[rich2202]

IMHO, you might want to consider these options:

1) Which defense you are going over (or just drive up to get the reach points, or none if you are the spy bot)
2) Which goal you are attempting (or not, since there are only 2 low goals, and you might be the bot that sits it out)
3) If you are going for a goal, which position you are starting in
4) Do you delay to give the other bots more time to clear the path (you don't want to cross, and collide with another bot driving in front of you to get to a goal.
5) Do you back out of the low goal to give another bot the opportunity to go after you.