[GreyingJay]

Originally Posted by marccenter

Here's an example from the FiM Southfield district event during autonomous in match 63. The large, 4 inch wheels added to the ball intake mechanism are used to raise the portcullis during auton period.

http://www.thebluealliance.com/match/2016misou_qm63

I don't have a video example (yet? maybe when North Bay posts their archives) but we discovered that our robot could use our shooter to raise the portcullis, as well as lower the cheval de frise. It could in theory, with some minor rework, shoot high goals. We tried to make high goals work with it as-is, but it was too inconsistent for us to do in real matches because we had no intermediate stop between up and down.

Here's a picture of our robot.