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Yes, I think a battery should be OK for six rounds. Last year we practiced with one battery for half an hour then stopped to let the "chip" motors cool. The controls should still work down to six volts (my designs do...) although I don't know how low the specs for the RF module go. Most teams just swap in a new battery as part of the prep. for a match.
As for an extra battery to swap-in for the finals, I would bet my own money that you could borrow at least a hundred batteries from the other teams...
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