[Bruceb]

OK some details

Drive:
4 CIMS on super shifters with the standard ratio driving 6 AM pneumatic wheel/tires 1/4 in center drop that can be tuned with tire pressure

Bridge manipulator
pneumatically actuated ramp with over center latches so the force of the bridge is not transmitted to the very small pneumatic cylinders

Ball handling
High speed intake roller separate from the conveyor powered by an RS550 driving through a custom FP geared gearbox at about 9-1 reduction and connected to the rough top covered roller through a small v-belt that can be adjusted for slip if need be.
Door motor powered conveyor running 4 loops of polycord to hold up to 3 balls. Ball position sensed with IR sensors and micro switches.
Feed rollers at the top of the conveyor powered by the same configuration as the intake roller less the v-belt. These "feed" rollers consistently toss the ball up to the shooter rollers and give separation from the balls still in the conveyor.
The shooter consists of two 6 inch grey AM wheels sanded to an angle to match the ball and powered by 2 FP 9015 motors with 4-1 belt driven reduction.
Distance is calculated with the axis camera and controlled through a pid loop spinning the shooter wheels.
The hood has only 2 positions, one for scoring and one for feeding from defense.
Hood rotation is controlled by a window motor through laser cut acetyl gears and feed back is given through a 10 turn pot for close to 360 degrees of rotation.
Low CG for easier and proven balancing.

See you in Milwaukee and ST. Louis.

Bruce