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I think I'm going to have to say hanging is the most important part. (And by hanging I mean being able to hang yourself as well as being able to stop your opponent from hanging.)
Basically, everything else is dependent. If you corral balls really well, you need a good human player in order for it to do you any good.
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Not it your ally has a good HP. Or if you drive a mobile goal you can just dump them over the wall(im not saying thats exactly easy, but most HPs can at least 50% of those shots). Sure hanging helps, but the small balls win the game. Look at the first match where all 4 robots got on the bar, one alliance had 5 balls, the other had 4. The small balls won it. Look at many of the winning teams. In richmond the #1 seed was 165, a herding team, but 33, another herding team won the regional. In Annapolis 3 of the 4 semi-finalists had a herding based team on them. herding and small balls are the key.