Allow me to clarify my point somewhat.
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True, if you do distribute your code, then there is always the possibility of another team copying it, modifiying it, and then using a slightly improved version against you.
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The idea of it being open source is that if improvements are made, the team would send them your way. Would this happen 100% of the time in practice? Probably not, but given what FIRST and OSS are about, I think if you make this clear, then the team wouldn't use the code "against you" but rather "with you".
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I personally do not release my source code to other teams. ... The reason for this is twofold: 1) the code is not done until the competition is; it is always changing and 2) the off chance (although slim) that another team will use the source to somehow counteract our robots strategy. This comes not really from the standpoint of other teams copying my code, but more from the fear that they'd find a flaw in my code and would exploit that, and its something I can avoid.
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Again, the idea is that if a team finds a flaw in your code then they should send it your way. Obviously there is a chance for some obscure bug to get into your program (or so unfortunate experience outside of FIRST has taught me for years); however, the more eyes you have looking at it the better. Ideally publishing the code would only help. However, I agree, it is a personal (perhaps better said as individual) choice.
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However, I am not unwilling to lend my programming expertise . ...
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And this is what the spirit of FIRST is about! The idea of releasing the code open source is that other teams can look at it and dissemenate information that could be helpful if they are so skilled/inclined. It is an individual decision. However, I think it should be (as you seem to agree) a global responsibility (speaking specifically about FIRST, though it can and should be generalized) to help your neighbour when they seek it -- and as you say, the best way to help, is to give them the knowledge to help themselves.