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ALLIANCEs earn one bonus for each BALL SCORED in a GOAL based on the number of ASSISTS in that CYCLE. The corresponding points for accrued ASSISTS are as follows:
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For the bonus to be counted, the BALL must be SCORED in a GOAL. Although CATCH and TRUSS are "base" points, they are not a GOAL and thus do not accrue the bonus.
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SCORED: the state of a BALL in which it has accrued points for an ALLIANCE.
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A BALL is considered SCORED over the TRUSS if a ROBOT causes a BALL to pass though the infinitely tall plane that is bounded by the top of the TRUSS and the TRUSS POLES toward the ALLIANCE’S GOALS (e.g. a red BALL towards the red GOALS). This plane is depicted in yellow in Figure 3-3.
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Therefore it seems to me that TRUSS and CATCH points are awarded immediately (SCORED) after the ball passes through the infinite plane and is caught by another robot. The assist bonus is not awarded (or in the words of this year's manual, accrued) until a ball is SCORED through a GOAL.