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Re: 4536 Climbing Test
What other ways does your robot score points? If hanging is your bread and butter you're fine with a 20 second climb. If you can score goals every 30 seconds, maybe you have to worry about the lost time a bit more.
About a third of the time spent "hanging" was the robot driving to the bar after the hook was elevated. You may want to redesign that hook so you can just drive into the wall and raise the hook straight into the bar. Maybe some kind of latch or over center locking mechanism?
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