I can’t reply to other posts in this forum, but the program start was answered elsewhere.
Here’s a link to the picture:
http://www.vexiqforum.com/forum/vex-iq-challenge-discussion/viqc-add-it-up-2013-2014-game/official-viqc-add-it-up-q-a/609-programming-skills-starting-tile
I also wondered about “brought back to a legal starting position”. I think the rules should read something like: The robot must be brought back and legally positioned in the starting location.
There are many ways your robot could be positioned in that square.
Steve