No offense, but I think some of you are over-thinking this one. Shooting methods are way too complex, and theres no guarantee that it will work every time. Some of the newer members/teams might not know this, but this is not the first time robots have had to hang. In 2004, the end game was reaching up and lifting the robot off the ground by pulling on a 10' high pole. The way my team did it was we had a telescoping pole that reached up and attached a grappling hook to the bar. then the hook was attached to a cable which winched the robot up, sepperate from the pole. See here for our robot hanging
http://www.team811.com/photo/main.ph...g2_itemId=2985
I hope this can be of some help to everyone, and good luck with design and construction!