A lot of different variables at play here.
Assuming your pyramid cycling is pretty fast, and your setup time for full-court shooting slows things down, you just might be better off cycling shots at the pyramid. In this case, the threat of a full-court shot keeps the defence close to you at the feeder station, which makes it easier to drive past them through their pyramid when cycling.
You may not have the full-court shot very often as a low-profile robot. But sometimes you can take advantage of a defender who needs to go and hang early in the match.
http://www.youtube.com/watch?v=uNDNX...YdSlRb_rLXUTtM
As much as I like the full court shot, at BAE our cycling ended up being faster and more accurate.
http://www.youtube.com/watch?v=lvjdN...YdSlRb_rLXUTtM
Your mileage may vary of course... but my non-answer is to do what's going to score you the most points

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