Question on Autonomous rules

Hello

My team has been writing a program for the past few weeks. we have been setting up our robot in a certain position to reset encoder values to 0. The only problem with this, is that the robot is out side of the starting zone. We were wondering if we can start our autonomous program to reset the encoders before the mach starts, and then push a button to start the actual program when the match starts.

Thanks

Yes, this would be legal, provided that your Robot does not start moving until you press the button to start the actual program.