http://www.chiefdelphi.com/forums/sh...58&postcount=3
The OCCRA kids built this bot this past fall. It is a very simple collecing and scoring mechanism that had a high pivot and a set of balls that sucked up and spit them back out in goals up to 60 inches tall. It was a very effective scorer.
Also, if your chassis is as described, it should be good for at least 10 points a match and maybe more. There is a fairly simple method to score 8 points every match as long as your robot is not too tall. 8+10 will win most matches, and I would almost garauntee a spot in elims (though probably not the finals).