[jblay]

Great job guys, this robot needs tweaking but is effectively done. Having 2 weeks to just straight practice and work out the kinks will be huge.

My advice: feel free to throw it in the trash but I really like your robot and would love to see it perform that much better.

Your drive could be much faster, see if there is something small that you can do to make it better. I would stay away from changing your wheel size because that could hurt your very accurate shooting. Something like a different sprocket or pulley on your wheels or gearbox depending on what you use to gear it faster could give you another run to and from the hp station a match. With the motors you have and the fact that pushing doesn't seem to be that big of a deal you could go up to 13-14 feet per second as opposed to what looks like 8-9 feet per second.

Why not change all your wheels to omni wheels? This will allow you to turn about the center of your robot instead of around basically the end of it, this will make your turning tighter and faster.

Maybe take some of the time you have to try and have the robot begin to backup to the feeder at the end of your auton? This will cut into the time spent going to the feeder station at the start of teleop.