Answer #2 of Q&A 2113 (https://www.robotevents.com/VURC/2024-2025/QA/2113) specifies that:
“Sensors integrated into Electromechanical Assemblies - These are more complex systems that are available off-the-shelf that integrate sensors, but also integrate mechanical assemblies that are not purely sensors. These mechanical assemblies likely contain parts that would need to be "fabricated" by the VEX definition, but are not fabricated by team members. Examples include but are not limited to odometry pods with built in, spring loaded wheels, encoder housings that allow for pass-through of shafts, and/or gearbox assemblies with integrated encoders.”
The mention of "encoder housings that allow for pass-through of shafts" seems to be contradictory with previous rulings and the rest of the Q&A. Our team and others make use of encoders like REV Robotics Through Bore Encoder (https://www.revrobotics.com/rev-11-1271/). (Will be referred to as REV Thru Bore)
These meet the "not simply 'drop-in' parts" criterion given, as they require significant design integration for mounting and usage. They meet the "sensors that act purely as a sensor to detect motion or rotation" criterion.
The Answer of Q&A 2534 (https://www.robotevents.com/VURC/2024-2025/QA/2534) states that:
“‘encoder housings that allow for pass-through of shafts" was meant to disallow commercial, off-the-shelf mechanical assemblies that sensors can be mounted into that mechanically transfer power from a mechanism to the sensor. If a sensor, like the AMT-102V, is designed in and of itself to have a pass-through/through-bore, it should not be considered illegal. However, a pure magnetic hall sensor or shaft encoder mounted to a commercially obtained housing that creates a through-bore/pass-through assembly should not be considered legal, as that part could now conceivably be determined to be a Fabricated Part, and one made by somebody NOT on the team.”
The REV Thru Bore ships as a single part and was designed for “pass-through/through-bore”, and in KUdos’ case we did not purchase an “off-the-shelf mechanical assembly that sensors can be mounted to, ” such as a COTS odometry pod or swerve module, but instead designed mounting & power transfer axles for a COTS VEX wheel to transfer rotation to the REV Thru Bore, which makes it seem legal under Q&A 2534. The manufacturer also states
“Do not disassemble the sensor. Disassembling the Through Bore Encoder will dereference the zero position with the physical case notch. It is not possible to recalibrate the zero position as it is permanently saved inside the sensor at the factory.”
stating that the entire REV Thru Bore is considered a sensor in other robotics competitions.
The Answer of Q&A 2526 (https://www.robotevents.com/VURC/2024-2025/QA/2526) states that:
“Our intent is to limit the use of off-the-shelf, complete package solutions that eliminate design/engineering challenges for the team to integrate these parts into their design. Simpler, custom electronics should be considered legal. Most encoders, solenoid drivers, external processors, and LIDAR units should be considered legal parts. Purchased assemblies that combine the use of electronics and mechanical parts that could conceivably be considered "Fabricated Parts', and which are fabricated by someone outside of the team, should NOT be considered legal. In general, our intent was not to change the existing rules or the way things were being enforced properly, but rather to create a clear distinction of when parts might fall more into the "Fabricated Parts" definition than the "Additional Electronics" definition.”
The REV Thru Bore was not an “off-the-shelf, complete package solution that eliminated design/engineering challenges” for our team, as packaging, mounting, and power transfer from the wheel were challenges when designing around the REV Thru Bore. Most LIDAR units are considered legal as sensors while having integrated motors, gears, and bearings not fabricated by the team.
**Are the REV Robotics Through Bore Encoders still legal for competition use? **
Sorry for the long question. We realize it is difficult to create rules that encompass all possible sensors. We currently have a competition in two weeks and under the old rules it was interpreted as the REV Thru Bores were legal. According to Q&A 2526, the Head Referee has the final say and KUdos does not want to risk having the REV Thru Bores being illegal.