[blayde5]

In my opinion, if you can hang, hang. If not, score the balls in autonomous.

In autonomous, teams are relatively uncontested. I'd much rather have a team score 2 robots in autonomous from the mid-zone than hang at the end. You're doing a couple things:
- you're getting the two balls in the mid-zone either to your own side or out of the way so the other alliance can't score them
- the point value is the same as a single hang
- the robot can then work on getting the remaining balls in it's zone

I'd rather take a strong robot that can kick well from mid-zone than a robot that can just hang because they are far more useful to the alliance. But I'd also never stop a team from hanging because I don't think that mid-zone teams can score > 2 balls in 20 seconds very well.