If you consider the autonomous balls to not be part of the cycle(which the manual says they aren't), then you can score no points in autonomous.
3.1.4
"Points are awarded once per CYCLE for BALLS SCORED by ROBOTS in the GOALS, BALLS SCORED by ROBOTS over the TRUSS, and for each ROBOT CATCH."
Autonomous is not a cycle, therefore, no points can ever be scored with the three balls that start on the field, the way I'm interpreting the manual.
It is unclear if you can
- Score truss points in auto
- Score assist points in auto
- Score catch points in auto
- Score goal points in teleop with an auto ball
- Score teleop truss points with auto ball
- Score teleop catch points with auto ball
- Score teleop assist points with auto ball