Milk Crate Madness

2023 Fall Season Game

Team 2338, Gear it Forward

Manual revision 10/03/2023

• Foreword
• Useful links
• Changes
• Game Introduction
• Field
  • Overall field dimensions
  • DRIVER's Stations
  • STARTING ZONE
  • TRAVERSAL ZONE
  • PLATFORM
  • HUMAN PLAYER STATION
  • CRATES
• Match Play
  • Setup
  • Scoring
  • DRIVE TEAM
  • Other Logistics
• Safety Rules
• Game Rules
  • Gameplay
  • Interactions With Other Teams
  • During AUTONOMOUS
  • DRIVE TEAM Rules
• ROBOT Rules
• Basic Construction
  • Additional Construction Rules
  • Special device restrictions
• Manual QR Code

Foreword

Rules are subject to change. Pay attention to team announcements to make sure you are up to date with the latest versions. If you are unsure about a rule, ask a Mentor for clarification.

If you would like to download a copy of this manual, use your browser's print to pdf or download the html version using "save page as".

Useful links

• Field Step Files

• 2018 FRC Game Manual

• 2023 FRC Game Manual

Changes

10/03/2023:

• Fixed typo in Gameplay about launching pieces
• Updated explanation of CRATE count (18) and dimensionality.
• Clarified CRATE starting configuration rules.

09/28/2023:

• Updated CAD models to reflect stated dimensions.
• Moved some rules around in Robot Rules to make basic construction rules easier to find.
• added a QR code linking back to this manual page.

09/16/2023:

• Made some terminology more consistent.
• Clarified that bumper color does not matter.

09/14/2023:

• First release.

Game Introduction

The 2023 offseason game is designed to be a simple game about placing and stacking CRATES onto your team's PLATFORM. The game will be played in a one-on-one match style, including 15 seconds of AUTONOMOUS and 2:15 of TELEOPERATED play.

During the 15 second AUTONOMOUS Period, ROBOTS follow pre-programmed instructions. Teams score points by:

• Having any portion of a ROBOT's BUMPER cross from the STARTING ZONE into the TRAVERSAL ZONE
• Scoring CRATES on the PLATFORM

During the remaining 2 minutes 15 seconds, DRIVERS control their ROBOTS to score by placing additional CRATES on the PLATFORM.

The team with the most total points at the end of the match wins.

Field

The game field will consist of several components:

• DRIVER's Stations
• STARTING ZONE
• TRAVERSAL ZONE
• PLATFORM
• HUMAN PLAYER STATION

Overall field dimensions

• The total ROBOT play area will consist of a 20'x20' square.
• The entire field is enclosed with a fence using standard two-by-fours across the entire length, with two rows starting 6.5" and 16" off the ground.
• The PLATFORM is located directly across the field from the respective DRIVER's station.
• Tape will demark the separate STARTING ZONES and TRAVERSAL ZONES for each alliance in equal quadrants of the field.
• A HUMAN PLAYER STATION is located in each STARTING ZONE, one for each team.

A CAD file is available to obtain accurate dimensions of the FIELD elements.

DRIVER's Stations

STARTING ZONE

The STARTING ZONE consists of the half of the field closest to the DRIVER's stations. Each team has their own STARTING ZONE, divided down the midline of the field.

TRAVERSAL ZONE

The TRAVERSAL ZONE consists of the half of the field further from the DRIVER's stations. Each team has their own TRAVERSAL ZONE, divided down the midline of the field.

PLATFORM

THe PLATFORM consists of a 24 inch by 49.5 inch plywood platform, raised 9 inches off the ground, bisected by a two-by-six divider that separates the PLATFORM into two equal 24"x24" zones.

In the front-center, there is a vertical two-by-four with MARKS at 10, 20, and 30 inches from the top of the PLATFORM.

The side of the PLATFORM contained on each half of the field belongs to each team, respectively.

HUMAN PLAYER STATION

The HUMAN PLAYER STATION consists of the area of the field immidiately surrounding the RAMP where the HUMAN PLAYER introduces new CRATES into play. The bottom of the RAMP is 21 inches off the ground and is at a 30 degree angle. CRATES must be fully supported by the RAMP before being introduced into the field.

CRATES

CRATES are 13"x13"x11" milk crates, identical (or dimensionally similar) to those used in the 2018 FRC game. They will not have a cover, and are therefore open on one of the 13"x13" faces.

The total nuber of CRATES is 18.

Match Play

Setup

CRATES

Two (2) CRATES will be dispersed randomly, open face up, in each half of the TRAVERSAL ZONE. Additionally, each ROBOT may preload up to one (1) CRATE making contact with or controlled by the ROBOT. the remaining 12 CRATES will be split evenly and placed in the HUMAN PLAYER STATIONS.

ROBOTS

ROBOTS may start anywhere within their STARTING ZONE where their BUMPERS are fully contained within their half.

Humans

DRIVERS, COACHES, and HUMAN PLAYERS must stay at least 3 feet back from all field components except for one (1) individual DRIVER to press the start button on their DRIVER STATION computer.

Once the end of AUTONOMOUS period is ended by the signal from the DRIVER STATION computers, human DRIVERS may pick up the controls and begin TELEOPERATED play. HUMAN PLAYERS may start to introduce CRATES into the field.

Scoring

Point values are as follows:

CRATES are only counted as scored if they meet the following criteria:

• Fully supported by the team's portion of the PLATFORM or another CRATE that is scored
• It does not intersect the vertical plane above the divider on the PLATFORM

It is up the the REFEREE to determine whether these criteria are met.

MARKS

A CRATE is considered above a MARK if no part of the CRATE is below the horizontal plane created by the highest point of a MARK. If it is unclear whether a CRATE is fully above the plane, it will be considered below the MARK for scoring. Each CRATE is scored scored independently, for example each CRATE above the second MARK from the PLATFORM is worth 5 points.

DRIVE TEAM

Each team may have the following DRIVE TEAM members:

Other Logistics

CRATES that leave the FIELD are placed back into the FIELD approximately at the point of exit by FIELD STAFF (REFEREES or other staff working around the FIELD) at the earliest safe opportunity.

An ARENA FAULT is not called for MATCHES that accidentally begin with an incorrect number of, incorrectly positioned, or damaged CRATES. Damaged CRATES are not replaced until the next ARENA reset period. DRIVE TEAMS should alert the FIELD STAFF to any missing or damaged CRATES prior to the start of the MATCH. Once the MATCH is over and the Head REFEREE determines that the FIELD is safe for FIELD STAFF and DRIVE TEAMS, humans will be allowed on the field to prepare for the next match.

In addition to the two minutes and thirty seconds (2:30) of game play, each MATCH also has pre- and post-MATCH time for setup and reset of the ARENA. During ARENA reset, the ARENA is cleared of ROBOTS and OPERATOR CONSOLES from the MATCH that just ended. The ROBOTS and OPERATOR CONSOLES for the subsequent MATCH are loaded into the ARENA by DRIVE TEAMS at this time. FIELD STAFF also use this time to reset ARENA elements and CRATES.

ROBOT Connections

There will be no Field Management System for this event. Each team will conect to their ROBOT via their OPERATOR CONSOLE's wireless connection. Each team will configure thier ROBOT to run in "Practice Mode", with 15 seconds of AUTONOMOUS play and 2 minutes 15 seconds of TELEOPERATED play.

Safety Rules

Safety is always paramount, and each rule below is intended to establish norms that will mitigate injury risk to all participants.

Coaches and Adult Mentors have the final decision authority for all safety-related issues within the venue.

• Dangerous ROBOTS: not allowed. ROBOTS whose operation or design is dangerous or unsafe are not permitted.
• Do not enter the field until a REFEREE allows you to do so.
• ROBOTS, stay on the FIELD during the MATCH. ROBOTS and anything they control, e.g. a CRATE, may not contact anything outside the FIELD.
• Humans, stay off the FIELD during the MATCH. DRIVE TEAMS may not extend any body part into the FIELD during the MATCH.
• Be a good person. All teams must be civil toward their team members, other team members, competition personnel, FIELD STAFF, and event attendees.

Game Rules

A break in any of the following rules will result in a PENALTY per infraction.

Gameplay

• CRATES may only be introduced into the field by HUMAN PLAYERS via the HUMAN PLAYER STATION.
• ROBOTS may not touch a CRATE which is in contact with the RAMP.
  • This does not include the legs of the RAMP.
• One (1) CRATE at a time. ROBOTS may not have CONTROL of more than one CRATE, either directly or transitively through other objects. A ROBOT is in CONTROL of a CRATE if:
  • The CRATE is fully supported by the ROBOT, or
  • The ROBOT is intentionally moving a CRATE to a desired location or in a preferred direction
• Launching CRATES: not allowed. A ROBOT may not launch CRATES at any time. A GAME PIECE is considered launched if it is shot into the air, kicked across the floor, or thrown in a forceful way. This rule is not intended to penalize typical movement of GAME PIECES which come to rest a short distance from the ROBOT. Examples of such actions could be but are not limited to,
  • Running an intake in reverse causing a GAME PIECE to travel a short distance from the ROBOT
  • A ROBOT pushing a GAME PIECE a short distance away in the process of herding it across the FIELD
• Don’t mess with the opponents’ PLATFORM. A ROBOT may not move a scored CRATE from anopponent's PLATFORM
  • This vialation will result in two (2) penalties per infraction (a total of -8 points)
• Keep CRATES in bounds. ROBOTS may not intentionally eject CRATES from the FIELD (either directly or by bouncing off a FIELD element or other ROBOT).
• CRATES: use as directed. ROBOTS may not deliberately use GAME PIECES in an attempt to ease or amplify challenges associated with FIELD elements.

Interactions With Other Teams

• Damaging other ROBOTS, not allowed. Regardless of intent, a ROBOT may not initiate direct contact inside the vertical projection of an opponent ROBOT's FRAME PERIMETER that damages or functionally impairs the opponent ROBOT.

  This rule will be enforced agressively. It is strongly advised to avoid contact with opposing ROBOTS

• No pinning. A ROBOT is PINNING if it is preventing the movement of an opponent ROBOT by contact, either direct or transitive (such as against a FIELD element). (If egregious, Red Card)
• Don't tear others down to lift yourself up. ROBOT actions that appear to be deliberate to a REFEREE and that cause damage or inhibition via attaching, tipping, or entangling to an opponent ROBOT are not allowed.
• Stay out of other ROBOTS. A ROBOT with a COMPONENT(S) outside its FRAME PERIMETER, other than BUMPERS, may not initiate direct contact with an opponent ROBOT inside the vertical projection of its FRAME PERIMETER using that COMPONENT.
• Asking other teams to throw a MATCH: not cool. A team may not encourage another team to play beneath its ability. (Red Card)
• Don't gain by doing others harm. Strategies clearly aimed at forcing the opponent team to violate a rule are not in the spirit of FIRST ROBOTICS Competition and not allowed. Rule violations forced in this manner will not result in an assignment of a PENALTY to the targeted team.

During AUTONOMOUS

• During AUTO, no defense. Do not enter the opposing Alliances half by crossing the midline during AUTONOMOUS period.
• DRIVERS, COACHES, and HUMAN PLAYERS must stay at least 3 feet back from all field components except for one (1) DRIVER to press the start button on their DRIVER STATION computer.
• During AUTO, let the ROBOT do its thing. During AUTO, DRIVE TEAMS may not directly or indirectly interact with ROBOTS or OPERATOR CONSOLES unless for personal safety or OPERATOR CONSOLE safety.

DRIVE TEAM Rules

• COACHES and other teams: hands off the controls. A ROBOT shall be operated only by the DRIVERS, and/or HUMAN PLAYERS of that team.
• No wandering. During the MATCH, DRIVERS, COACHES, and HUMAN PLAYERS may not contact anything outside the ALLIANCE STATION Exceptions are granted in cases concerning safety and for actions that are inadvertent, momentary, and inconsequential.
• NO FALLING. Any COACH, DRIVER, or HUMAN PLAYER who is negligent of safety precautions will be penalized. (If egregious, ejection of the offending individual)

  This rule is to remind you to not be reckless. We understand that in exciting competitions it may be tempting to run, but if you are acting to rashly you will be penalized for it, including verbal warnings and point deductions.

• CRATES through the HUMAN PLAYER STATION only. CRATES may only be introduced to the FIELD:
  • during TELEOP,
  • by a DRIVER or HUMAN PLAYER, and
  • through the RAMP in the HUMAN PLAYER STATION.
• COACHES, no milk. During a MATCH, COACHES may not touch CRATES, unless for safety purposes.
• HUMAN PLAYERS may not contact CRATES which are within the vertical plane of the ARENA fence.
• Don't mess with CRATES. Teams may not modify CRATES in any way. Temporary and minor deformation to pre-load a ROBOT is an exception to this rule.
• Be careful what you interact with. DRIVE TEAMS are prohibited from the following actions with regards to interaction with ARENA elements:
  • Climbing
  • Hanging
  • Deforming
  • Damaging

Equipment

You can't bring/use anything you want. The only equipment that may be brought to the ARENA and used by DRIVE TEAMS during a MATCH is listed below. Regardless if equipment fits criteria below, it may not be employed in a way that breaks any other rules, introduces a safety hazard, blocks visibility for FIELD STAFF or audience members, or jams or interferes with the remote sensing capabilities of another team or the FIELD.

• the OPERATOR CONSOLE,
• non-powered signaling devices,
• reasonable decorative items,
• special clothing and/or equipment required due to a disability,
• devices used solely for planning or tracking strategy,
• devices used solely to record gameplay,
• non-powered Personal Protective Equipment (examples include, but aren't limited to, gloves, eye protection, and hearing protection)

Items brought to the ARENA under the above allowances beyond the OPERATOR CONSOLE must meet all of the following conditions:

• do not connect or attach to the OPERATOR CONSOLE, FIELD, or ARENA
• do not communicate with anything or anyone outside of the ARENA
• do not include any form of enabled wireless electronic communication
• do not in any way affect the outcome of a MATCH, other than by allowing the DRIVE TEAM to plan or track strategy for the purposes of communication of that strategy to other team members or
• use items allowed to communicate with the ROBOT.

ROBOT Rules

Basic Construction

• Tall ROBOTS not allowed. ROBOT height, as measured when it's resting normally on a flat floor, may not exceed 42 inches.
• Don't overextend yourself. ROBOTS may not extend more than 24 inches (~60 cm) beyond their FRAME PERIMETER.
• The ROBOT (excluding BUMPERS) must have a FRAME PERIMETER, contained within the BUMPER ZONE and established while in the ROBOT's STARTING CONFIGURATION, that is comprised of fixed, non-articulated structural elements of the ROBOT. Minor protrusions no greater than 1/4 in. (~6 mm) such as bolt heads, fastener ends, weld beads, and rivets are not considered part of the FRAME PERIMETER.
  • To determine the FRAME PERIMETER, wrap a piece of string around the ROBOT (excluding BUMPERS) at the BUMPER ZONE described and pull it taut. The string outlines the FRAME PERIMETER.
• In the STARTING CONFIGURATION (the physical configuration in which a ROBOT starts a MATCH), no part of the ROBOT shall extend outside the vertical projection of the FRAME PERIMETER, with the exception of its BUMPERS and minor protrusions such as bolt heads, fastener ends, rivets, cable ties, etc.
  • A ROBOT's FRAME PERIMITER is defined by the frame the team is given. No frame swapping with other teams.

    This limitation applies to FRC Team 2338 in particular. If you are from another team, standard 120 inch FRAME PERIMITER rules apply.

• In the STARTING CONFIGURATION, the hight of the ROBOT may not exceed 36 inches.

Additional Construction Rules

• Keep it together. ROBOTS may not intentionally detach or leave parts on the FIELD.
• BUMPERS: use as intended. Do not modify your BUMPERS in any way unless explictly allowed by a coach.

  BUMPER rules will be less strictly enforced than during a standard FIRST Robotics Competition, but please make sure that your ROBOT is mostly protected from incedental collisions using standard FRC BUMPER procedures. BUMPER color does not matter for Milk Crate Madness. Use whatever colors you have available.

• Keep it light. ROBOTS may not weigh more than 100 pounds.
• Traction devices must not have surface features that could damage the ARENA (e.g. metal, sandpaper, hard plastic studs, cleats, hook-loop fasteners or similar attachments). Traction devices include all parts of the ROBOT that are designed to transmit any propulsive and/or braking forces between the ROBOT and FIELD carpet.
• Protrusions from the ROBOT and exposed surfaces on the ROBOT shall not pose hazards to the ARENA elements (including the CRATES) or people.
• ROBOT parts shall not be made from hazardous materials, be unsafe, cause an unsafe condition, or interfere with the operation of other ROBOTS.
• ROBOT BUMPERS shall not be modified in any way. The BUMPERS are there to protect you and your ROBOT, do not remove them for competition play.
• Keep it moving. All motors attached to a ROBOT must move during a MATCH. Each motor that does not move during a MATCH with result in a PENALTY.

  This rule enforces the minimum motor requirements outlined in special device restrictions. A damaged mechanism does not necessarily result in a penalty, based on the discretion of the REFEREES.

Any additional ROBOT construction rules will default to rules as listed in FIRST 2023 CHARGED UP manual section 9.

Special device restrictions

The 2023 offseason competition has the following additional device restrictions:

These restrictions are meant to limit the overall power of ROBOTS for safety reasons, as well as impose an addtional design challege that teams will have to overcome.

The minimum requirements are designed to give programmers a challege and an opportunity to learn software library functions.

A ROBOT may have no more than:

• One (1) powered CIM motor per drivetrain side.
• Five (5) Talon SRX motor controllers.
• One (1) Spark MAX motor controllers.
• One (1) CIM motor not connected to the drivetrain.

A ROBOT may have no less than:

• Three (3) Talon SRX motor controllers, connected to motors.
• One (1) Spark MAX motor controllers, connected to a motor.

A ROBOT may not have ANY:

• CTRE Falcon 500 motor/motor controller combos.
• Pneumatic Control Modules (PCM)
• Pneumatic cylinders

A sample ROBOT might have:

• A tank drivetrain with 1 CIM motor per side
• A arm that moves using a CIM motor
• A grabber powered by a REV NEO
• An elevator raised by 2 775-class motors

Manual QR Code