We are picking up and delivering at a shooter near the top of the bot. Here is a link to a video.
http://www.youtube.com/watch?v=d03Vgd1Tl2k
This video was made about 10 days ago, and since then there has been quite a bit of development. There are two sets of Banebot wheels with the axes oriented vertically which "sweep" the frisbees into the pickup belts. Can pick up against a wall or even in the corner.
Right now it is semi-reliable, but should be quite reliable before the GSR.
We hope to be able to pick up and shoot two frisbees during auto. We hope to be able to convert misses into points during telep.