[Edxu]

From HenryBlack's videos, I think that both hits are legal. While it's pretty hard to make a line between "their robot driving up onto yours while you defend them" and "you drove under their robot", I think that in the spirit of an offense-oriented game, 1529's defense was well-played and legal.

As discussed earlier in the thread by Logank, 1501 was the powerhouse team on the alliance, so 1529 was well-justified in trying to slow the cycle down as much as possible.