[caffel]

I agree that running scoring during the 2 minutes is appealing. I wonder how it will be practical electronically, however.
My vote is for a maze of some sort with points for making it through and across the back line during the autonomous period.
Another possibility is pre-loading the robot with one or more 'balls' then allowing for scoring a goal during the autonomous period.
Finally, don't overlook the obvious: points for where the machine winds up at the very end. (maybe some autonoumous time at the end?)

CA