[Justin Montois]

A lot of what happens next is decided by the robot capabilities and the alliance strategy that is pre-determined before the match.

If your strategy is a shutdown defense and win with minibots (IE your alliance has 2 good minibots and the opposing alliance has none) then your human players don't do anything really. It's REALLY hard for an alliance to overcome 50 points on the rack and you don't want to give them any more opportunities at tubes then they will get from their own HP's.

If your strategy is a pure offense, hopefully you decided pre-match what robot was going to get what tube and where they are going to place it.

If the opposing alliance has 3 robots with no ground pickup ability then i'm telling my human players to be pretty liberal with throwing them on the field.

It's hard to directly answer your question because every match will be different. That's why match strategy to me is the most fun and important aspect of FRC.