[hillale]

From what I've seen, what seemed to work best is two robots with a center goal autonomous and one that could consistently put 10 balls in the corner. One of the shooters would stay as the back bot and load up on balls while the other 2 played defense, then line up and plant themselves so that it would be hard to move them just before their offensive period begins. Then when the 3rd period begins, they can just empty 10-15 balls in the center goal, if they hadn't already won the match by their autonomous period.