Answered: Confusion over SG2

[Team_1893]

<SG2> Prior to the start of each Match, each Alliance will have two (2) Barrels and two (2) Balls available as Preloads, one (1) of each per Robot. A Scoring Object is considered to be legally preloaded if it is touching the Robot or a legal Preload, and would not be considered Scored if there was no contact with a Robot. Preloads may also not be touching any Goal.

Our team is confused as to whether this is only regarding things that are inside of the goal but touching the robot, or things that, were the robot not there, would fall into a scored position. We have some images for examples of disputable positions.

http://i1028.photobucket.com/albums/y349/beacandy/Situation1.jpg

• This depicts a ball being held above a goal in a position in which were the arm to move away from or toward the goal, the ball would collapse into the goal.

http://i1028.photobucket.com/albums/y349/beacandy/Situation2.jpg

• This depicts a ball being held above a goal in a position in which were the arm to disappear, the ball would fall directly into the goal.

http://i1028.photobucket.com/albums/y349/beacandy/Situation3.jpg

• This depicts a ball being held above a goal in a position in which the ball is resting on the goal and the arm. Were the arm to nudge the ball slightly, it would roll into the goal.

http://i1028.photobucket.com/albums/y349/beacandy/Situation4.jpg

• This depicts a ball being held above a goal in a position in which the ball is touching the goal and within its extended circumference, but the arm is holding it from falling into the goal.

http://i1028.photobucket.com/albums/y349/beacandy/Situation5.jpg

• This depicts a ball being held above a goal in a position in which were the arm to let go, the ball would fall directly into the goal.

If I am to understand the intention of <SG2> correctly, all of these preloads would be legal, since although the absence of the arm would let it settle into a scored position, it is not currently in a scored position, even if the arm contact is ignored.

Thank you very much for your help.

[Karthik]

If I am to understand the intention of <SG2> correctly, all of these preloads would be legal, since although the absence of the arm would let it settle into a scored position, it is not currently in a scored position, even if the arm contact is ignored.

Thank you very much for your help.

None of the depicted images are legal starting positions as per <SG2> and the definition of Scored. Let’s take a closer look at the definition to understand why. I’ve bolded some text for emphasis.

Scored – A Scoring Object is Scored in a Goal if it is not touching a Robot of the same color of the Scoring Object and it meets one of the following criteria.

1. A Scoring Object is fully below the top of the PVC pipes of a Circular Goal and fully within the outer ring of the Circular Goal. (See figures 4 & 5)
   2. A Scoring Object is not fully below the top of the PVC pipes of a Circular Goal and partially within the outer ring of the Circular Goal and is not within the outer ring of any other Circular Goal. (See figure 5)
2. A Ball or Barrel is partially inside the outer edge of a Floor Goal and touching a foam field tile. (See figures 6 & 7)

In all of your diagrams, the Scoring Object is not fully below the top of the PVC pipes and is partially within the outer ring of the Circular Goal. Thus the Scoring Object is in a Scored Position. It would be considered Scored, however the contact with the robot nullifies this, as per <SG3> (quoted below for your convenience.). As such these are not legal starting positions as per <SG2> which you quoted in your original post.

<SG3> A Barrel or Ball is not considered scored if it is being touched by a robot on an alliance of the
same color at the end of the Match.

[Team_1893]

Thank you very much for your prompt clarification. I had not considered the second definition of Scored in terms of rule SG2. I was under the impression that it did not apply since the ball would, were the robot not present, fall into a scored position under the first definition.

[Karthik]

You’re welcome!