[Kevin Sevcik]

Originally Posted by Section 3.1.3

ROBOTS can also receive AUTO points for REACHING a DEFENSE. A DEFENSE is REACHED when, at the end of the AUTO period, any part of a ROBOT’s BUMPERS are within the opponent’s OUTER WORKS. Once a ROBOT CROSSES a DEFENSE in AUTO, any additional DEFENSES that ROBOT REACHES or CROSSES during the AUTO period will not decrease DEFENSE STRENGTH nor contribute points to the ALLIANCE.

So you can do whatever, but once you cross one defense, you can't score points for any other crossings or weaken any defenses any more.