You can start any place you want, as long as you are touching your team’s 10 point pipe or “starting bar”. You do not have to fit within the 5 point zone, either, just within the 18 by 18 by 18. How you start depends on your program. Most teams point towards one of the side mobile goals. I would recommend doing this and writing a program that scores one in the 20 point zone. However, some teams write programs that score your preload on the stationary goal, in which case it is best to point your bot directly at the stationary goal.