Are you detecting the tape below the mid rung to know when to extend? Closed loop control on any actuating arms or pivots? Auto clamping on the rungs? Detecting when to extend/retract based on the swing of your robot? Share away!
Lots of limit switches 
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Yes…automating I have no idea how
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We are animating our climb, but only after positioning for the mid-bar. We’re planning to line up for the initial climb manually so that we can easily adjust positions as necessary to account for other teams, etc. Once in position with the arms up and in contact with the mid-bar, everything else will be automated using encoder values. The latch/unlatch of our static hooks is mechanical and doesn’t need anything but the climb arms pulling up to make it work, so the whole thing is really very simple.
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