I would just like to highlight rule G05, since it was a design constraint on all teams.
Quote:
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Originally Posted by 2006 FRC Manual - Section 4 - The Game
<G05> In order for a ball to score, it must enter the goal and exit via the exit chute. A ball that bounces out of the goal is not scored. Once a ball is scored for a particular ALLIANCE, it cannot score again until it is entered onto the field by the opposing ALLIANCE’s HUMAN PLAYER.
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So this is something that should not really be that big of a thing. We all knew that balls would bounce out.