This is our (almost) finished bot. We're adding an arm on the front or back (haven't decided) to get under the Portcullis, a mount for our air tank, and cable management. Our robot can traverse every defense, except the Sally Port and Drawbridge, but we can get around a different defense then open them from the other side, so other bots may cross and damage a defense. We also have high and low goal capabilities, with an auto mode to get over a defense, currently working on shooting the ball into the high goal during auto. Good luck to other teams out there!
Video of it shooting