[Jared Russell]

Possessing your own ball is a judgement call that affects assists and therefore scoring.

Possessing your opponents' ball is a judgement call that affects fouls.

Therefore your scorekeepers must also be your foul callers. We just need more eyes and/or simplification of their other tasks. Too many assists have been missed this year (to be fair, there are also a lot of cases where teams think they should have gotten the assist, but they never actually drove their robot entirely into a unique zone).