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So if you have a robot that shoots straight foreward, you just aim your robot at the high goal before the match starts, and then start shooting right when auto mode begins. As long as you've spent an hour or two ahead of time to make sure your robot shoots its balls at the right speed and angle, you don't have to worry about aiming...
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Be careful about aiming your robot. There's a rule against using "any measuring devices while placing your robot that are not a permanant part of the robot", last year I used my shoe (it's exactly 12"), but I suspect this year that won't be allowed. If the ref decides you've lined your robot up against this rule, he's free to move/turn it at his discretion.