[sah]

I believe that the fender prevents directly dropping balls in the hoop because the edges of the fender are more than 14" from the edges of the hoops. And don't forget about the fact that your bumpers will add more space to traverse. Those factors combined put the hoops farther than the distance robots can reach. Although, you could add a small piston on the end of an arm or something like that and that would compensate for the fact that the arm alone can't reach the hoops.