Is this a for a hang off the bar? Or a launcher? I wasn’t able to tell from your wording.
There are already a few really good threads about both topics, but as a brief summary, I would recommend checking out the reverse double 4 bar, scissor lift, or rack-and-pinion lift as a start. Unfortunately I can’t provide much more than the names because these mechanisms aren’t my specialty, but I’m sure a quick search will provide you all of the details and a lot of examples of each
I wouldn’t recommend going for a linear lift to hang this year since the bar is placed in the corner. You might want something that extends out of the robot.
The pole is only 30 inches so linear should work fine. 929y seems to have made a pretty effective onelink text. I think linear lifts will be extremely viable for teams that have already used most of their motors.
It is pretty easy to do, you have to space it pretty tight but after a little bit of tweaking it should work with ease… You can’t really have it go directly up and down unless you have it in the corner of your robot… We had it on the “perfect” angle so both corners 17.5" apart would hit the wall and the hook would be in the middle of the hole. It basically just comes down to tweaking. Good luck!