In 2011 the gear on our arm sheared a few teeth. The one type of gear we needed, nobody else had. So instead of taking it off, we improvised. If we wanted to raise our arm, I would go from full forward to full reverse, and the inertia would move the arm up, the lost teeth would be skipped, and the teeth from the driving gear would catch with the unsheared teeth on the arm and raise the arm up. While we weren't an effective scoring robot in Logomotion, we were able to get our arm up. The nightmarish part was for me having to go full-power forwards to full-power backwards with a top-heavy robot without tipping. I got it down after a while, but we spent a lot of time on the practice field working on me not tipping the robot over (which ultimately I did anyways).