[JTN]

Just to clarify a little here, the robot doesn't even need to be rotated vertically to end the match. The arms aren't able to be back driven and can remain stationary at any angle without power. While the robot is hoisted upward the drive base only needs to rotate up a few degrees for it to be considered a hang. In all, the time from the robot entering the batter and being legally hung can be as little as 3 seconds.