I came up with this pickup/shooter with the ability to pass. You can also add a hopper to the top to allow robots or human players to pass the ball directly into the shooter. It is quite compact and simple and is linear allowing the robot to drive up to a ball, bull-doze it and shoot it. Also, a simple CMUCam would allow you to track the balls and automatically align the robot so that the pickup would be assisted! I think that this is what we have been waiting for.
Here is the link to it in my CDN.
Also, I have the encrypted manuals in the CDN too. Will that cause any copyright problems?