[Jim Giacchi]

Yes, we decided to use two CIM motors on the shooter, they were the best option available to do what we wanted to do (go full court). We wanted to do direct drive to minimize complexity and to limit the vibration and noise of the shooter. While it's possible to build a really nice shooter with a gearbox, it was more difficult then we were willing to bite off.

Our drive is a single CIM per side into an Andymark Toughbox Nano. No, it's not as powerful as it could be, but it saves us significant weight that we could then put into the turret and the ball manipulator. Ideal, no, but everything is a tradeoff right :-), that's engineering.

You were right about the Gearmotor in the front, that powers the ball roller.
Thanks for all the nice comments, we're really happy with how the robot turned out this year!