Don't ask me how we pulled this off, but we kinda totally pulled this one off.
https://youtu.be/yp2uBnDII4E
This robot is a packaging nightmare--after we wired it up late last night, we added an arm to make the portcullis and cheval de frise possible. We had already stuffed four REV Sparks deep in the bowels of the robot (to the point you can't really see them in the video--sorry, Greg!), then Victor SPs elsewhere...and all we had left available for the new arm was a Victor 888. If you're wondering why you see one floating up there on a piece of angle, it's because there was literally no other valid option. (It also meant my GoPro took a few whacks shooting this video!)
We'll be keeping this robot around for demos and driver practice, so ask us anything you please about it and we'll answer. Thank you to USC (and the machine shop staff in particular), AndyMark, REV, and Competition Robot Parts for making this build possible!