[RRLedford]

Use a wheel-tipped swing arm with an adjustable torque limiting friction disk slip sprocket to drive the arm. As you drive up the bridge, you can keep applying torque but the arm can still bend up for the angle rise of the bridge from the slip of the torque limiting clutch-sprocket.
Not so good for a tilt fight at center bridge in autonomous though, to see which way the balls there will get tilted
-RRLedford