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Re: Ball eject
The solution is, unfortunately, completely mechanical. The electrical and software rules and libraries expressly prohibit a disabled robot from taking any action.
What teams will have to do, one way or another, is design their collection systems such that when disabled they either release the ball or weaken their grip such that a hit from an alliance partner will dislodge it. Congratulations, you've found the difficult design challenge in this year's game. No, don't design your launchers to immediately fire if they lose power, as that's a clear violation of safety.
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