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How about a game where instead of having one color balls score into a teams specific goal, switch it around, so you have red and blue balls, scoring in a common goal. All the balls will be mixed up around the field, so it would present more of a challenge to the drivers to pick out which balls you would want to score. If the balls are red and blue, the optical sensors we currently have would be able to differentiate them.
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Or how about different color balls and goals. Make the balls worth 5 or 10 points depending on what goal they are in. If you have a red ball in a red goal it is worth 5 points, but if a red ball is in a blue goal it is worth 10 points. And you could allow teams to goaltend their own goals to prevent the other alliance from getting double the points in their goal. It would present a lot more interesting strategies and more options for teams.