[JesseK]

For big kudos, use a Kinect to detect approximate orientation of the robot and eventual approximate trajectory of the ball.

FTC has a 'who sets up first' in the tournament rules. A quick search of the FRC manual has no such rule. Sounds like one may be needed this year. I bet refs will address what 'delay of match' means during the driver's meeting, if this isn't addressed prior to competition.

Even more kudos to the offensive team which has sensors that realize the distance to the wall in the bumper zone is 20-27" shorter than it's supposed to be and thus turns 20-30 degrees prior to the shot. Alternatively, teams could always just aim at the high goal above the low goal. Good luck blocking that.