The game begins with a 15 second autonomous mode section where each team is able to score an innertube known as a “keeper”. The keeper cannot be covered or taken off of the rack during the RC control period. Lights on top of the rack served as signals and provided information via a camera about the location and orientation of the rack. Despite some of the software being provided, very few teams at the Wisconsin Regional were able to successfully implement a keeper scoring autonomous mode program. At the end of the autonomous mode, any unscored keepers became invalid game pieces.