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Re: Robot handling on field
We had a Similar Issue with our 2007 Robot, and we did one of two things. We either carried our robot off the field in it's open configuration (ramps down) and waited until we were off the field to tether it up or right as the match came to a close we would close the robot up. Depending on your design an how your matches go, either of these could work for you.
If you really wanted to use an auxiliary battery and are concerned with R17 then I would suggest consulting the Q&A for a definitive answer.
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-Dustin Benedict
2005-2012 - Student & Mentor FRC 816
2012-2014 - Technical Mentor, 2014 Drive Coach FRC 341
Current - Mentor FRC 2729, FRC 708
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