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During the AUTONOMOUS PERIOD, the Ball Release will release an alliance’s SMALL balls when a BONUS BALL is removed from either of that alliance’s BALL TEEs. If the Ball Release is not activated during the AUTONOMOUS PERIOD, the balls will be released 45 seconds into the match. Teams may remove BONUS BALLs after the AUTONOMOUS PERIOD, however that action will not trigger the Ball Release. Each alliance Ball Release acts independently from the other alliance’s Ball Release.
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To me it seems that if you don't get the ball off during the Auto Period you will have to wait till the 45 seconds is up.