Watching some of the video from MSC i noticed in semi-final 1 match 2 (seen here
http://www.youtube.com/user/FIRSTinM...45/2sbjDxGItW8) team 1023 played some very good defense on the red alliance.
They pushed a number of tubes into the safety of their lanes (in particular squares) denying them logo possibilities. They hit tubes the robots were trying to pick up. They pushed robots around while they were trying to score, and they delayed robots heading for their towers... they limited the red alliance to just 72 points while the blue alliance scored 134 points. In the previous match the red alliance scored 143 points, so i think cutting their scoring potential in 1/2is worthy of some recognition.
as a side note, i think all in all the tube starvation (in particular, lack of squares) and the tower alignment delays were the most effective defensive manuvers. even if the robots do get lined up with the towers before the 10 second mark, i think the defense gives the drivers less time and makes them more panicked. this might lead to deployment mistakes or slightly delayed deployment. the less time they have to prepare and wait for that 10 second mark, the better.