In order to do well, early on we decided our bot had to climb the castle tower. That’s lifting ~120 pounds about 2 feet up in 20 seconds or so.
We soon found out that if all the bots were going to climb, ours would need to be narrow. Then there is the matter of approaching the tower on an incline, reaching up to the bar, and not going more than 15″ outside our frame perimeter. Oh, and we are already using or main motors for the drive system, so that comes into play.
What started out as an interesting feature, with a working prototype, became a series of lessons in geometry, analysis, and ingenuity.