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Originally Posted by Alexa Stott
... as long as you're making a legitimate attempt to hang ...
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That's not a requirement
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... and are in contact with the tower, yes.
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But that is
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Originally Posted by <R30>
c. TOWER Contact ROBOT Volume - During a MATCH, ROBOTS in contact with their ALLIANCE TOWER may extend beyond their NORMAL CONFIGURATION volume but may not exceed the FINALE CONFIGURATION maximum volume.
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Of course, it is always a good idea to ask at the driver's meeting how the refs will be interpreting the rule at each individual event.
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I am confident their referee will be calling it correctly.