[Nemo]

You will also want to take some cues from FTC.

Make autonomous 30 seconds long and include various available tasks that are worth good points. Allow opponents to point their robot at yours and drive into you during autonomous.

Designate protected areas and field elements that your opponents can't touch. Put them in locations that both alliances need to drive near to play the game effectively. Make the field good and crowded so the protected areas aren't too easy to avoid. Give out huge penalties for bumping into them.