Just for clarification, here is my Q&A question:
https://frc-qa.firstinspires.org/qa/155
I was more concerned about the time AFTER the initial foul call.
Hypothetical situation:
Blue robot #1 (B1) drives to the edge of opponent launchpad in AUTO. At beginning of TELEOP, B1 drives into KEY, drives back and forth in the KEY for 9.x seconds, and leaves KEY for 0.x seconds. This would be a 5MP FOUL since an "additional 5s" was not met.
B1 then goes right back into the KEY for another 9.x seconds. Repeat for 130 or so seconds. ~13 FOULS = 65MP to opponent while severely restricting their ability to score kPa, which are what earn the RP.
As it stands this is very legal, and something my team are considering a counter strategy against.