[MikeDubreuil]

You're a hockey player. Your position is defense and the puck is in your opponents zone. Out of nowhere the puck gets passed to a hanger. There's no way you can legally stop your opponent from having a 1 on 1 with your goalie. What do you do? Without question, you would hook your stick around the guys ankle and trip him. You would receieve a 2 minute penatly for your actions. A really good player would try to hook the puck, but would settle for taking out the guy and getting a penalty.

There's situations in sports where you have to commit the penalty for the benifet of the team. In FIRST, I think if your intent was to push another robot and they happen to fall over, you should recieve a time based penalty. You needed to take the robot out in order to save the game.

As far as the cards go...
Yellow - let's make it purely a warning.
Red - You get a 10 second penalty.
The ref also has the option to DQ you.

BTW: I have been saying 10 second penalty. This is purely for conversational purposes and the actual value could be decided on later.