[Racer26]

I don't really understand why the field can't use a photobreak sensor array to detect the ball crossing the plane of the alliance wall and automatically score it high or low and relight the pedestal.

The refs could still have to hit end-cycle (to capture those last second possessions), but the next cycle beginning needn't be delayed while that happens (the human player is going to take 2-3 seconds to return the ball to the field anyway).