I just don't like working with balls....
Personally, I don't see a reason to try and score balls. You could spend a large amount of time and effort scoring balls just to have them taken away 2 seconds later. Also you're consuming energy working this pickup system, and the weight it takes up could be used towards making your bot more powerful and stronger. Why focus on scoring when you can just steal other teams goals? 2 minutes is a VERY short period of time and focusing on balls instead of goals and robots will waste quite a bit of it. I suggest having a bot that can overpower any other bot so you can steal what you need. 
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"Remember that time your dog ate my goldfish, and then you told me i never had a goldfish? Why'd I have the bowl Bart, Why'd i have the bowl?"
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