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Want your alliance to defend?
Are you planning to ask your alliances not to defend?
Considering the penalty risks inherent in defending. Combined with the thought of not knowing your alliances abilities. Are you thinking you can trust them as a standard strategy to go into opponent territory and not draw fouls? It seems very risky (as a routine plan) to want unknown alliances to play the other side of the field at risk of making contact with teams in the loading zone, or ramming high speed, or pushing high on another bot etc. Even with a great drive base and excellent control, I'm not so sure how easy it is to keep from drawing fouls.
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Don't test your autonomous on the comp field. There's a practice field for a reason. - DampRobot [more] 
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