[Warren Boudreau]

If you could lower the CIMs that you have for the shooter by going to a chain drive, that would help.

Basically, you have too much stuff, too high up.

You could put ballast in the base, but that will only fix one problem (the high center of gravity). It will not address your other (mostly overlooked) problem of moment of inertia. Moment of inertia is the tendency of an object to want to keep rotating once it has started. Or in the case of your robot, keep falling over once it has started.

The best solution would be to lower the weight that you have up high.