Also, a took a video of a particularly problematic sensor on the robot: we had a two 3d-printed gears that communicated position from our shooter frame to a potentiometer. The circular gear that was on the pot input kept shifting (when it was on setscrews) and breaking (when we fixed it very firmly) on Friday, which is why our shooter was out of commission all day.
After we were out, I had the drive team do a dry fire and taped it with my sony action cam's 120fps mode to see if we could find evidence for why that gear seemed to be taking so much abuse. The video is inconclusive, but still neat to watch:
https://www.youtube.com/watch?v=tEogRuD8lqU