[IKE]

A quick note on hanging with regards to strategy.

If your team has the ability to score more than 2 points in 20 seconds, then in theory, it would have the ability to score 12 points in a 2 minute match. Ironically. I think well over 50% of the matches in qualifying had a winning score of 6 points or less.
With an auto-mode that scores 2 from midfield (there is a straight line angle that an 18" wide kicker can kick both 2 balls from mid-zone into the goal), and two points hanging, this would mean that you would only have to score those 2 that came back into the midfield (2 scores in 100 seconds) to score 6 points, on your own without changing zones. This by itself would have won the majority of FRC qualifying matches.