[EricH]

Incorrect.

T expire (x) = T now – { 11 + (4 * # unexpired balls currently in Station) }

T expire is the time at which the penalty is applied.

So, you put a ball in at 15 seconds left. Texpire = Tnow-{11+4*unexpired)}

Tnow is 15. We will assume an empty alliance station (unexpired = 0).

Texpire = 15-(11+4*0)=15-11=4.

They have until the timer reads 4 seconds left to put the ball back out.

For reference, the DOGMA document on the FRC website will help understand the algorithm. It is at http://usfirst.org/uploadedFiles/Com...sets/DOGMA.pdf