Use the RPCs (Score 1)

I recommend using the Radiometrix RPCs. They work fine, they have enough bandwidth and low enough latency for the small size league (I assume you're entering small size), and they're reasonably priced. Entering RoboCup is incredibly difficult and expensive - don't make more trouble for yourself. Also, you'll be best off to direct future requests for advice to the official robocup mailing list of your choice. People there know stuff.