[GreyingJay]

Our robot was basically an MCC. We kept it simple, super robust (it never broke down!), and practiced as much as we could.

KOP chassis upgraded to 6 8" pneumatic wheels.
Built narrow to go over half the ramparts without catching on the other half (this turned out to be a key design decision)!
Low bar capable.
"Roll cage" and Lexan cover to protect innards and drive under portcullis.
Capable of going over rock wall, rough terrain, and moat.
Single arm wheeled shooter to intake/shoot balls. Designed for low goal (theoretically could have done high goal with some refinement, but we didn't get this reliable enough to use - only 50% successful)
Arm mechanism also capable of handling the cheval de frise and the portcullis.
Cameras for vision tracking in auto and for driver station display.
Multiple autonomous modes (low bar low goal with and without vision, reach any defense, cross ground defense quickly, cross ground defense slowly, cross cheval de frise, cross portcullis, do nothing)

No climber. No mechanisms for sally port or drawbridge.

We practiced, practiced, practiced variations on cycles including quickly breaching, quickly grabbing boulders to deposit into the courtyard, and doing full cycles of low goals.

This was good enough to make 6th and 5th alliance captain at GTRC and North Bay, which I call a great success for our first year!