[NPeshimam]

Cheesecaking this year felt a lot like the modifications made to autonomous routines in 2014, such as reading hand gestures from a computer camera. It was not explicitly illegal, and allowed teams to take advantage of a lack of specificity in the rules to improve robot function. This year FIRST recognized the ingenuity behind those modifications, but banned them so that autonomous routines that had no human interaction would be implemented. If they really feel that cheesecaking is taking away from the spirit of the competition it will be addressed in the rules next year. Until then it seems wrong to call out teams that take full advantage of the rules and resources at their disposal to do everything in their power to win.