[SgtMillhouse648]

At Chicago, generally if you could get atleast 2 goals in your zone, you won the game. If you could do it in Auton you could pretty much guarantee the match. Another thing that was an amazing help with posessing goals was a grabbing mechanism which could pull the goals off of the wall or out of the corner. Our gripper originally was designed to grab the goal around the base, but we found it was much easier to control the goals if we bent the ends of our gripper so it had a hook on each end. These hooks could grab one goal fron pretty much anywhere, or even grab two goals and drag them with the robot.
Malhon