I created a 11"x17" version of the field layout (without the dimension lines) for just that purpose. It's like a "John Madden" football playbook.
But, in all honesty, I think that doing "what-if" strategies is fine, but gut instinct and a quick assessment of all three robots in a given alliance will dictate who plays defense, offense, etc.
But
here's the paper chart if you want to use a whole stack of them.