In this video from the 2014 Inland Empire regional, the blue alliance at time 1:50 does a human player inbound to a truss shot to a catch that immediately sends the ball into the low goal. It was not planned in the strategy, since I believe our alliance partner's catapult accidentally shot at just the right time and place, but it looks almost rehearsed.
https://www.youtube.com/watch?v=TLN2j8JfbCY