Chief Delphi - pic: Team 4587: Ratman and Bobin

Ratman Specs:
-Drivetrain
8wd with 4" omni wheels
Chain driven
Single speed
One cim per side in WCP SS Gearboxes with 6.111 overall reduction
Theoretical speed of 14.26 fps
Navx Gyro control
Single encoder for distance measurement

-Intake
2 wheel roller intake
50:1 versaplanetary with a bag motor
Uses sure grip drive rollers from Mcmaster carr to achieve maximum grip on cans and totes
Belt driven wheels using 36t pulleys and 9mm vex pro belts
piston actuated to provide maximum clamping force to pull a stack of 6 totes out of Bobin

-Can Lift
78" tall lift to have the ability to top off any stack
powered by a 10:1 versaplanetary mini Cim gearbox providing maximum speed up and down
custom chain driven carriage that slides smoothly on a 2x1 1/16th" tube
pitchfork that cradles the can in the fallen over position
piston that raises and lowers the pitchfork to allow easy intake of can and a tilted position to not fall out
Encoder and limit switch used to aid in PID control

Bobin:
Feeder station stacker that can stack totes while Ratman is retrieving the can
chain driven carriage powered by a 25:1 Mini Cim versaplanetary gearbox
passive flap door powered by surgical tubing to prevent the first tote from flipping over or going too far into the field
passive tote clips using surgical tubing and piano hinge
ability for any robot with a powered roller intake to take out a stack of totes out at any time
PID controlled with encoder and limit switch

Tether:
10ga wire for the motor
Ethernet cable for sensors
25ft in length
wrapped in nylon wire loom to resist abrasion

Best of all: It is all painted in Camaro yellow and Camaro black

Feel free to ask if you have any questions. I may have forgotten to include some things.