Not if it doesn't stay in.
3.1.4:
Quote:
A BALL is considered SCORED in an ALLIANCE’S GOAL if
A. a ROBOT causes one (1) of their ALLIANCE’S BALLS to cross completely and remain completely through the opening(s) of one (1) of their ALLIANCE’S GOALS without intervening human contact,
B. the ALLIANCE ROBOT last in contact with the BALL was entirely between the TRUSS and their ALLIANCE’S HIGH GOALS, and
C. the BALL is not in contact with any ROBOT from that ALLIANCE.
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(emphasis mine)