Truss points in autonomous?

[themccannman]

G15: During Auto
A. a ROBOT starting in the white ZONE may not cross fully beyond the TRUSS
B. a ROBOT starting in its GOALIE ZONE must remain in contact with the carpet in its GOALIE ZONE.

You cannot cross fully past the truss or leave the goalie zone, I don't know how you could launch the ball over the truss without fully passing it considering you would need a near vertical shot. Also I'm not sure what this means relative to autonomous:

Points are awarded once per CYCLE for BALLS SCORED by ROBOTS in the GOALS, BALLS SCORED by ROBOTS
over the TRUSS, and for each ROBOT CATCH and as each objective is achieved. Additional points are credited to an
ALLIANCE upon each GOAL based on the number of ASSISTS earned by the ALLIANCE for that CYCLE.

But it sounds to me like assist, catch, and truss points can only be accumulated during a cycle, which is only during tele-op.