[Bill_B]

Your autonomous mode should do two things - make two 6-point baskets and go tip one or both of the allowed bridges to get the balls from it(them) onto your side. In fact, a good argument can be made for tipping the middle bridge your way should be your first priority, then return to the key edge (detecting that little bump) to make your free-throws. I see no advantage at all to kinect control. It is merely cape-waving FIRST-style. Perhaps I'll be surprised at Suffield Shakedown. I still can't guess how.

So dealing with the bridge is more important than crossing that barrier.