<SG10>
Don’t reach inside enclosed sections of Goals, and no Goalkeeping. Robots are not permitted to directly contact Blocks that are fully within enclosed sections of Long Goals, but may add or remove Blocks from open sections of Goals at any time during a Match. A Robot can only reach into any open portion of a Goal to legally move Blocks (e.g., into or out of the Control Zone or the entire Goal). Goalkeeping is allowed during the Autonomous Period. If a Head Referee sees a Robot that is Goalkeeping in the Driver Controlled Period of a Head-to-Head Match, that Robot should receive a verbal warning and must exit the Goal. A Head Referee should loudly call out Goalkeeping and identify the Robot(s) by color and/or pointing at them (e.g., “red Goalkeeping” while pointing at a red Robot that is engaged in Goalkeeping).
• A Robot should receive a Violation if it takes no action to leave the Goal after receiving a verbal warning, or is still in the Goal after a brief period of time. The length of this period of time is subject to Head Referee judgement within the context of the Goalkeeping occurrence and the warned Robot’s actions (or lack thereof).
• A Robot that adds or removes Blocks to or from the Control Zone and/or Goal after the verbal warning and prior to exiting the Goal should receive a Violation.
• After leaving the Goal, the Robot must back up from the Goal such that there is visible space between the Robot and the open portion of the Goal (e.g., just lifting the “wing” isn’t enough to end the Goalkeeping call) before it can re-engage with an open portion of that Goal. A Robot that exits and reaches back into the Goal after the verbal warning and prior to sufficiently backing away from the Goal should receive a Violation. Violation Notes:
• A Robot can receive multiple Violations for a single Goalkeeping call; for example, by remaining in the Goal for an extended period after the verbal warning and then removing Blocks from the Control Zone as they depart.
• A Robot that remains in a Goal after receiving a Violation (e.g., an unpowered Robot or a Team that ignores the Goalkeeping call) is subject to a Major Violation at the Head Referee’s discretion.
• A Team with one or two Violations in a Match should be considered Match Affecting if their Alliance ties or wins the Match by 10 points or less.
• For the purposes of this rule, the following guidelines should be used to escalate repeated Minor Violations to a Major Violation in Qualification Matches and Elimination Matches: Three or more Violations by a Team in a single Match. Three or more Matches with at least one Violation by a Team (i.e., the third Match and all subsequent Matches with a Violation).
Significant Q&As:
• Q&A 2826 - Goalkeeping scenarios, including what should happen if two Goalkeeping Robots are pushing against each other
• Q&A 2837 - Clarifications on “inside a goal”
• Q&A 2845 - More clarification on “inside a goal”
• Q&A 2864 - Defensive actions around a Goal might be misinterpreted as Goalkeeping
• Q&A 2923 - If a Head Ref isn’t confident about a possible Violation for reaching into the closed part of a Goal, and it didn’t affect Blocks, they can probably ignore it
• Q&A 2996 - More scenarios with multiple Robots pushing/holding Blocks inside a Long Goal
Figure SG10-1: A diagram showing the portion at the end of the Goal (highlighted in green) that may pertain to Goalkeeping.
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