Hanging

[Steve W]

Originally Posted by 340x4xLife

I've had discussions with team members about...

<G30> ROBOT Volume – During a MATCH, no part of the ROBOT shall extend outside the vertical projection of the FRAME PERIMETER, except as follows:

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.

Seems that as long as your touching your tower, you can hang at anytime during the match.

Is this correct?

No.
According to the definitions in section 8.2 it says, quote:

FINALE CONFIGURATION - The physical configuration and orientation of the ROBOT while playing during the FINALE phase of the game (i.e. the last 20 seconds of the MATCH). This configuration is dynamic, and may change multiple times during the FINALE phase of a MATCH.

and

NORMAL CONFIGURATION – The physical configuration and orientation of the ROBOT when the MATCH is started. This is the state of the ROBOT immediately before being enabled by the Field Management System, before the ROBOT takes any actions, deploys any mechanisms, or moves away from the starting location. This configuration is static, and does not change during a single MATCH (although it may change from MATCH to MATCH).

The only time you can be out of normal config is during Finale