[LeelandS]

It seems to me that it would be more effective to have a break in the bumpers and have some kind of roller acquisition system than to use an arm/grabber mecanism, for several reasons.

For starters, it's a more passive system. With the roller acquisition system, you just need to drive into the ball and it is acquired. With an arm, you need to stop, and be very careful not to bump it. Then send your arm to acquire the ball, again being careful not to bump it on the way, then pick it up and deposit it wherever you want it (either in your storage area or right to the goal). A very careful, not to mention long, process.

Also, using an arm may require too much precision depending on where you are on the field. If you're on the other side of the field, aligning the ball to the arm may prove to be incredibly difficult. It also adds a measure of complexity compared to the roller style of acquisition. At least, in my opinion it does.

A Lunacy/Aim High acquisition system seems, to me personally, to be the much more effective way of going.