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Re: Why only one ball?
Technically, in the beginning, more than one of an alliance's balls can be in play at a time, but a new cycle won't begin until that last ball is scored. Once the last ball is scored, the light on the ball pedestal will light up.
Autonomous mode could hurt an alliance if their robot misses. It might just be better to roll into your zone and claim the 5 points, rather than go for a shot, unless you're 100% certain you won't miss.
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