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Re: peg positions
There is a PDF available which has drawings of how to build the field components. You can just use the dimensioning of those drawings to calculate the various important points. I think it's called team field elements. There is also a set of drawings by which an official field can be built.
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Nature's Fury FLL team 830 - F L eLements
FRC team 2170 - Titanium Tomahawks
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