Three relevant rules you can find by reading the manual next time:
Quote:
G43 ROBOTS on the same half of the FIELD as their ALLIANCE TOWER may not interfere with opponent ROBOTS attempting to traverse OUTER WORKS (regardless of direction). A ROBOT is considered traversing the opponent’s OUTER WORKS if any part of its BUMPERS are within the opponent’s OUTER WORKS.
Violation: FOUL. For every five (5) seconds in which the situation is not corrected, FOUL
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Quote:
G11 Strategies aimed solely at forcing the opposing ALLIANCE to violate a rule are not in the spirit of FIRST Robotics Competition and not allowed. Rule violations forced in this manner will not result in an assignment of a penalty to the targeted ALLIANCE.
Violation: FOUL. If egregious or repeated, YELLOW CARD
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Quote:
G24 Strategies aimed at the destruction or inhibition of ROBOTS via attachment, damage, tipping, or entanglements are not allowed.
Violation: FOUL and YELLOW CARD. If harm or incapacitation occurs as a result of the strategy, RED CARD
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So, per G43, if they're close enough and get hit by the drawbridge or sally port door, they'll be impeding your traversal of the defense, and get a foul. However, if you wait around until they get in range of the drawbridge or sally door, THEN move through to hit them with it, then you're violating G11 and/or G24, and you get the penalty. Your goal here is supposed to be getting through the defense, not using it to damage or disable an opponent. As long as you're sticking to the former, you're on the right side of the law.
As soon as you start doing the latter and purposefully damaging other bots, refs will notice and penalize you. Also, scouts will notice and probably blacklist you as someone to never pick, lest you get your alliance DQ'd out of the elims.