[Lil' Lavery]

When you get on the field, the conditions end up being pretty much nothing like your test space. It's the unfortunate reality of FIRST (and 99% of engineering in general). You guys have definitely done some impressive work for a rookie team, but there's a couple issues that could crop up once you set it on the field of competition.

Your feeding belt takes an awfully long time in FIRST scale. Five seconds doesn't seem that long in the real world, but in a 2:00 match having to wait five seconds for balls to traverse the final two foot span of your robot isn't a good idea. Especially considering that there's five other robots on the field complicating things, three of them actively working against you. You may want to attempt to speed that process up.
It looks like you're using a Fisher-Price motor into the stock gearbox, directly feeding a rotating barrel (PVC?). You could increase the diameter of the barrel to get faster belt speed, or you could gear up your current barrel after the gearbox. This is assuming that you are not currently reducing the power to your motor via software.

As mentioned and you guys realize, centering the ball can be a big deal. Fortunately, it may also serve to help protect your balls from being dislodged or repositioned during a match. Try to prevent as much unwanted motion of your payload (the balls) as possible. But at the same time, avoid causing any jams in the system. Make sure your centering and protection devices don't cause balls to get stuck.

Aiming from a distance is difficult. Especially considering your drivers are another 40+ feet from your robot when you're attempting to shoot. You might want to consider features to help your robot aim, and perhaps from a closer distance (such as actually in contact with the fender). The holy grail in this situation is camera tracking and rangefinding of the targets, but very few rookie teams have the time and experience to code, test, and debug those type of systems.

Good luck!