[Ginger Power]

Have you considered extending a part of your shooting arm outside the frame perimeter to use as a manipulator? You could start the shooter in a vertical position to remain inside the frame perimeter during auton. I feel like an extension with a hook at the end would have a bunch of capabilities: opening Sally Port, lowering the Cheval the Frise, pulling the drawbridge down etc. What kind of gear ratio are you running to lift the arm? It looks like 2 cims in some pretty stacked versa planetaries.