[IronicDeadBird]

This actually doesn't really do much improvement on the foul system.
It is one thing to have a foul system but on a low visibility map to have a foul system and no feedback lets run a scenario.
Team 1 on an alliance gets 3 tech fouls.
2 tech fouls come from launching a boulder while still in contact with the secret passage, 1 comes from contacting an opponent in the secret passage.
The team only sees the tech foul where they contact the opponent in the secret passage.
Unless some outsider to the team notifies them that they were shooting illegally, the assumption I would make from that teams perspective is that we just made contact with the opposing robot. I'm sure others would handle it differently but for those of you who would handle it in a similar would be stuck doing things wrong and not being able to learn from it.
That isn't healthy for the game, its like playing a board game with someone who lost the instructions to the game and makes up rules.