Hot Zone Strategy

[DavisC]

So tracking the Hot Goal during Autonomous is obviously a goal for many teams. My question is about timing constraint plans for teams.

Given that each Hot Goal is live for only 5 seconds how are teams going to handle their robot setup/shooting/moving strategy.
(I.e. aim for the center and turn based on the Hot Goal ; or say you are aimed at the Hot Goal but for the 1st 5 seconds it isn't active, so you go ahead and drive forward, then fire when active or visa versa)

I also imagine if you have to let wheels spin up, then being aimed at the 1st Hot Goal wouldn't be as good.

Lastly, score counting; since the Arena Timer reaches 0 at the end of Autonomous I imagine the following rule applies, but doesn't this mean shooting for the 1st Hot Goal give you less time for the bonus score to still count?

3.1.4 Scoring
Points are awarded to ALLIANCES per the details below. Final scores will be assessed five (5) seconds after the ARENA timer displays zero (0) or when all elements come to rest, whichever event happens first.