[meaubry]

Thanks for the clarification on the scoring - Alliance does mean both robot and human, and the scoring only when the green light is on does indeed make sense.
Just to let ya know, we mocked up a goal and tried out throwing the ball 60 feet or more to observe the dynamics. Man o man, that is a long throw but with alot of practice I believe that the humans will score - as long as the path is clear and they can settle the ball into a rolling motion rather than a bouncing one.
It's gonna be really hard to practice in an environment that allows the diagonal throw - all we could come up with is a long narrow corridor and the darn ceiling kept getting in the way!