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Re: <G39> Pinning
My reading of this rule seems to be that you are allowed to pin for the full 5 seconds until the ref signals you to release the robot and back off. The violation wouldn't occur unless the pinning robot did not back off when signaled. If the ref does not signal, a robot should be able to pin indefinitely since the rule states that the ref will signal that the pinned robot be released.
The rule does not seem to state that the ref signaling to release a pinned robot after 5 seconds constitutes a violation. It seems to state that the violation is not backing off when signaled.
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Team 79 - Krunch
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