[s_forbes]

In my opinion the time it takes to hang (while important) doesn't seem to be as large of a factor as the time it takes to line up for a hang. This is one of the reasons I was for a vertical pole hanging robot from the beginning; if the front of your mechanism is shaped right you can just drive straight at the pole and be set to flip yourself up. If you pull power off your drivetrain to do it, and have the hanging routine sensor-activated to begin as soon as you are latched on, you could hold off of going to hang until the last few seconds of the match. (I don't know if anyone will do this, but it's fun to dream)


That said, 219 has one of my favorite lifting mechanisms so far... they flip upsidedown onto the platform. I only caught it once during the webcast, if anyone has more video I'd love to see it.