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Originally Posted by Doug G
... If your robot can get up there (or fight for position) during auto mode, it could catch the balls. If it didn't, more of the match would be spent gathering them up off the floor. I know the idea is not that original - but somehow get auto mode to be important (pointwise) and have it change how the rest of the match is played. That way, the matches are always different and fun to play and watch.
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Some teams did this, including Digital Fusion (a rookie). And some quite effectively (33, I believe, had a good one).