[EricH]

I haven't been the coach. However, I've picked up a few things from coaches posting on CD.

Rules knowledge is important. You're already dealing with this.

Generally, the process of preparing for a match starts well before that match, when the drive teams agree on a strategy. For this, you need to know what you can reasonably do, and what your partners and opponents can (and can't) do. (Get this from your scouts.) Discuss based on what you can do, what your partners can do, and what your opponents can do. Change it if necessary before the match.

Once you're in the box, about to play, the coach shifts to more keeping the strategy going and giving the drivers broad instructions (as broad as necessary, but no broader), say "Block that robot" or "get that ball" or "we're catching this time" or something similar. Trust your drivers to take care of doing that, and telling you if they can't. You'll also need to stay in contact with the other coaches in case of a strategy change or a breakdown.

After the match, you'll need to act as a buffer for your drivers--you'll probably deal with some Monday morning quarterbacks. Repeat the above until you're knocked out of competition.