Keeping the same "claw on arm" design:
- Make starting config position of claw able to shoot in high goal from in front of low goal
- Move as much of the claw geometry inside the frame perimeter as possible
- Move punch's "fully cocked" location about 3 inches behind ball to allow it to accelerate
- Properly sized arm gearbox with 35 chain for final reduction
All of these are fairly obvious changes - strengthens the rotational joint, makes shooter more powerful without changing the design at all, gets claw out of harm's way, gives us the only important high goal shot in the game. Maybe there is some way for a few of these (the first one) to be implemented for IRI, if we get in.