One of my questions regarding scoring has been answered by FIRST. Here is the link:
FIRST Q & A
Basically, they are treating scoring like a combination of basketball and hockey.
The corner goals will be treated like hockey goals. The second the buzzer sounds, any ball not in the goal will not count.
The center goal will be treated like basketball. If the ball has left the robot before the buzzer and is scored in the center goal, then it will count.
I found it very interesting.
-Paul