[Mr_I]

This is a good design, very do-able in the time frame with the resources (and issues) you have.
If the numbers aren't quite working for you, keep in mind that it's okay to forego reaching the upper tier pegs. Yes, you lose some scoring potenial, but if it's the difference between that and not finishing the robot, it's a fair tradeoff.

Good luck, and keep us informed on your progress.