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Re: Hanging
Definately one for the Q&A, but here's how I interpret G30:
A. For interacting with balls, robots can extend beyond the frame perimeter, but not beyond the 28x38 limit. (no mention of changing from normal configuration in part A)
B. Robots may expand into the finale configuration, for the purpose of righting themselves or others
C. Robots in contact with a tower, at any time, may expand to the finale configuration (I agree the definition of finale seems to contradict this a bit, but G30C pretty much directly states that the robot can take on the finale configuration when contacting the tower)
D. No matter where they are, or what they are doing, robots may take on the finale configuration in the last 20 seconds.
__________________
FIRST is not about doing what you can with what you know. It is about doing what you thought impossible, with what you were inspired to become.
2007-2010: Student, FRC 1687, Highlander Robotics
2012-2014: Technical Mentor, FRC 1687, Highlander Robotics
2015-2016: Lead Mentor, FRC 5400, Team WARP
2016-???: Volunteer and freelance mentor-for-hire
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This is a pure blooded, man and machine versus man and machine, brain versus brain, driving skill challenge. - Andy Grady [more] 
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