Rules For Vex Change Up

T7 Qualification matches follow the qualifications match schedule

A Qualification Match schedule will be available on the day of competition. The Qualification Match schedule will indicate Alliance partners, Match pairings, and Alliance color. For tournaments with multiple fields, the schedule will indicate which field the Match will take place on. a. Alliances are randomly assigned during Qualification Matches.

G15 No trapping for more than five seconds

A Robot may not Trap an opposing Robot for more than five seconds (0:05) during the Driver Controlled Period. A Trap is officially over once the Trapping Robot has moved away and the Robots are separated by at least two (2) feet (approximately one [1] foam tile). After ending a Trap, a Robot may not Trap the same Robot again for a duration of five seconds (0:05). If a Team does Trap the same Robot again, the count will resume from where it left off when the Trapping Robot initially backed off. Minor violations of this rule that do not affect the Match will result in a warning. Match Affecting offenses will result in a Disqualification. Teams that receive multiple warnings may also receive a Dis- qualification at the Head Referee's discretion.

T3 The teams robot or a drive team member should attend every match

A robot or a Student member of the Team must report to the field for the Team's assigned Match. If no Student Team members report to the field, the Team will be considered a "no-show" and receive zero (0) Win Points, Autonomous Points, and Strength of Schedule Points.

R15 New VEX parts are legal

Additional VEX components released during the competition season on www.vexrobotics.com are considered legal for use. Some "new" components may have certain restrictions placed on them upon their release. These restrictions will be documented in the official Q&A forums, in a Game Manual Update, or on their respec- tive product web pages

G2 VRC is a student centered program

Adults may assist Students in urgent situations, but Adults may never work on or program a Robot without Students on that Team being present and actively participating. Students must be prepared to demonstrate an active understanding of their Robot's construction and programming to judges or event staff.

S3 Wear safety glasses

All Drive Team Members must wear safety glasses or glasses with side shields while in the Alliance Stations during Matches. While in the pit area, it is highly recommended that all Team members wear safety glasses.

G21 The manual will have four scheduled updates

All rules in this manual are subject to change on the following dates: May 25, 2020, August 17, 2020, December 1, 2020, and March 26, 2021 . Each version is official and must be used in official VRC events until the release of the newest version making the previous version void. Areas of focus for each update are as follows:

G11 All rules still apply in the autonomous period

Any infractions committed during the Auton- omous Period that are not Match Affecting, but do affect the outcome of the Autonomous Bonus, will result in the Autonomous Bonus being automatically awarded to the opposing Alliance. a. Teams are responsible for the actions of their Robots at all times, including during the Autonomous Period. Any infractions committed during the Autonomous Period that are Match Affecting can result in a Disqualification, if warranted by the rule. b. If both Alliances cause infractions during the Autonomous Period that would have affected the outcome of the Autonomous Bonus, then no Autonomous Bonus will be awarded.

R29 There is a difference between accidentOh and willfully violating a robot rule

Any violation of Robot rules will result in a Team being unable to play until they pass inspection (per <R3d>). In addition, Teams who intentionally or knowingly circumvent or violate rules to gain an advantage over their fellow competitors are in violation of the spirit and ethos of the competition. Any violation of this sort may be considered a violation of <G1> and/or the REC Foundation Code of Conduct.

G4 Robot begin the match in the starting volume

At the beginning of a Match, each Robot must be smaller than a volume of 18" (457.2 mm) long by 18" (457.2 mm) wide by 18" (457.2 mm) tall. Using Field Elements, such as the field perimeter wall, to maintain starting size is only acceptable if the Robot would still satisfy the constraints of <R5> and pass inspection without the Field Element. Robots in violation of this limit will be removed from the field prior to the start of the Match, at the Head Referee's discretion.

R5 Robots must fit in a sizing box

At the beginning of any Match, Robots must be smaller than 18" (457.2 mm) long by 18" (457.2 mm) wide by 18" (457.2 mm) tall. a. Robots may expand beyond their starting size constraints after the start of a Match. b. Any restraints used to maintain starting size (i.e. zip ties, rubber bands, etc.) MUST remain attached to the Robot for the duration of the Match.

SG7 Use Balls to play the game

Balls may not be used to accomplish actions that would be otherwise illegal if they were attempted by Robot mechanisms (e.g., Interfering with an opponent's Autonomous Period per <SG2>.) The intent of this rule is to prohibit teams from using

SG5 Balls May not be de-scored from the top of goals

Balls that are Scored may not be lifted by any means such that the Ball goes above the top edge of the Goal. It is expected that while removing Balls from the bottom of the Goal, this may cause the top Ball to momentarily go above the top edge of the Goal. This would not be a violation of this rule and is consid- ered to be normal game play. If the Match ends while a Robot is removing a Ball from the bottom of the Goal that contains three (3) Balls and the top Ball remains partially above the top edge of the Goal, that Ball will be considered Scored and no penalty to the Team will be assessed. Minor violations of this rule that do not affect the Match will result in a warning. Match Affecting offenses will result in a Disqualification. Teams that receive multiple warnings may also receive a Dis- qualification at the Head Referee's discretion.

SG3 Keep Balls on your side in autonomous

Balls that start fully on one side of the Autonomous Line may not contact the foam tiles on the opposite side of the Autonomous Line during the Autono- mous Period. Incidental violations of this rule and have no impact on the opposing Alliance will result in a Warning. Violations of this rule that affect the opposing Alliance's autonomous routine will result in the Autono- mous Bonus being awarded to the opposing Alliance. Examples of affecting the opposing Alliance could include, but are not limited to, a Ball moving another Ball or getting in the path of a Robot. Note: Balls that start on the Autonomous Line are not included in this rule.

G12 Don't destroy other robots

But, be prepared to encounter defense. Strategies aimed solely at the destruction, damage, tipping over, or Entanglement of opposing Robots are not part of the ethos of the VEX Robotics Competition and are not allowed. If the tipping, Entanglement, or damage is ruled to be intentional or egregious, the offending Team may be Disqualified from that Match. Repeated offenses could result in Disqualification from the entirety of the competition. a. VEX Robotics Competition Change Up is intended to be an offensive game. Teams that partake in solely defensive or destructive strategies will not have the protections implied by <G12> (see <G13>). However, defensive play which does not involve destructive or illegal strategies is still within the spirit of this rule. b. VEX Robotics Competition Change Up is an interactive game. Some incidental tipping, Entangle- ment, and damage may occur as a part of normal gameplay without violation. It will be up to the Head Referee's discretion whether the interaction was incidental or intentional. c. A Team is responsible for the actions of its Robot at all times, including the Autonomous Period. This applies both to Teams that are driving recklessly or potentially causing damage, and to Teams that drive around with a small wheel base. A Team should design its Robot such that it is not easily tipped over or damaged by minor contact.

G9 hands out of the field

Drive Team Members may only touch the Team's controls and Robot at specified times during a Match as per <G9a>. Drive Team Members are prohibited from making inten- tional contact with any Game Object, Field Element, or Robot during a Match, apart from the contact specified in <G9a>. a. During the Driver Controlled Period, Drive Team Members may only touch their own Robot if the Robot has not moved at all during the Match. Touching the Robot in this case is permitted only for the following reasons: i. Turning the Robot on or off. ii. Plugging in a battery and/or power expander. iii. Plugging in a VEXnet Key or V5 Robot Radio. iv. Touching the V5 Robot Brain screen, such as to start a program. b. Drive Team Members are not permitted to break the plane of the field perimeter at any time during the Match, apart from the actions described in <G9a>. c. Transitive contact, such as contact with the field perimeter that causes the field perimeter to contact Balls inside of the field, would be considered a violation of this rule. Minor violations of these rules that do not affect the Match will result in a warning. Match Affecting offenses will result in a Disqualification. Teams that receive multiple warnings may also receive a Dis- qualification at the Head Referee's discretion.

G7 only drivers in the alliance station

During a Match, each Team may have up to three (3) Drive Team Members in their Alliance Station and all Drive Team Members must remain in their Alliance Station for the duration of the Match. Drive Team Members are not allowed to use any sort of communication devices while in the Alliance Station. Devices with communication features turned off (e.g. a phone in airplane mode) are allowed. Note 1: Drive Team Members are the only Team members that are allowed to be in the Alliance Station during a Match.

G10 autonomous means no humans

During the Autonomous Period, Drive Team Members are not permitted to interact with the Robots in any way, directly or indirectly. This could include, but is not limited to:

SG2 Stay on your side in autonomous

During the Autonomous Period, Robots may not contact the foam tiles or Balls which are on the opposing Alliance's side of the Autonomous Line. Robots may not contact the Goals that are in the opposing Alliance's Home Zone. Violations of this rule will result in the Autonomous Bonus being awarded to the opposing Alliance. Intentional, strategic, or egregious violations, such as intentional contact with an opposing Robot while completely across the Autonomous Line, will result in a Disqualification. Note: The three (3) Goals contacting the Autonomous Line are not considered to be on either side, and may be utilized by either Alliance during the Autonomous Period. If attempting to utilize these Goals, Teams should be cognizant of the possibility that opponent Robots may attempt to do the same. <SG7>, <G10>, <G11>, and <G12> will be taken into account when these types of Robot interactions occur.

T14 Each alliance gets timeout

Each Alliance may request one (1) Time Out during the elim- ination Bracket between Elimination Matches, as permitted by the Head Referee and Event Partner. Alliances may not use their Time Outs during a Match.

G6 The robot must represent the skill level of the team

Each Team must include Drivers, Pro- grammer(s), Designer(s), and Builder(s). No Student may fulfill any of these roles for more than one VEX Robotics Competition Team in a given competition season. Students may have more than one role on the Team, e.g. the Designer can also be the Builder, the Programmer and a Driver. a. Team members may move from one Team to another for non-strategic reasons outside of the Team's control. i. Examples of permissible moves may include, but are not limited to, illness, changing schools, conflicts within a Team, or combining / splitting Teams. ii. Examples of strategic moves in violation of this rule may include, but are not limited to, one Programmer "switching" Teams in order to write the same program for multiple Robots, or one Student writing the Engineering Notebook for multiple Teams. iii. If a Student leaves a Team to join another Team, <G6> still applies to the Students remaining on the previous Team. For example, if a Programmer leaves a Team, then that Team's Robot must still represent the skill level of the Team without that Student. One way to accomplish this would be to ensure that the Programmer teaches or trains a "replacement" Programmer in their absence.

G19 Be prepared for minor field variance

Field Element tolerances may vary from nominal by ±1.0", unless otherwise specified. Ball tolerances and weights may vary from nominal to ±0.10" and 10 grams respectively. Ball placement at the beginning of Matches may vary from nominal to ±1.5". The bottom opening of Goals between the lowest two rings has a dimensional tolerance of -0.0 / +0.5". Teams are encouraged to design their Robots accordingly. Please make sure to check Appendix A for more specific nominal dimensions and tolerances. Note: The field perimeter must always be resting upon the Field Perimeter Rubber Feet, regardless of whether or not the tabs have been cut from the foam field tiles.

T1 The head referee has ultimate authority on ruling decisions during the competition

Head Referees must have the following qualifications. i. Be at least 20 years of age ii. Be approved by the Event Partner iii. Contain the following attributes: 1. Thorough knowledge of the current game and rules of play 2. Effective decision making 3. Attention to detail 4. Ability to work effectively as a member of a team 5. Ability to be confident and assertive when necessary 6. Strong communication and diplomacy skills iv. The Head Referee must be an REC Foundation Certified VRC Head Referee for the current season. b. Head Referees may not review any photo or video Match recordings to determine a score or ruling. c. Head Referees are the only people permitted to explain a rule, Disqualification or warning to the Teams. d. The Head Referee must give the rule number of the rule violated when issuing a Disqualification or warning to a Team. Violations of the REC Foundation Code of Conduct may involve additional escalation beyond the Head Referee's initial ruling, including (but not limited to) investigation by an REC Foundation representative. Rules <S1>, <G1>, and <G2> are the only rules for which this escalation may be required.

T5 Practice matches may be run at some events

If Practice Matches are run, they will be conducted on a first-come, first-served basis with every effort made to equalize practice match time for all Teams.

S2 Stay inside the fields

If a Robot is completely out-of-bounds (outside the playing field), it will be Disabled for the remainder of the Match.

T12 Send a team representative to alliance selection

If a Team must send one (1) Team Rep- resentative to the playing field for Alliance Selection. If the Team Representative fails to report to the playing field for Alliance Selection, their Team will be ineligible for participation in the Alliance Selection proces

S1 Be Safe Out There.

If at any time the Robot operation or Team actions are deemed unsafe or have damaged any Field Elements or Game Objects, the offending Teams may be Disabled and/or Disqual- ified at the discretion of the Head Referee. The Robot will require re-inspection before it may take the field again.

T2 the drive team is permitted to immediately appeal the head referee ruling

If the Drivers wish to dispute a score or ruling, those Drivers must stay in the Alliance Station until the Head Referee talks with them. The Head Referee may choose to meet with the Drivers at another location and/or at a later time so that the Head Referee has time to reference materials or resources to help with the decision. Once the Head Referee announces that his or her decision has been made final, the issue is over and no more appeals may be made. The Event Partner may not overrule the Head Referee's decision. Violations of this rule may result in the Team being disqualified from the Match in question and/or the event and is up to the discretion of the Head Reference

R19 One motor or y cable per motor port

If using a VEX ARM® Cortex®-based Microcontroller, a maximum of one (1) VEX Y-cable can be used per Motor Port of the Microcontroller or Power Expander, i.e. you cannot "Y off a Y" to have more than two (2) motors controlled by the same Motor Port. a. Teams using the VEX ARM® Cortex®-based Microcontroller may only power one (1) 2-wire Motor per each of the two 2-wire motor ports on the Microcontroller. It is illegal to "Y" off a 2-wire Motor Port. b. Teams may not "Y" off of a Motor Controller 29 (276-2193).

T6 The red alliance or the higher seed places last

In Qualification Matches, the red Alliance has the right to place its Robots on the field last. In Elimination Matches, the higher (better) seeded Alliance has the right to place its Robots on the field last. Once a Team has placed its Robot on the field, its position cannot be readjusted prior to the Match. If a Team violates this rule, the opposing Alliance will be given the opportunity to reposition their Robots promptly.

T15 Eliminations match are a blend of "best of 1" and "best of 3"

In Tournaments that do not directly qualify teams to VEX Worlds, i. In Tournaments that only have one division - The first Alliance to win a Match advances to the next round of the Elimination Bracket. Any ties will result in additional Matches until one Alliance wins and advances or wins and receives the title of "Tournament Champion." i.e. Elimination Matches are all Best of 1 ii. In Tournaments that have multiple divisions - 1. In the Division Elimination Matches - Elimination Matches are all Best of 1 and the Alliance that wins the Division Finals will be declared the "Division Champion." 2. When the Division Champions play each other - If there are more than two divisions and thus will have Quarterfinals and/or Semifinals, these Matches will be played as "Best of 1". The Finals Matches for any size multi-division event are played as a "Best of 3" where an Alliance needs two wins to receive the title of "Tournament Champion." b. In Tournaments that directly qualify teams to VEX Worlds, i. In Tournaments that only have one division - Elimination Matches are "Best of 1" from Round-of- 16 up through the Semi-Finals Matches. The Finals Matches are played as a "Best of 3" where an Alliance needs two wins to receive the title of "Tournament Champion." ii. In Tournaments that have multiple divisions - 1. In the Division Elimination Matches - Elimination Matches are "Best of 1" from Round-of-16 up through the Semi-Finals Matches. The Division Finals Matches are played as a "Best of 3" where an Alliance need two wins to receive the title of "division champion When the Division Champions play each other - If there are more than two divisions and thus will have Quarterfinals and/or Semifinals, these Matches will be played as "Best of 1". The Finals Matches for any size multi-division event are played as a "Best of 3" where an Alliance needs two wins to receive the title of "Tournament Champion

G13 Offensive Robots get the benefit of the doubt

In the case where referees are forced to make a judgment call regarding a destructive interaction between a defensive and offensive Robot, or an interaction which results in a questionable rules violation, the referees will err on the side of the offensive Robot.

G20 Match replays are allowed but rare

Match Replays, i.e. playing a match over again from its start, are at the discretion of the Event Partner and Head Referee, and will only be issued in the most extreme circumstances listed but not limited to the following: a. Field Fault issues that have directly affected Match play. i. Game Elements not in the correct positions ii. Tape lines lifting iii. Field Elements detaching or moving beyond normal tolerances that is not a result of team play violations. iv. AutonomousPeriodorDriverControlledPeriodendingearly v. Field Control disconnecting and disabling Robots. Not to be confused with a Robot that trips its own PTC and has to reboot to reconnect the robot to controller, or teams with controllers that have bent pins that affect only their alliance Field Control tower. b. Game Rule issues that affect the outcome of a match. i. Referee disables a robot for a misinterpretation of a rule violation. ii. Referee starts the Driver Controlled Period without determining the outcome of the Autonomous winner. iii. The field is reset before a score is determined.

R22 no modifications to electronic components are allowed

Motors (including the internal PTC or Smart Motor firmware), microcontrollers (including V5 Robot Brain firmware), extension cords, sensors, controllers, battery packs, reservoirs, solenoids, pneumatic cylinders, and any other electrical component or pneumatics component of the VEX platform may NOT be altered from their original state in ANY way. a. External wires on VEX electrical components may be repaired by soldering, using twist/crimp con- nectors, electrical tape or shrink tubing such that the original functionality / length is not modified in any way. Wire used in repairs must be identical to VEX wire. Teams may make these repairs at their own risk; incorrect wiring may have undesired results. b. Teams must use the latest official VEXos firmware updates, found at www.vexrobotics.com. Custom firmware modifications are not permitted. c. Teams may change or replace the gears in the "2-Wire 393" or "2-Wire 269" motors with the corre- sponding official VEX Replacement Gears. d. Teams may change or replace the gear cartridge in the V5 Smart Motor with other official replace- ment gear cartridges.

T18 Students must be accompanied by an adult

No Student may attend a VRC event without a responsible Adult supervising them. The Adult must obey all rules and be careful to not violate stu- dent-centered policies, but must be present at the event in the case of an emergency. Copyright 2020, VEX Robotics Inc. Updated

R21 One or two controllers per Robot

No more than two (2) VEX wireless remotes may control a single Robot during the tournament. a. No modification of these transmitters is allowed of ANY kind. b. No other methods of controlling the Robot (light, sound, etc) are permissible. i. Using sensor feedback to augment driver control (such as motor encoders or the Vision Sensor) is acceptable. c. Teams may not "mix-and-match" wireless remote types, such as using a VEXnet Joystick and V5 Controller at the same time.

R7 Vex products come from VEX robotics or VEX or VEX Robotics reseller

Official VEX products are ONLY available from VEX Robotics & official VEX Resellers. To determine whether a product is "official" or not, consult www.vexrobotics.com. A complete list of authorized VEX Resellers can be found at https://www.vexrobotics.com/how-to-order.

R1 One Robot per Team

Only one (1) Robot will be allowed to compete per Team in the VEX Robotics Competition. Though it is expected that Teams will make changes to their Robot at the competition, a Team is limited to only one (1) Robot. As such, a VEX Robot, for the purposes of the VEX Robotics Com- petition, has the following subsystems: • Subsystem 1: Mobile robotic base including wheels, tracks, legs, or any other mechanism that allows the Robot to navigate the majority of the flat playing field surface. For a stationary Robot, the robotic base without wheels would be considered Subsystem 1. • Subsystem 2: Power and control system that includes a legal VEX battery, a legal VEX control system, and associated motors for the mobile robotic base. • Subsystem 3: Additional mechanisms (and associated motors) that allow manipulation of game objects or navigation of field obstacles. Given the above definitions, a minimum Robot for use in any VEX Robotics Competition event (including Skills Challenges) must consist of 1 and 2 above. Thus, if you are swapping out an entire subsystem of either item 1 or 2, you have now created a second Robot and are no longer legal. a. Teams may not compete with one Robot while a second is being modified or assembled. b. Teams may not have an assembled second Robot to be used to repair or swap parts to the first Robot. c. Teams may not switch back and forth between multiple Robots during a competition. This includes using different Robots for Skills Challenge, Qualification and/or Elimination Matches. d. Multiple Teams may not use the same Robot. Once a Robot has competed under a given team number at an event, it is "their" Robot - no other Teams may compete with it for the duration of the competition season.

R23 Most modifications and repairs to non-electrical components are allowed

Physical modifi- cations such as bending or cutting are permitted and may be done to legal VEX Robotics Competition metal structure or plastic components. a. Physical modifications to electrical components such as a legal microcontroller or radio is prohibit- ed unless otherwise explicitly permitted, per <G21>. b. Internal or external mechanical repairs of VEX Limit and Bumper switches are permitted. Modifying the metal arm on the Limit Switch is permitted. Using components from these devices in other applications is prohibited. c. Metallurgical modifications that change fundamental material properties, such as heat treating, are not permitted. d. Teams may cut pneumatic tubing to a desired length. e. Teams are permitted to fuse/melt the end of the 1/8" nylon rope to prevent fraying. f. Welding, soldering, brazing, gluing, or attaching in any way that is not provided within the VEX platform is NOT permitted.

R26 Pneumatic are limited

Pneumatic devices may only be charged to a maximum of 100 psi. Teams may only use a maximum of two (2) legal VEX pneumatic air reservoirs on a Robot.

G8 Controllers must stay connected to the field tower

Prior to the beginning of each Match, Drive Team Members must plug their VEXnet Joystick or V5 Controller into the VEXnet Field Con- troller's Cat-5 cable via their controller's competition port. This cable must remain plugged in for the duration of the Match, and may not be removed until the "all-clear" has been given for Drive Team Members to retrieve their Robots.

SG1 Starting a match

Prior to the start of each Match, the Robot must be placed such that it is: a. Contacting its Home Zone. b. Not contacting the gray foam field tiles outside of the Alliance's Home Zone. c. Not contacting any Balls other than the Preload. d. Not contacting another Robot. e. Contacting exactly one (1) Preload. i. The Preload must be contacting exactly one (1) Robot. ii. The Preload must be fully within the field perimeter. iii. The Preload must not be breaking the vertical projection of the Goal, i.e. the Preload must not be inside or above the Goal. Note: If a Robot is not present for their Match, then their Preload will instead be placed in the center of the gray foam tile that is closest to the double tape line that bisects the Home Zone and is opposite the half of the Home Zone from the placed Robot as shown below.

R8 Certain non-vex components are allowed

Robots are allowed the following additional "non- VEX" components: a. Any material strictly used as a color filter or a color marker for a VEX Light Sensor. b. Any non-aerosol based grease or lubricating compound, when used in extreme moderation on surfaces and locations that do NOT contact the playing field walls, foam field surface, Balls, or other Robots. c. Anti-static compound, when used in extreme moderation (i.e. such that it does not leave residue on playing field walls, the foam field surface, Balls, or other Robots). d. Hot glue when used to secure cable connections. e. An unlimited amount of 1/8" (or local metric equivalent), braided, nylon rope. f. Commercially available items used solely for bundling or wrapping of 2-wire, 3-wire, 4-wire, or V5 Smart Cables, and pneumatic tubing are allowed. These items must solely be used for the purposes of cable protection, organization, or management. This includes but is not limited to electrical tape, cable carrier, cable track, etc. It is up to inspectors to determine whether a component is serving a function beyond protecting and managing cables.

SG8 Possession is limited

Robots may not have greater-than-momentary Possession of more than three (3) Balls of its opposing Alliance's color at once. When two Robots from the same Alliance are working in tandem and blocking Balls, those Robots may not possess a total of more than six (6) Balls of its opposing Alliance's color at once. Robots that violate this rule must stop all Robot actions except for those actions that are attempting to remove the excess Ball. Minor violations of this rule that are not Match Affecting will receive a warning. Match Affecting offenses will result in a Disqualification. Teams that receive multiple warnings may also receive a Disqualification at the Head Referee's discretion.

G5 Keep your robot together

Robots may not intentionally detach parts during the Match or leave mechanisms on the field.

SG4 Keep Game objects to yourself

Robots may not intentionally drop or place Game Objects on an opponent Robot. Minor violations of this rule that do not affect the Match will result in a warning. Match Affecting offenses will result in a Disqualification. Teams that receive multiple warnings may also receive a Dis- qualification at the Head Referee's discretion.

R11 A limited amount of tape is allowed

Robots may use a small amount of tape when used for the following purposes: a. For the sole purpose of securing any connection between the ends of two (2) VEX cables. b. For labeling wires and motors. c. For covering the back of License Plates (i.e. the "wrong color"). d. For the purposes of preventing leaks on the threaded portions of pneumatic fittings. This is the only acceptable use of Teflon tape. e. For securing and retaining a VEXnet Key 2.0 to the VEX ARM® Cortex®-based Microcontroller. Using tape in this manner is highly recommended to ensure a robust connection. f. In any other application that would be considered a "non-functional decoration" per <R13>.

R12 certain non-vex screws nuts and washers are allowed

Robots may use any commercially available #4, #6, #8, M3, M3.5, or M4 screw up to 2" (50.8mm) long (nominal), and any commercially available nut, washer, and/or spacer (up to 2" / 50.8mm long) to fit these screws

R18 Robots use on control system

Robots may use exactly one (1) of the following four (4) options: • Option 1: A VEX ARM® Cortex®-based Microcontroller, up to ten (10) 2-Wire Motors or VEX Servos (in any combination up to ten) and a legal VRC pneumatic system. • Option 2: A VEX ARM® Cortex®-based Microcontroller, up to twelve (12) 2-Wire Motors or VEX Servos (in any combination up to twelve) and no pneumatic components, excluding pneumatic tubing. • Option 3: A V5 Robot Brain, up to six (6) V5 Smart Motors, and a legal VRC pneumatic system. • Option 4: A V5 Robot Brain, up to eight (8) V5 Smart Motors, and no pneumatic components, exclud- ing pneumatic tubing.

R10 A limited amount of custom plastic is allowed

Robots may use non-shattering plastic from the following list; polycarbonate (Lexan), acetal monopolymer (Delrin), acetal copolymer (Acetron GP), POM (acetal), ABS, PEEK, PET, HDPE, LDPE, Nylon (all grades), Polypropylene, FEP; as cut from a single 12" x 24" sheet up to 0.070" thick. a. Shattering plastic, such as PMMA (also called Plexiglass, Acrylic, or Perspex), is prohibited. b. Plastic may be mechanically altered by cutting, drilling, bending etc. It cannot be chemically treated, melted, or cast. Heating polycarbonate to aid in bending is acceptable.

R16 Robots have one microcontroller

Robots must ONLY use one (1) VEX V5 Robot Brain (276- 4810), or one (1) VEX ARM ® Cortex ®-based Microcontroller (276-2194). a. Any other microcontrollers or processing devices are not allowed, even as non-functional decora- tions. This includes microcontrollers that are part of other VEX product lines, such as VEXpro, VEX RCR, VEX IQ, VEX GO, or VEX Robotics by HEXBUG; this also includes devices that are unrelated to VEX, such as Raspberry Pi or Arduino devices.

R17 Robots use VEXnet

Robots must ONLY utilize the VEXnet system for all Robot communication. a. VEX 75Mhz Crystal Radios are prohibited. (Some events may allow the use of 75Mhz Crystal Radios, please see the Special Event Rule Modifications later in this section.) b. Electronics from the VEXpro, VEX RCR, VEXplorer, VEX IQ, VEX GO, or VEX Robotics by HEXBUG product line are prohibited. c. Mixing and matching of VEXnet transmitters and receivers is prohibited. The VEXnet Joystick may only be used in conjunction with a VEX ARM® Cortex®-based Microcontroller. A VEXnet upgraded 75MHz Transmitter may only be used in conjunction with a PIC Microcontroller. A V5 Controller may only be used in conjunction with a V5 Robot Brain. Teams are permitted to use the Bluetooth® capabilities of the V5 Robot Brain and/or V5 Controller in team pits or outside of Matches. However, VEXnet must be used for wireless communication during Matches.

G17 Let go of the game objects after the march

Robots must be designed to permit easy removal of Balls from any mechanism without requiring the Robot to have power after a Match.

G18 Its not over until it's over

Scores will be calculated for all Matches immediately after the Match ends, once all Balls, Field Elements, and Robots on the field come to rest. a. The determination of the Autonomous Bonus will occur for all Matches immediately after the Auton- omous Period ends, after all Balls, Field Elements, and Robots come to rest. b. The determination of any Autonomous Win Point(s) will occur for all Matches immediately after the Autonomous Period ends, after all Balls, Field Elements, and Robots come to rest.

R30 Special Event modifications

Some events may choose to make the following rule exceptions to fit their unique circumstances: a. Utilize the VEX 75 MHz Crystal Radio Transmitter & Receiver instead of or in conjunction with the VEXnet Wireless link. b. Allow AA batteries to power the robot instead of a VEX 7.2V Battery Pack. Note: If an event makes these changes, they must inform all attending Teams. It is especially important that any 75 MHz events make sure their Teams are using the correct communication type.

T17 Fields May be raised or in the floor

Some tournaments may choose to place the playing field on the floor, or elevated off the floor (common heights are 12" to 24" [30.5cm to 61cm]). No Drive Team Members may stand on any sort of object during a Match, regardless of whether the field is on the floor or elevated. The 2021 VEX Robotics World Championship field will be elevated 24" (61cm) from the floo

T16 small tournaments may have fewer alliances

Some tournaments with 32 or more teams must use 16-team alliances when starting Elimination Matches. Events with fewer than 32 Teams (i.e. the requisite amount for sixteen full Alliances) must limit the number of Alliances by dividing the number of Teams by two, less any remainder.

T10 Qualification Match tiebreakers

Team rankings are determined throughout Qualification Matches as follows: 1. Average Win Points (Win Points / Number of Matches played) 2. Average Autonomous Points (Autonomous Points / Number of Matches played) 3. Average Strength of Schedule Points (Strength of Schedule Points / Number of Matches played) 4. Highest Match score 5. Second highest Match score 6. Random electronic draw

R13 Decoration are allowed

Teams may add non-functional decorations, provided that they do not affect Robot performance in any significant way or affect the outcome of the Match. These decorations must be in the spirit of the competition. Inspectors will have final say in what is considered "non-func- tional". Unless otherwise specified below, non-functional decorations are governed by all standard Robot rules. In order to be "non-functional," any guards, decals, or other decorations must be backed by legal materials that provide the same functionality. For example, if your Robot has a giant decal that prevents Balls from falling out of the Robot, the decal must be backed by VEX material that would also prevent the Balls from falling out. a. Anodizing and painting of parts is considered a legal nonfunctional decoration. b. If using the VEX speaker (276-1504), the chosen audio must not be distracting and must be in good taste. The Head Inspector and Head Referee will make the final decision on the appropriateness of the audio. c. Small cameras are permitted as non-functional decorations, provided that any transmitting func- tions or wireless communications are disabled. Unusually large cameras being used as ballast are not permitted. d. VEX electronics may not be used as non-functional decorations. e. Decorations that visually mimic field elements or could otherwise interfere with an opponent's Vision Sensor are considered functional and are not permitted. This includes lights, such as the VEX Flashlight. The Head Inspector and Head Referee will make the final decision on whether a given decoration or mechanism violates this rule. f. Internal power sources (e.g. for a small blinking light) are permitted, provided that no other rules are violated and this source only provides power to the non-functional decoration (e.g. does not directly or indirectly influence any functional portions of the Robot). g. Decorations which provide feedback to the Robot (e.g. by influencing legal sensors) or to Drive Team Members (e.g. status indicators) would be considered "functional" and are not permitted.

SG6 Keep Balls in the field

Teams may not intentionally remove Balls from the field. While Balls may accidentally leave the field when attempting to Score, doing so intentionally or repeatedly would be a violation of this rule. Balls that leave the field during Match play, intentionally or unintentionally, will be returned to the field at the location nearest the point at which they exited. Referees will return the Balls to the field when it is deemed safe to do so, at the leisure of the referee. Minor violations of this rule that do not affect the Match will result in a warning. Match Affecting offenses will result in a Disqualification. Teams that receive multiple warnings may also receive a Disqualification at the Head Referee's discretion.

T4 Robots at the field must be ready to play

Teams must bring their Robots to the field prepared to play. Teams who use VEX pneumatics must have their systems charged before they place the Robot on the field. a. Robots must be placed on the field promptly. Repeated failure to do so could result in a violation of <G1>.

R24 Custom V5 Smart Cables are allowed

Teams must use official V5 Smart Cable Stock but may use commodity 4P4C connectors and 4P4C crimping tools. Teams who create custom cables acknowl- edge that incorrect wiring may have undesired results.

R2 Robots must be a representation of the skill level of the team

The Robot must be designed, built and programmed by members of the Team. Adults are permitted to mentor and teach design, building and programming skills to the Students on the Team, but may not design, build or program that team's Robot.

R25 Keep the power switch accessible

The Robot on/off switch or button must be accessible without moving or lifting the Robot. All microcontroller lights and/or screens must also be easily visible by competition personnel to assist in diagnosing Robot problems.

R28 Use the "competition template please for programming

The Robots must be programmed to follow control directions provided by the VEXnet Field Controllers. During the Autonomous Period, Drive Team Members will not be allowed to use their hand-held control- lers. As such, Teams are responsible for programming their Robot with custom software if they want to perform in the Autonomous Period. Robots must be programmed to follow control directions provided by the VEXnet Field Controllers (i.e. ignore wireless input during the Autonomous Period, disable at the end of the Driver Controlled Period, etc). Teams must use a provided "competition template", or functional equivalent, to accomplish this. All Robots will be required to pass a functional enable/disable test as part of inspection. For more information on this, Teams should consult the help guides produced by the developers of their chosen programming software.

R9 Give the radio some space

The V5 Radio or VEXnet Key 2.0 must be mounted such that no metal surrounds the radio symbol on the V5 Radio or touches the VEXnet logo on the VEXnet Key 2.0. Teams may use a USB extension cable for the sole purpose of remote mounting of a VEXnet Key 2.0 to a VEX ARM® Cortex®-based Microcontroller.

R14 No Wi-Fi

The Vision Sensor must have its wireless transmitting functionality disabled.

R4 Robots must be safe

The following types of mechanisms and components are NOT allowed: a. Those that could potentially damage Field Elements or Balls. b. Those that could potentially damage other competing Robots. c. Those that pose an unnecessary risk of Entanglement

R20 Electrical power comes from vex batteries only

The only allowable source(s) of electrical power are as follows: a. If using a VEX ARM® Cortex®-based Microcontroller, robots may use (1) VEX 7.2V Robot Battery Pack of any type. i. Robots utilizing the VEX Power Expander may use a second VEX 7.2V Robot Battery of any type. Robots are permitted to use a maximum of one (1) VEX Power Expander. ii. The only legal means for charging a VEX 7.2V Battery Pack is via one of the following VEX Battery Chargers: Smart Charger (276-1445); Smart Charger v2 (276-2519); 276-2221 (discontin- ued), 276-2235 (discontinued). All other chargers are strictly prohibited. iii. Teams must connect a charged 9V backup battery to their VEXnet system using the VEXnet Backup Battery Holder (276-2243). iv. VEXnet Joysticks must only be powered by AAA batteries. v. Some events may provide field power for VEXnet Joysticks. If this is provided for all Teams at the event, this is a legal source of power for VEXnet Joysticks. Look for more there are more to this...

R27 only registered teams may compete in the VEX robotics competitions

To participate in an official VEX Robotics Competition (VRC) event, a Team must first register on robotevents.com. Upon registering they will receive their VRC Team Number and four (4) VRC License Plates. Teams may choose to use the VRC License Plate Kit that comes in the VRC Team Welcome Kit, or may create their own, including one made from 3D printed parts. Plates must follow the following requirements. a. Robots must use the colored plates that match their Alliance color for each Match (i.e. red Alliance Robots must have their red plates on for the Match). It must be abundantly clear which color Alliance the Robot belongs to. Note: If the plates are attached to opposite-color plates, then the incorrect color must be covered, taped over, or otherwise obscured to ensure that the correct Alliance color is abundantly clear to Head Referees during a Match. Since License Plates are considered non-functional decorations, this is a legal non-functional use of tape. b. License Plates must fulfill all Robot rules (i.e. they must fit within the 18" cube per <R4>, they cannot cause entanglement, not functionally change the stability of rigidity of the Robot, etc.) c. Plates must be at least 2.48 inches (63.2mm) tall and 4.48 inches (114mm) wide, i.e. at least the size of the plates in the VRC License Plate Kit ignoring thickness.

G1 Treat everyone with respect

Treat everyone with respect. All Teams are expected to conduct themselves in a respectful and professional manner while competing in VEX Robotics Competition events. If a Team or any of its members (Students or any Adults associated with the Team) are disrespectful or uncivil to event staff, volunteers, or fellow competitors, they may be Disqualified from a current or upcoming Match. Team conduct pertaining to <G1> may also impact a Team's eligibility for judged awards. Repeated or extreme violations of <G1> could result in a Team being disqualified from the entire event. Depending on the severity of the situation.

T11 Disqualification

When a Team is Disqualified in a Qualification Match, they receive zero (0) Win Points, Autonomous Win Point, Autonomous Points, and Strength of Schedule Points. i. If the Team receiving the Disqualification is on the winning Alliance, then Teams on the opposing Alliance who are not also Disqualified will receive the win for the Match and two (2) Win Points. ii. If the Match was a tie, then each Team on the opposing Alliance (the Alliance that did not receive the Disqualification) will receive the win for the Match and two (2) Win Points. iii. If both Alliances have a Team receiving a Disqualification, then all non-Disqualified Teams will receive a tie for the Match and one (1) WP. Note: Autonomous Win Points are not given to teams that are Disqualified, and are not automatically awarded to the opposing Alliance. When a Team is Disqualified in an Elimination Match, the entire Alliance is Disqualified and they receive a loss for the Match and the opposing Alliance is awarded the win. If both Alliances receive a Disquali- fication in an Elimination Match, both Alliances receive a loss and will play another Elimination Match to determine a winner.

T9 Team rankings are determined during qualification matches as outlined below

When in a tournament, every Team will be ranked based on the same number of Qualification Matches. When in a league, every Team will be ranked based on the number of Matches played. Teams that participate at least 60% of the total Matches available will be ranked above Teams that participate in less than 60% of the total Matches available, e.g. if the league offers 3 ranking sessions with 4 Qualification Matches per Team, teams that participate in 8 or more Matches will be ranked higher than Teams who participate in 7 or fewer Matches. Being a no-show to a match that a Team is scheduled in still constitutes participation for these calculations. c. In some cases, a Team will be asked to play an additional Qualification Match. The extra Match will be identified on the Match Schedule with an asterisk and will not impact the Team's ranking, Win Points, Autonomous Points or Strength of Schedule Points for that Qualification Match (and will not affect participation percentage for leagues). Teams are reminded that <G1> is always in effect and Teams are expected to behave as if the additional Qualification Match counted.

G3 Use Common Sense

When reading and applying the various rules in this document, please remember that common sense always applies in the VEX Robotics Competition.

R3 Robots must pass inspection

. Every Robot will be required to pass a full inspection before being cleared to compete. This inspection will ensure that all robot rules and regulations are met. Initial inspections will take place during team registration/practice time. a. Significant changes to a Robot, such as a partial or full swap of Subsystem 3, must be re-inspected before the Robot may compete again. b. All possible functional Robot configurations must be inspected before being used in competition. c. Teams may be requested to submit to random spot-inspections by event personnel. Refusal to submit will result in Disqualification. d. Robots which have not passed inspection (i.e. who are in violation of one or more Robot rules) will not be permitted to play in any Matches until they have done so. <T3> will apply to any Matches that occur until the Robot has passed inspection. e. If a Robot has passed inspection, but is later found to be in violation of a Robot rule during a Match, then they will be Disqualified from that Match and <R2d> will apply until the violation is remedied and the Team is re-inspected.

T13 Each team may only be invited once to join alliance

. If a Team Representative declines an Alliance Captain's invitation during Alliance Selection, that Team is no longer eligible to be selected by another Alliance Captain. However, they are still eligible to play Elimination Matches as an Alliance Captain.

G14 You can't force an opponent into a penalty

. Intentional strategies that cause an opponent to violate a rule are not permitted, and will not result in an infraction on the opposing Alliance. Minor violations of this rule that do not affect the Match will result in a warning. Match Affecting offenses will result in a Disqualification. Teams that receive multiple warnings may also receive a Disqualification at the Head Referee's discretion.

R6 Robots are built from the VEX V5 or Cortex System

. Robots may be built ONLY using official VEX V5 and Cortex components, unless otherwise specifically noted within these rules. Teams are re- sponsible for providing documentation proving a part's legality in the event of a question. Examples of documentation include receipts, part numbers, official VEX websites, or other printed documentation. a. Products from the VEXpro, VEX IQ, or VEX Robotics by HEXBUG product line cannot be used for Robot construction, unless specifically allowed by a clause of <R7> or cross-listed as part of the VEX V5 or Cortex Product lines. For example, the Rubber Shaft Collar (228-3510) is a VEX IQ component that can be found on the VEX "Shafts & Hardware" page, and is thus legal: https://www.vexrobotics.com/shafts-and-hardware.html b. VEX IQ pins used solely for the purpose of attaching VEX Team Identification Number Plates are permitted. c. Official VEX V5 and Cortex components which have been discontinued are still legal for competition use. Teams must be cognizant of <R6> if attempting to use a discontinued part. d. Any parts which are identical to legal VEX parts are permitted. For the purposes of this rule, products which are identical in all ways except for color are permissible. It is up to inspectors to determine whether a component is "identical" to an official VEX component.

G16 Don't clamp your robot to the field

. Robots may not intentionally grasp, grapple or attach to any Field Elements. Strategies with mechanisms that react against multiple sides of a Field Element in an effort to latch or clamp onto said Field Element are prohibited. The intent of this rule is to prevent Teams from both unintentionally damaging the field and/or from anchoring themselves to the field. Minor violations of this rule that do not affect the Match will result in a warning. Match Affecting offenses will result in a Disqualification. Teams that receive multiple warnings may also receive a Dis- qualification at the Head Referee's discretion.

T8 Each Team will be scheduled qualification matches as follows

. When in a tournament, the tournament must have a minimum of four (4) Qualification Matches per Team. The suggested amount of Qualification Matches per Team for a standard tournament is six (6) and up to ten (10) for a championship event. b. When in a league, there must be at least three (3) league ranking sessions and each session must have a minimum of two (2) Qualification Matches per Team. The suggested amount of Qualification Matches per Team for a standard league ranking session is four (4). Leagues will have a league finals session where elimination rounds will be played. Event Partners may choose to have Qualification Matches as part of their league finals session.