We managed to do something similar, although not planned nearly so far in advance.
On the Newton field, for qual match #122, we added a 60" blocker that morning to our alliance member 3171 which included a mechanism that dropped their autonomous frisbees into our hopper. Video
here. We were the blue alliance, and you can see them load us at around 0:12. It was only a bit of bad luck that it didn't quite work out as expected, because it had worked multiple times in testing.