[JohnFogarty]

I'm currently not allowed to post footage or anything of our robot but I can give specs.

We have 4WD 1:1 gear ratio a raised base design similar to those used in Breakaway in FRC. Of course the well known blue under-glow in Micro LED's has been applied to this year's robot as well.

Our Baton dispenser is a bucket with a roller bar in-front with zip-ties and a metal bracket to pull batons out attached to a Lego motor. The bucket has a trap door that can be opened in autonomous to allow the emptying of a whole dispenser without passing the 5 baton limit. This bucket has an encoder placed upon it to allow PID control to give it accurate position control for dispensing from dispensers.

We have an Accelerometer for balancing and Encoders to allow accurate autonomous modes.

This bucket then dumps back into holding plate where a continuous rotation servo is geared onto 3 Lego wheels with tygon tubing on them. The Lego wheels can rotate left or right to lead the batons onto heat bent PVC wings which articulate on top of servos.

We have a Goal Capture device fashioned out of lexan that comes out from underneath our robot to lift up the wheel of the goal and another arm to hold the goal directly behind the robot.