[JesseK]

I voted by basing it off of top teams in quals at any event: inhibit autonomous as much as possible by injecting as much chaos as possible into autonomous routines. The crossing is a given for the most part - but surely we can make the shot(s) afterwards slightly more difficult.

Seems like pretty straightforward picks from that perspective:
- Cheval-De-Frise injects pitch and semi-unpredictable traction slip into the autonomous routine, whereas the Portcullis is the same super-simple routine every time.
- Ramparts require 'average' robots to contend with two rotational acceleration components (pitch & roll) rather than the moat's one (pitch). Autonomous traversal of the moat is so simple with the drive train that 2-ball autonomous routines will fill the moat with opponents' tears.
- Draw Bridge requires more movement of the drive train, whereas the Sally Port can be solved via extensions and little drive train movement. The first ball is probably a given for either, but IMO the draw bridge inhibits the 2nd ball the most.
- Rock Wall creates a high-side for most robots that must be accounted for in software or mechanisms, whereas a straight autonomous path through the rough terrain can be experimented with an eventually planned into how the robot is set down onto the field.