[usbcd36]

The rules used to prohibit impeding all the time, but were changed in team update 2.

Rule <G40>
IMPEDING Traffic –ROBOTS shall not intentionally IMPEDE the flow of traffic
around the TRACK. During the Teleoperated Period, a ROBOT will be considered
to be IMPEDING traffic if it is preventing an opposing ROBOT from proceeding
around the TRACK. A ROBOT can be found to be IMPEDING traffic if:
 the ROBOT is traveling slowly relative to the approaching ROBOT, and
moving to prevent the approaching ROBOT from passing, or
 the ROBOT is stopped on the TRACK and there is no clear lane of passage
for the opposing ROBOT, or
 the ROBOT pins an opposing ROBOT against an arena element, border, or
another ROBOT
Note that a ROBOT is not IMPEDING traffic if:
 there is a clear “passing lane” around the ROBOT, or
 the IMPEDING ROBOT and the approaching ROBOT are from the same
ALLIANCE (i.e. a ROBOT can not impede another ROBOT of the same
ALLIANCE), or
 the ROBOT is in the process of HURDLING (except as noted in Rule
<G43>).