[Sean M]

Yes, you could, but be careful about Blockading, [G23], or touching the robot coming off the ramp (as in you get a penalty if you touch the robot while it is touching it's alliance ramp) under [G28] with exemption from [G44] (as in THEY can CAUSE you to incur fouls in this instance).

So at this point, the only time you wouldn't get a foul is if they get off their ramp, at which point attempting to block them is moot and it turns to an issue of pinning (see [G29]).