[Joe Matt]

We did some testing of the ball-smashed-in-goal theory, and found that depending on how far it in it is, it's hard to get out. But, in order for the ball to be put in, the robot would have to exert lots of force just to get it pushed in, which is more likely not to happen than trying to get the ball out. Simply put, the force to push a ball down will cause the bot to tip forward and loose stability. Now, for lifting, that can be avoided.

In conclusion, while possable to smash the ball into the goal and get it out, it's hard to get it out, and VERY hard to push it in with a robot.