For our scouting, we have one person watching each robot. One of the things those people are looking for is penalties. If after the match the ref announces a <G22> penalty, each scouter should have already known if their robot committed it, even if it wasn't announced. We then record that teams as having received a penalty in that match and go from there.
This thread covers a lot of the same things:
http://www.chiefdelphi.com/forums/sh...threadid=65895