Sorry for that. If you are familiar with the 2010 game, you will remember that there was a ball return that passed over the alliance wall to the center of the field. Once an alliance scored a ball in the goal, that same alliance gained control of it and had to pass it quickly through the ball return.
469 would score 2 balls in auton and then drive to the center of the field where the ball return emptied and park there for the rest of the match. They wedged themselves under the tunnel and I believe applied some sort of brake and then allowed the balls to fall into their robot and then it would roll down a slide on their robot and redirect off of the colored bumps that separated field zones. The trig was worked out so that that redirection would roll the balls into the goals. The team would then put them into the ball return and they would fall back into the robot..... do you see where this is going?
http://www.thebluealliance.com/match/2010cur_qm100
Ignore that the match is 6v0, that is an entirely different discussion......