[Oblarg]

So, this wasn't in-between matches (too big to possibly fix in that span of time), but it's one of the biggest mechanical failures I've ever dealt with in FRC.

Originally, our roller arm was driven by two PG188 gearmotors.

During match 4 of Greater DC, our roller arm took a significant hit while it was lowering, shearing both of the output shafts clean in half.

Due in part to lacking the requisite number of replacement parts, and in part to not wanting to repeat the failure, we decided to switch to a pneumatically-actuated arm. This entailed completely redesigning the arm's attachment to the frame, improvising connection points for the pneumatic cylinders, and significantly expanding our pneumatic system.

It took all of our pit time for the rest of qualifications to finish.