interesting note we found while watching our video is that when our bot it the wall at first it bounced back and started to turn away from the castle wall, but was then immediately hit by 4099 and cause us to break through.
That said, I dont know if we wouldnt have broken through in the end, and i know that if this incident incurred a foul on us, this proof wouldn't have been accepted by the refs.
video:
http://youtu.be/8JBopYnhjKQ?t=9s
it's easiest to see the "breach" unfolding at .25 speed.