[xXhunter47Xx]

It's a generic forklift/elevator design. #35 chain driven carriage, using one static arm and one non-static arm.
The gearbox is a dual CIM powered worm gearbox, but the weight of the carriage backdrives it when it's disabled, which is why we cannibalized the 2014 robot for a constant force spring to hold it up.

The omniwheels are the "life-alert" wheels. The wheels sit a little less than an inch above the ground when the carriage is all the way down. If the robot tips over with the carriage all the way up, all we need to do is to drive the carriage down to prop it back up. Untested, but hopefully works.
They also serve as a lining up mech for tote loading from a human player, although practice will be needed to make sure that the robot does not contact the chute assembly itself so we don't get a disable.

The drive system is a 3 wheel drive, 2 powered pneumatic wheels at the front and one unpowered omniwheel in the rear.

It's able to pick up totes the long way and the short way, the RC long/short way, and stack 3 totes on 3 totes. Not sure if the CoG is gonna be screwed up because we don't have enough totes to do so but the calculations allow it to do so without tipping over (knock on wood).