> *If the robot needs an arm change, it must return to Home.*

   - No, but it is a good idea.  Once the team stops/Interrupts the robot,
   they will bring it to the Launch Area to prepare for the next launch.  The
   team may make an arm change then, or add/remove any attachments.
   - Why is Home good?  If the team Interrupts the robot and the robot is
   not completely in Home, then the referee will take a Precision Token off
   the field.  So if the team waits until the robot is completely in Home and
   then stop it, then the referee doesn't take a Precision Token.  (Rule 27) .
   Plus, the team may handle anything that is completely in Home at any time.
   - The only time that the Robot is required to be in Home is during the
   Inspection when you first arrive for your Match


> *For the unit cubes mission, one technician is stacking them in the Home
area while the other technician picks the robot up from the Home area and
places it in the launch area.*
> *Then they are moving the unit cubes to the launch area where the robot
with the new arm has been positioned and ready to go.*

   - Yes, the Technicians can stack Building Units inside Home at any
   time.  Then they they can move that stack into the Launch Area while the
   robot is stopped and being prepared for the next Launch.


> *We can add unit cubes in launch, right?*

   - No, not while the robot is running.  You may only put things in Launch
   when the robot is stopped and you are preparing for the next Launch.
   Update RG13 emphasizes this, "You can not touch anything in the Launch
   Area between a Launch and the next Interruption, [except for RG09 Stranded
   Cargo]"


   - If you want the running robot to pick something up from the Launch
   Area, then you have to put it out before you Launch the robot.
   - Update RG13 does allow you to set something up from *Home*, even if it
   wasn't set up before you Launch the robot.

 > *Basically, when are we allowed to touch the robot in launch?*

   - Your team may Interrupt the robot when it is in Launch.  Your team
   will lose a Precision Token
   - Your team may move/remove things in Launch when the robot is stopped
   and you are preparing for the next Launch
   - RG09 says that if your robot strands Cargo in partly in Launch (and it
   isn't too big), then your team may bring that Cargo completely into Home.
   This is not likely to happen much this season.

Steve Scherr
Virginia-DC FLL Referee Advisor


On Thu, Nov 14, 2019 at 5:11 PM Angela Redard <[log in to unmask]> wrote:

> We are a second-year team and are used to being able to touch in the
> launch area. I thought we had clarification on the home area, but a
> question has come up that I would really love clarification on as our
> tournament is in two days:
>
> If the robot needs an arm change, it must return to home. For the unit
> cubes mission, one technician is stacking them in the Home area while the
> other technician picks the robot up from the Home area and places it in the
> launch area. Then they are moving the unit cubes to the launch area where
> the robot with the new arm has been positioned and ready to go. That is our
> interpretation of how we can use the home area. The question comes up when
> we are adding unit cubes between different circles, but do not need an arm
> change. Obviously we have to interact with the robot to add the blocks. Can
> the robot return straight to Launch to add the new unit cubes or does it
> have to return home first? We can add unit cubes in launch, right?
>
> Basically, when are we allowed to touch the robot in launch? I have read
> the rules and followed the listserv, but I need it spelled out explicitly
> for my team. Thanks in advance!
>

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