I point to Overdrive and a topic I made
(This one) about the concept of Tempo. I believe that I need to expand it to be a much more universal theory of FRC gameplay, but once you get what I'm saying, it pretty much goes like this:
If you can score in 10 seconds, you will have a better chance to score more points than it takes someone to score in 15 seconds. Whatever it is that is able to cut down on the time you can grab a tube and score, will speed up your tempo and speed in effective scoring.
Someone will look at that and say "Well obviously, the faster you can get a tube on the pegs the more points you'll score." - but that isn't the point of tempo. Think of EVERY aspect of the game, from getting a tube, to aligning yourself with a tube, to gripping the tube, to lifting the tube, to scoring the tube to getting the next tube. Every part affects your tempo.
If you have a robot that can score as fast as anything, you will still be slower or about the same speed as a robot that has trouble getting on the peg so long as you get the tube from the human player and the other gets their tube from the middle of the field.
Tempo in every aspect, not just a fast robot.
If you can't pick up from the floor and can only get from the human player, you will need much faster drive train to make up for the slower parts of your tempo. Tempo from having to get the tube from a further location is slower or about equal to the tempo of retrieving a tube from the floor somewhere it was chucked. And if you can save time by getting the tube closer to your scoring area, the faster your scoring tempo will go.