Thanks for all the suggestions and comments! I updated each and every thing you guys addressed.
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Originally Posted by pfreivald
What's the rule citation for, "-No deliberate collision with opponent robots"?
That would seem to preclude any sort of defense!
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That was a bit of a misinterpretation of G28:
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Deliberate or damaging contact with an opponent ROBOT on or inside its FRAME PERIMETER is not allowed.
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I have now changed that part to "No deliberate past-or-on-bumper collision with opponent robots"