This comes down to a simple math:
Let’s say you have 6 great robots. Game limit is 80 tetras. If all tetras are equally spread and stacked above goals, the highest stack you will see is ~9 tetras
In this same example, lets take the 40 tetras each side gets, Evenly distributed each robot gets to touch ~13 tetras, That means EACH Robot on an alliance has to get a tetra in play every ~8 seconds in non-auto mode!
(105 seconds of time)
So what if your alliance robots can cap a tetra every 15 seconds? Well, each robot can get 7 tetras into play, each alliance gets 21 tetras into play. If both alliances are equal, 63 tetras get into play total, giving us an average stack of ~7
What about 20 seconds? ~5 Tetras into play per robot, 15 Tetras into play per alliance, 30 tetras per game, Average Stack is ~3 per goal
Sure there is some fundamental problems with my math( What about auto mode? What about teams that don’t score tetras?) But it gives an idea.