[kitare102]

Looks like you're a bit lacking for power if you want to get to the high goal. Immediate and fairly easy ways I see to fix it (for your consideration, seems like this setup works perfectly for a low-goal-oriented bot):

1) Replace the BAG motors on the Versaplanetaries with 775pros. Easy upgrade in available power and the Versas can (theoretically, shortages allowing) be changed if the RPM ends up less usable. We're using 775pro's with a 3:1 reduction, though that method has gotten considerably harder now that Vex is out of the 3:1 stages.

2) Move the wheels closer together, such that there is more compression on the ball. We're using a 2.5" compression on the ball, and yours looks looser than our does. A lot of teams appear to have gotten success with ~3" of compression.

2a) If your wheels are too rough to allow for more compression and you worry about damaging the ball, switch to a smoother wheel. We're using Colsons and have had no problems at all with ball wear.

Interesting the design parity we're seeing with this year's game. Not sure if that's a good thing or not, but none-the-less, you guys have done well your design.