Possible Discrepency - G17

[MiniNerd24]

Depending on which side your team is on (the current leader or minor) you may or may not need to remember the code, just each ball in play within 2.5 s. of receiving should be a good set point for a minor alliance or you could remember the formula in case you have the lead and delay the time the balls go in, thus giving the opposition time to score, but again you could just have the formula on your dashboard and multiply adjust it to the amount of balls you're receiving.
I was probably rambling that probably wasn't help but I just want everyone to know there are more options.

EDIT: Tell me in the demonstration the little tunnel over the return rail looked like it had a yellow sensor on top, is that an IR sensor to tell whether the ball is returned? If so I guess the time the ball needs to be returned must be from the time received to the time it takes to go through that tunnel.