[efoote868]

I'd look at the game pieces themselves. Manipulating a ball through a robot has been done many times by many robots, with great examples of how to pick them off the floor.

Picking discs off the floor is a unique challenge; consider the fact that the top and bottom have different profiles and flight patterns.

One last thing to consider: The better the competition, the fewer the discs on the floor. While picking up an extra 2 or 4 discs during autonomous gives a team an extra edge (and IMHO is the difference between the best robots and the very good robots), it wasn't required to win regional competitions, nor is it a requirement to be a very good 3rd pick at a large event.