Quote:
Originally Posted by Kevin Leonard
Two questions:
1) How do you make sure your hooks aren't being supported by the RC's at the beginning of the match?
2) How do you unhook the containers once they're on top of a stack such that they are not supporting the containers at all so that the containers are "only supported by gray totes" and count as scored?
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1) After placing our hooks inside of the RC, we slowly tighten the string by twisting the winch by hand. This pulls the hooks to the top of the RC, where they press up against the bottom of the lid. The RC does not hold up any of the weight, in fact, Zipline holds some of the weight of the RCs. Inspiration for this part of our design came primarily from team 2512 and their autonomous setup.
2) Since we never actually "grasp" the RC, we have no need to unhook at the end of the match. We do have little wings on the top of the hooks to make sure the RC doesn't get misaligned, but these do not grip the RC in any way. At the end of the match, we backdrive the winch until the line goes slack. The hooks remain in the RC, resting on the lid, however they do not hold up any of the RCs weight. In our opinion, there is no reasonable way to interpret this as support.