In all honesty, it really depends on the assumptions you make about the other robots on the field. If you assume your partner can score as well or better than you 50% of the time, but you want to win 100% of the time, then I think you can assume you will:
- Get 1 bonus ball in per match
- Have a good autonomous as an option, 15-23 balls in the high goal during auton.
- Want to only score in one goal or the other, but not both
If you have a spectacular partner who can score 60 balls in the outer goal, then your bot is still better off putting everything in the outer goal than splitting where you and your partner put your wiffle balls ... additionally you better be prepared to play 'wingman' or take up the slack from all of the defense your partner will receive. If your partner has a magnificent 15-ball autonomous, then you too are better off scoring all of your balls in the high goal during the game. At the end, defend and get the bonus ball. If your partner can only move, and/or barely move -- then get them into a strategic location in order to make it difficult for the other team to score simply because another bot is there.
The math works out that the obivous dominative high scoring answer is the outer goal with a bonus ball. But that always assumes an ideal case where the other robots on the field conform to your expectations. The next solution is a magnificent autonomous, but again that assumes you will get the balls you expect to get in autonomous (there may be another bot in the way...).