[echin]

I forgot to include my description/ game annalysis when I put my CAD up, so here it is. It is a bit long, but it's all bullet points.
Design features:
1. Funnels on each end of the robot to center crates
2. Pivoting telescoping arm
3. Claw attached to arm to pick up crates
4. Single speed swerve drive
5. Design abilities
6. Fits under overpass
7. Loads from the floor
8. Loads from the feed station
9. Places crates on the high shelf
10. Scores on the high shelf in auto
11. Loads from each side of the robot
12. Scores one crate at a time

Game Analysis
1. There are many more crates on the field than in the loading stations. A good team should be able to score all or almost all of the crates from the feeder station on the shelf if they can go under the overpass, and can score two crates per run. Because of this, relying solely on the feeder station is not a valid strategy since there are three teams on an alliance and even at one crate per run from each robot, the crates would run out.
2. The alliance crate is an extremely important game piece because a good team should be able to score around 100 points per match, so the alliance crate doubles that to 200.
3. The shelf scores twice as many points as the high tank, and if you can pick up off the floor, the necessary travel distance is the same for each.
4. A mechanism to put crates on the shelf is somewhat more complicated than a mechanism to dump in the tank.
5. Autonomous is much easier than it seems because the crates are scattered randomly around the field and if the robot goes straight across the field, it is likely to run into at least one crate, especially if it is going for the shelf. Using a funnel, it would be possible to collect at least one crate while going all the way across the field, and then pick it up and score it. It might be possible to score several crates in autonomous this way.

Swerve
1. Allows the robot to quickly maneuver to collect crates, and rotate to place the crates on the shelf while it is moving towards the shelf
2. Single speed
3. Dual plate design; one plate on top, one on the bottom plates made of steel to add counter weight
4. Quick disconnect wheel module; the wheel module comes off with one stop collar. The drive belt pulley and rotation sprocket stay in place when the caster is removed, allowing for fast and easy maintenance
5. Structural bumpers
6. Bumpers are made in two corners, and have a structural mount.
7. Mounting is done with a piece of 2x1 box tubing which is bolted to each plate
8. Mounts are made of steel to add counter weight

Also, thank you to all of the people who created this challenge. It kept me occupied for most of the month, and it was interesting to design an entire robot on my own whithout having much input from anyone else.