[Al Skierkiewicz]

Mellisa,
If you are asking if it would be legal to add a threaded part that would allow you to punch the ball towards something, the answer is yes (under the pneumatic section in the robot manual). As long as said device, doesn't damage the ball or the field and isn't deemed hazardous by an inspector. Removing a threaded fitting at the end of the actuating arm is not considered modification. This question may have been asked in the Q&A so check there before a final decision.