[notmattlythgoe]

I think the E-Stop option for ball's stuck in the robot are the best option. Once the robot is E-Stopped another ball is place into play and the assist points are reset. If somehow the first ball makes its way back into play the first ball in play earns any assist points that were currently collected. Until the next ball is scored, truss and assist points are not available but the ball can score goal points. This should make it simpler on the referees in the unlikely case that a second ball comes into play later in the game.