[MikeJ675]

I think part of the problem is the penalties (at least at FLR) have been if even the smallest percentage of a robot crosses back over the line. I've seen a lot of penalties where a team will just barely cross a line and have to back up to get around a stopped bot and they get a penalty for it.

It's probably too late to fix it, but it probably should have been a penalty to completely go back over a line, as opposed to having a small portion of your bot cross the line.

I've even seen penalties where a team veers off into the central rail during autonomous and has a small corner of their bot cross the line when they get stuck on the central rail.