If anyone is interested in seeing the mechanisms up close here is a video from some shop testing we did about a month ago. We were trying to find an issue with two totes passing over a sensor too quickly and being sent into the lifter together; this issue can be seen near the end of the video. The code has since been optimized to prevent issues like this and has been sped up significantly. Also, if an issue like this happened to occur in a match we can reverse the conveyor and continue.
https://www.youtube.com/watch?v=id2U-UlT--k