TL:DR We won the match 2-0.
So for our first qualification match at our second tournament, we were matched with a team that had a simple 4 bar lift and a custom claw they had made against a team that had a small elevator lift and a no show.
Although our robot with a dr4b looked impressive next to these robots, we were competing with an untested chainbar and roller intake, along with an untested mobile goal manipulator that we had to sacrifice in order to fit the size constraints.
During the autonomous period, none of the robots moved, and the first 15 seconds of the driver control were wild. The one robot on the opposing alliance immediately reversed over their 10 pt bar and got stuck within seconds of driver control starting and our alliance member managed to score their preload cone. However, due to a miscommunication between our driver(for the drivetrain and mg) and me (our driver for lift and intake), we started the match headed towards a mobile goal on our side even though we had agreed that our strategy would be to go for the stationary goal (something many robots at the tournament couldn't do). When me made the turn for the stationary goal, the chainbar which we didn't realize was still resting as far backwards in the robot as possible caused our center of mass to be way to far back and too high when I raised the lift for the stationary goal. Ultimately, we tipped over backwards within 15 seconds of driver control and didn't land within the parking tile to at least earn those points.
For the remaining 1:30 of the match, the opposing robot remains stuck on the 10 pt bar, and our alliance member was unable to pick up any more cones.
We won the match 2-0.
Also, at the same tournament, because the team that was the first seed was an OSIZR style robot that had somehow managed to go undefeated in a tournament with the best teams in WI present, when they were selecting their alliance, many of the stronger teams turned down their offers and they were finally accepted by an ok external stacker without a mobile goal intake. For their second pick, they looked all the way down to our 27th ranked team because we were the only team left with the ability for the stationary. Somehow, we made our way through to the finals, despite only contributing to one of our 3 wins in qualifications. Although we were annihilated in the finals, we managed to qualify for the state championship as tournament finalists with our robot that stacked probably less than 20 cones in the whole tournament.