[DampRobot]

IMO when most teams "possess" a ball to earn credit for an assist, it will probably never even be gripped by them. They'll just push it around a bit to show that they're controlling it. Then, the next the bot will push it around a bit in the middle zone. Finally, the best bot will hurdle, than score for 10.

There's no point in trying to make some complicated mechanism for acquiring ball with an intake and all, when all you have to do is show the refs that you're possessing the ball. Per the rules, all this requires is two taps in the right direction. And all that requires is a good drivetrain with decent drivers.

Most teams in this game will only have to have good drivetrains to play well. There only needs to be one bot per alliance that can hurdle and score. Also, odds are that if you're worse than the best bot on your alliance at hurdling/scoring, you shouldn't bother trying. If you want assist points, all you need to do is to tap the ball twice, and it'll likely be much more effective strategically to quickly control the ball with your DT than pick it up and take ten seconds trying to shoot it.