[inquiryteacher]

Leaving the zone in not permitted. However, some accurate coding would allow you to move back an forth, between the confines of zone, in between the two one point goals. Perhaps a quick walk back and forth across the zone during autonomous would help block a shot or two.

Be certain however, when lining up your bot that its angle is correct. Many defensive bots have been fouled because there wheels facing the truss cross over the line while quickly moving back and forth. And penalties have been deciding may of the matches thus far.