Freescale Rules


All racing teams should use the car model kit designated by Freescale Semiconductor. The teams are challenged to design a control scheme and autonomous race car themselves. The software includes sensor imaging collection and processing, drive motor control, and steering motor control algorithm development. The teams are required to design motor control hardware as well as the sensor interface hardware.

Part A: The Car

    Each team will be provided the same basic kit of parts. The following rules are in place to keep the playing field level. The spirit of the game is demonstration of excellent hardware integration and superior programming.


  1. The following original and unaltered equipment must be used in the design.

    1. Tires

    2. Drive - DC motor

    3. Transmission Ratio of Drive Motor

    4. Servo Motor

      • Excludes connection component on output axis of the rudder

    5. Battery (purchase separately)

      • 7.2V, <=3000mAh, rechargeable NiCd or NiMH

      • Only one (1) battery at a time may be used to power the vehicle and any attached hardware

    6. If any standard component of the car model is damaged, then a replacement part of the same model should be used.

  2. The chassis can be modified, with some restrictions:

    1. The footprint of the frame may not be altered

    2. You may notchange the distance between the wheels

    3. No part of the car shall exceed dimensions of 250mm/9.85in (W) x 400mm/15.75in (L)

    4. You may drill holes and mount auxiliary pieces on the chassis assuming it is contained within the above dimensions.


  1. A Freescale MCU must be used.

  2. You may create custom boards

  3. You are not required to use the provided Freescale development board and/or camera.

  4. One processor rule - No auxiliary processor or other programmable device is allowed.

  5. DC-DC boost circuit may not exceed battery voltage.

  6. Total capacity of all capacitors should not exceed 2000 µF; the highest charging voltage of capcitors should not exceed 25V.

  7. Optional Add-Ons:

    1. Maximum of three (3) servos

    2. Maximum of sixteen (16) sensors

      • Transmitter/Receiver pair is 1 sensor

      • A CCD sensor is 1 sensor

      • The provided Line Scan Camera is 1 sensor


Part B: The Racecourse

  1. Each University should create their own test track for the students to use during development. Track templates are provided on the Freescale Cup website.

  2. The actual layout of the final racing track will be unknown to competitors until competition day.

  3. For a limited time on race day, a test track made from the same material will be available on a first come, first serve basis for calibration and design modifications.

  4. Width of the racing track shall not be less than 600mm/23.65in.

  5. Material specifications regarding the surface of the racing track will be provided on the web site of the event.

  6. Surface of the racing track is matte white, with a continuous black line (25mm/1in wide) drawn in the middle as the pilot line.

  7. The minimum bending radius of the racing track shall not be less than 500mm/19.7in.

  8. The racing track can intersect with a crossing angle of 90°.

  9. Any slope in the track will be equal to or less than 15 degrees in a straight section of the racing track, including upgrade and downgrade.

  10. There is a straight starting area of 1000mm/39.4in long in the racing track, as shown in figure below. In addition, there is a black starting line 100mm/3.9in long at both sides of the starting point. Start time and end time will be determined when the front part of the racing car passes the starting line. The car must be able to automatically stop within three meters of the starting line after finishing the race.

Part C: Running the Race

  1. Testing - On the day of the race, prior to any timed/scored event, a test track will be available. Final calibration may be made at this time.

  2. Before any timed/scored event begins, all cars will be collected, inspected and held, until the end of the round. During this time teams are not permitted to touch the car.

  3. The timed racing event is divided into two rounds: preliminary (qualifying) and the final competition.

  4. A referee will direct all the racing teams when to enter the playing field in accordance with the racing order.

  5. There shall be only one team member on the track at any given time. (excludes testing times)

  6. Upon entering the track, a team has two minutes to set up the car and signal “Ready” to referee.

  7. After the referee confirms “Ready”, the vehicle should leave the starting area within 30 seconds.

  8. After the race car finishes, a member of the team shall take the vehicle away from the track.

  9. Event displays will post the best time for a single lap.

Preliminary (Qualifying ) Race

  1. Race order will be determined by random drawing.

  2. Each team is given two attempts to complete the track and post a time.

  3. Teams that cannot complete the track after two attempts do not advance to the finals.

  4. If there are multiple tracks, teams cannot use the same track for the second attempt.

  5. The best time of the two attempts will be recorded.

  6. Based on the number of participating teams, the organizing committee of the event may cap how many teams advance to the finals based on the best times in preliminary.

  7. Disqualified cars will be replaced by the next car in ranking.

  8. After the preliminary round has ended, the car hardware or software can be improved in compliance with competition rules.

Final Race

  1. The teams will be ordered based on preliminary results.

  2. Shortest times (fastest car) during the preliminary will go last in the final.

  3. The race track may be changed.

  4. Each finalist has two attempts to complete the track.

  5. The best time of the two attempts will be recorded.

  6. The score in the preliminary will not be included in the score of the final.

Part D: Judging

The car with the lowest total time, including penalties, will win.

Complete Copy of Rules

2013 USA West Freescale Cup Rules