I just wanted clarification on if it is possible to hang during autonomous and earn points for the hang. And if it is legal to hang during autonomous can you hang for points also during the driver control period.
Yes, this is legal. Please see following previously answered questions for more details.
https://vexforum.com/t/answered-autonomous-hanging-clarification/34903/1
https://vexforum.com/t/interferance/16738/1
https://vexforum.com/t/answered-hanging-and-getting-down-give-points/35088/1