[Bob Steele]

I think the best solution would be to allow the team with the stuck ball to E-stop their robot. Then the ball would be field debris.

I think that there should be some kind of penalty on the robot that has a ball stick... not necessarily a point penalty but a playing penalty.

If the rules are left as they are the offending alliance effectively has the "death" penalty of not being able to score any cycle balls. This is pretty harsh.

By only allowing a team with the stuck ball to e-stop, the penalty is not being able to do a triple assist and the loss of a robot during play.
This would be similar to results in previous game to the loss of a robot.

It is also similar to the results of having a robot that does not have a ball stuck but still cannot function on the field.

The Alliance can still go on and function as a two robot alliance and try to overcome that deficit.

The other issue is a ball stuck on the TRUSS.
While this would be a relatively rare situation, it does need to be covered in the rules. A ball stuck on the TRUSS is more a chance act than a robot getting stuck with a ball and should not necessarily entail any kind of penalty.

The only issue is that the ball could easily become dislodged during play AFTER it was considered field debris. This could complicate things on the field .
Considering that this should be a very rare occurrence. I would recommend a 10 second count and then some kind of signal from the head referee that would restart the team with a new cycle ball. This would be the same signal given for a standard deflated ball. If there were still other autonomous balls on the field. The pedestal would not light up.

NOTE:
I do think Evan's suggestion of declaring a field fault might be a better answer to the ball stuck on a TRUSS issue. That would be clean and would not result in the kind of confusion that that ball coming back into the field would cause. The other option would be to declare a field fault WHEN the ball falls off the truss. This situation could be strategic though because if a team were losing they could INTENTIONALLY try to knock the ball off. I think the cleanest solution is an immediate FIELD FAULT.... I don't think this would be a common event.