[Pratik Kunapuli]

For those wondering, here are the specs:

Drivetrain:
-6 Cim drive
-8 Versa Wheels, drop centered
-Custom 2 speed transmissions(Low gear ~4fps, high gear ~16-17fps)
-Custom sheet metal chassis
-Sub 5 minute transmission swap

Intake:
-16 style intake
-Side rollers for easier left/right acquisition
-Banebots wheels (varied size)
-Driven by 2 RS-550 motors in custom 3d printed gearboxes
-Linkages connected to back of the frame to help secure ball in transit
-Pneumatically actuated

Shooter:
-Catapult style
-Powered by surgical tubing
-Driven by 2 Rs-550 motors in a custom gearbox
-Custom worm gearbox = non-backdriveable
-Choo-Choo(Aka off-center linkage) is used to pull back the shooter
-Pneumatically actuated poly carbonate "Ears" at the end of the shooter used to vary the shot(near the auto line/ in front of low goal)
-"Loaded" position detected by hall-effect sensor

Autonomous
-Multiple auto modes that can be changed on the fly
-One ball with Hot Goal detection
-Two ball (one hot, one not)
-Drive forward (if someone else wants to run a two ball auto)
-Do nothing (if we are in the goalie zone)

Programming
-All programming is done in Java
-Use Cheesy Vision (Thanks 254!) for Hot Goal detection
-No camera

If you need anything clarified or have any questions, let me know.