specific to your role.

FIRST Tech Challenge Game Manuals

Part 1 and 2 - [Link]

FIRST Headquarters Pre-Event Support

Phone: 603-666-3906
Mon – Fri
8:30am – 5:00pm
Email: Firsttechchallenge@[Link]

FIRST Websites
FIRST homepage – [Link]
FIRST Tech Challenge Page – For everything FIRST Tech Challenge.
FIRST Tech Challenge Volunteer Resources – To access public volunteer manuals.
FIRST Tech Challenge Event Schedule – Find FIRST Tech Challenge events in your area.

FIRST Tech Challenge Social Media

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

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

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Appendix B – Playing Field Locations

B-1 Tile Locations

B-2 Intersection Locations

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32 | FIRST® Tech Challenge Game Manual Part 2 – Remote Events

Appendix C – Playing Field Details

Important Note: The measurements in this section are nominal and may vary based on
manufacturing and assembly tolerances (including Tile and Playing Field Wall variances). For critical
measurements and Game Element placement for field setup and assembly, please reference the
AndyMark Field Setup and Assembly Guide. To view individual Game Element component
measurements, please reference the field CAD file located on AndyMark’s website.

C-1 Backstage and Backdrop locations

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C-2 Backdrop dimensions

C-3 Backdrop dimensions

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C-4 Truss and Rigging

Red Alliance Truss and Rigging Blue Alliance Truss and Rigging

C-5 Truss and Stage Door spacing

C-6 Truss and Rigging

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C-7 Spike Marks, typical

C-8 Wing typical

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C-9 Landing Zones

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C-10 Pre-Match setup of on-field Pixels – locations

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

C-11 Location of Boundary AprilTags

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C-12 Pre-Match setup of Pixel Storage

C-13 Layout of taped field (no perimeter walls)

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

C-14 Dimensions of taped field (red side shown)

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Appendix D – Scoring Element

D-1 Pixel

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Appendix E – Randomization

E-1 – Randomization Objects – pre-randomization starting positions – red Alliance

E-2 – Randomization Objects – pre-randomization starting position - blue Alliance

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E-3 – left side Scoring

E-4 – center Scoring

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44 | FIRST® Tech Challenge Game Manual Part 2 – Remote Events

E-5 – right Scoring

E-6 – Pixel position

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E-7 – Scoring Examples

E-8 – Scoring Examples

E-9 – Scoring Examples

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Appendix F – Scoring Examples

F-1 Pixel Scoring

F-2 Mosaics

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F-3 Not Mosaics

F-4 Set Bonus

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48 | FIRST® Tech Challenge Game Manual Part 2 – Remote Events

F-5 Landing Zone Scoring

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Appendix G – AprilTags

G-1 AprilTags for Backdrop

You do not need to print these images if you are purchasing a full field kit from AndyMark.
The AprilTags for the backdrop are included in the full and partial field kits.
Do not print the images from this manual for practice purposes, as they are not to the same
scale as Teams will see in actual competition. Please refer to the website for printable
versions of these images.

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50 | FIRST® Tech Challenge Game Manual Part 2 – Remote Events

G-2 AprilTags for Playing Field Wall

Do not print the images from this manual for practice purposes, as they are not to the same
scale as Teams will see in actual competition. Please refer to the website for printable
versions of these images.

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