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dbscoachDavid Schwarz
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WIP: Cleaned up rules, removed duplicates and stuff moved to general rules, moved ball and field specs to separate files
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‎.github/workflows/build.yml‎

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docker run -v $(pwd):/documents mrshu/texlive-dblatex .ci/tex-to-pdf.sh rules
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docker run -v $(pwd):/documents asciidoctor/docker-asciidoctor .ci/adoc-to-tex.sh superteam_rules
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docker run -v $(pwd):/documents mrshu/texlive-dblatex .ci/tex-to-pdf.sh superteam_rules
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docker run -v $(pwd):/documents asciidoctor/docker-asciidoctor .ci/adoc-to-tex.sh ball_specification
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docker run -v $(pwd):/documents mrshu/texlive-dblatex .ci/tex-to-pdf.sh ball_specification
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docker run -v $(pwd):/documents asciidoctor/docker-asciidoctor .ci/adoc-to-tex.sh field_specification
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docker run -v $(pwd):/documents mrshu/texlive-dblatex .ci/tex-to-pdf.sh field_specification
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docker run -v $(pwd):/documents asciidoctor/docker-asciidoctor .ci/adoc-to-tex.sh scoring
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docker run -v $(pwd):/documents mrshu/texlive-dblatex .ci/tex-to-pdf.sh scoring
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mkdir -p dist/${GITHUB_REF#refs/heads/}/
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rm tmp_*
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cp -R ./media *.html *.pdf dist/${GITHUB_REF#refs/heads/}/

‎ball_specification.adoc‎

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[appendix]
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[[technical-specification-for-pulsed-soccer-ball]]
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== Technical Specification for pulsed Soccer Ball
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[[pulsed-preamble]]
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=== Preamble
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Answering to the request for a soccer ball for RCJ tournaments that would be
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more robust to interfering lights, less energy consuming and mechanically more
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resistant, the Soccer League Committee defined the following technical
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specifications with the special collaboration from EK Japan and HiTechnic.
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Producers of these balls must apply for a certification process upon which they
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can exhibit the RCJ-compliant label and their balls used in RCJ tournaments.
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Balls with these specifications can be detected using specific sensors but
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also common IR remote control receivers (TSOP1140, TSOP31140, GP1UX511QS,
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etc. - on-off detection with a possible gross indication of distance).
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[[pulsed-golf-2026]]
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=== Switch to golf-ball sized pulsed ball in 2026
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{++Starting in 2026, Lightweight Soccer will be moving to a new IR Ball. The key
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difference with this ball is the size change from 74mm to 42mm diameter,
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which is the same size as the Open League's Passive ball. More information
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will be released during the 2025 season by the Committee. This ball is
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Open-Source, so anyone can produce one from the files & instructions on the
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GitHub Page here: https://github.com/robocup-junior/ir-golf-ball++}
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[[pulsed-specifications]]
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=== Specifications
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[[ir-light]]
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==== IR light
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The ball emits infra-red (IR) light of wavelengths in the range 920nm - 960nm,
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pulsed at a square-wave carrier frequency of 40 kHz. The ball should have
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enough ultra-bright, wide-angle LEDs to minimize unevenness of the IR output.
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[[pulsed-diameter]]
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==== Diameter
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The diameter of the ball is required to be 74mm. A well-balanced ball shall be
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used.
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[[pulsed-drop-test]]
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==== Drop Test
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The ball must be able to resist normal gameplay. As an indication of its
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durability, it should be able to survive, undamaged, a free-fall from 1.5
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meters onto a hardwood table or floor.
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[[pulsed-modulation]]
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==== Modulation
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The 40 kHz carrier output of the ball shall be modulated with a trapezoidal
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(stepped) waveform of frequency 1.2 kHz. Each 833-microsecond cycle of the
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modulation waveform shall comprise 8 carrier pulses at full intensity, followed
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(in turn) by 4 carrier pulses at 1/4 of full intensity, four pulses at 1/16 of
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full intensity and four pulses at 1/64 of full intensity, followed by a space
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(i.e. zero intensity) of about 346 microseconds. The peak current level in the
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LEDs shall be within the range 45-55mA. The radiant intensity shall be more
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than 20mW/sr per LED.
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[[pulsed-battery-life]]
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==== Battery Life
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If the ball has an embedded rechargeable battery, when new and fully charged it
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should last for more than 3 hours of continuous use before the brightness of
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the LEDs drops to 90% of the initial value. If the ball uses replaceable
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batteries, a set of new high-quality alkaline batteries should last for more
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than 8 hours of continuous use before the brightness of the LEDs drops to 90%
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of the initial value.
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[[pulsed-coloration]]
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==== Coloration
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The ball must not have any marks or discoloration that can be confused with
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goals, or the field itself.
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[[official-suppliers-for-pulsed-balls]]
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=== Official suppliers for pulsed balls
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Currently, there is one ball that has been approved by the
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Soccer League Committee:
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- RoboCup Junior Soccer ball operating in MODE A (pulsed) made by EK Japan/Elekit (https://elekit.co.jp/en/product/RCJ-05R)
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Note that this ball was previously called RCJ-05. While you may not be able to
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find a ball with this name anymore, any IR ball produced by EK Japan/Elekit is
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considered to be approved by the Soccer League Committee.
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[appendix]
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[[passive-ball-spec]]
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== Technical Specification for passive Soccer Ball
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[[passive-ball-spec-preamble]]
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=== Preamble
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In order to push the state of the art in the Soccer competition forward,
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while also trying to bridge the gap between the Junior and Major leagues, the
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Soccer League Committee chose a standard orange golf ball as the "passive" ball.
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This is the same choice as the Small Size League makes footnote:[See the SSL
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rules at https://robocup-ssl.github.io/ssl-rules/sslrules.html#_ball] and since
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these balls are standardized, they should be cheap and easy to get anywhere
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around the globe.
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[[specifications]]
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=== Specifications
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[[passive-diameter]]
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==== Diameter
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The diameter of the ball is required to be 42mm +- 1mm.
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[[passive-drop-test]]
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==== Drop Test
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The ball must be able to resist normal gameplay. As an indication of its
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durability, it should be able to survive, undamaged, a free-fall from 1.5
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meters onto a hardwood table or floor.
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[[passive-coloration]]
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==== Coloration
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The ball shall be of orange color. Since the definition of the orange color in
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general is not easy, any color that a human would deem to be orange and is
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substantially different from the other colors used on the field is acceptable.
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While tournament organizers may supply matte balls to improve camera vision,
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teams must still be prepared to play with the balls supplied by
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tournament organizers.
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[[passive-surface]]
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==== Surface
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Engravings and printed labels on the ball’s surface are tolerated.
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The the ball should not have
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a soft-touch finish. Teams must be prepared to play with balls as supplied
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by tournament organizers.
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[[passive-weight]]
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==== Weight
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The weight of the ball should be 46 grams (+- 1 gram).

‎field_specification.adoc‎

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[appendix]
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[[technical-specification-for-soccer-field]]
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== Technical Specification For Soccer Field
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[[dimensions-of-the-field]]
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=== Dimensions of the field
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The playing field is 158 cm by 219 cm. The field is
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marked by a white line which is part of the playing field. Around the
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playing field, beyond the white line, there is an outer area
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of 12 cm in width.
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The floor near the exterior wall includes a wedge, which is an incline with a
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10 cm base and 2 +/- 1 cm rise for allowing the ball to roll back into play
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when it leaves the playing field. Note that the goal should not contain the
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wedge.
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Total dimensions of the field, including the outer area, are 182 cm by 243 cm.
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[[field-walls]]
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=== Walls
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Walls are placed all around the field, including behind the goals and the
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out-area. The height of the walls is 22 cm. The walls are painted matte black.
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[[goals]]
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=== Goals
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The field has two goals, centered on each of the shorter sides of the playing
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field. The goal inner space is 60 cm wide, 10 cm high and 74 mm deep, box
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shaped.
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The goal "posts" are positioned over the white line marking the limits of the
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field.
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The interior walls and of each goal are colored matte, one goal yellow and the
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other goal blue. It is recommended that the blue be of a brighter shade so that
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it is different enough from the black exterior.
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[[floor]]
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=== Floor
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The floor
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consists of green carpet ideally of darker shade on top of a hard level surface. Teams
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should be prepared to adjust to different levels of contrast between the green carpet
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and lines as some events may be restricted to using lighter shades of green. All
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lines on the field should be painted, marked with tape,
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or installed as white carpet and be somewhat resistant to tearing or ripping.
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Lines should have a width of 20mm (±10%).
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It is impractical to set international constraints on carpet other than it
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being green. In the spirit of the competition, teams should design robots
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to be tolerant or adaptable to different fibers, textures, construction,
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density, shades, and designs of carpet especially when competing amongst different
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regions. Teams are encouraged to visit regional resources or reach out to Local
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Organization Committee for suggestions if desiring to build their own practice
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field(s).
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[[neutral-spots]]
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=== Neutral spots
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There are five neutral spots defined in the field. One is in the center of the
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field. The other four are adjacent to each corner, located 45 cm
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along the long edge of the field. They align with the sides of the penalty
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areas. The neutral spots can be drawn with a thin black marker.
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The neutral spots ought to be of circular shape measuring 1 cm in diameter.
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[[center-circle]]
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=== Center circle
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A center circle will be drawn on the field. It is 60 cm in diameter. It is a
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thin black marker line. It is there as guidance during kick-off.
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[[penalty-areas]]
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=== Penalty areas
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In front of each goal there is a 25 cm wide and 80 cm long penalty
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area with rounded front corners (15cm radius).
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The penalty areas are marked by a white line of 20 mm (±10%) width. The
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line is part of the area.
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[[lighting-and-magnetic-conditions]]
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=== Lighting and Magnetic Conditions
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The tournament organizers will do their best to limit the amount of external lightning and
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magnetic interference. However, the robots need to be constructed in a way
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which allows them to work in conditions that are not perfect (i.e. by not
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relying on compass sensors or specific lightning conditions).
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[discrete]
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[[field-diagrams]]
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== FIELD DIAGRAMS
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[.text-center]
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image:media/SoccerFieldWedgeNoWedge.jpg[image,align=center,width=35.0%]
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[.text-center]
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image:media/SoccerFieldDrawings.png[image,width=18.0%]

‎general-rules‎

‎preamble.tex‎

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%\renewcommand{\topmargin}{-20pt}
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\rfoot{Page \textbf{\thepage} of \textbf{\pageref{LastPage}}}
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\lfoot{\textit{Draft rules as of \today}}
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\lfoot{\textit{Final rules as of \today}}
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\cfoot{}
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% First page
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\fancypagestyle{firststyle}{%
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\fancyhf{}
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\fancyfoot[L]{\textit{Draft rules as of \today}}
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\fancyfoot[L]{\textit{Final rules as of \today}}
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\fancyfoot[R]{Page \textbf{\thepage} of \textbf{\pageref{LastPage}}}
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\fancyhead[R]{\includegraphics[width=8cm]{media/image15.png}}
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}

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