What amount of talk is allowed between teams during a match?
As much or as little as your want. FIRST is big into competitive cooperation. They encourage it as much as possible. That is the whole reason for a shared mission. Be aware that the music may be so loud as to prevent any communications during a match. Talking to teams back in the pit is a great way to pass the time and share information. Of course heckling would be severely frowned upon.
