[Edxu]

With no personal bias (okay a little), I'd have to say Ultimate Ascent.

With the huge diversity in robot design, a unique strategy could be made for every single match, with combinations that most people wouldn't have thought of until it actually happened.

For example, the "ideal" alliance was a full-court shooter pumping out discs, a robot with ground intake to clean up any missed shots, and a fast cycler utilizing the loader on the other side.

However, there were times when alliances would be double FCS and a cycler, and those alliances sometimes outscored the ideal ones.

I've been doing match planning for my team for the past few years, and Ultimate Ascent was easily the most entertaining to plan.