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Re: Kicker's
Our robot can go under the tunnel, over the bump without scraping its belly, and can kick a ball 2 zones (or very gently, if we want.) The only thing we gave up was being able to drag a ball over the bump.
We accomplished this by making the kicker fully contained in the vertical plane passing through the front wheels. This way, it rises with the front wheels and easily clears the bump. In it's loaded configuration, it presses against the top of the robot, about 13 inches off the ground, still clearing the bump.
If you have to make a choice, I would go with kicking the ball over a bump. Scrimmages have shown traversing the bump to be a very rare occurrence, and you can still play the game well if you can advance the ball. It is difficult to play the game well if you cannot advance the ball.
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