[Vikesrock]

This is an extremely strategic game and I don't think there is a single answer that fits every robot and situation.

What I will point out is that many of the top robots this year can hang and have done so consistently in both quals and elims (1114, 330, 33, 254/968, 1717). That list is just a small, fairly random, sampling of good robots that hang consistently (heavily/completely slanted towards the last week).

If you can hang consistently and you feel that you would not be able to score 2 balls in the time it takes you to hang, in most situations you should probably hang.