[asid61]

This is super cool, I love it! The fasteners in the CAD really give it a finished look. Have you thought about getting a grant to make this or something similar?

Just a few things many things I have notes about:
1. Are wheeled shooters good for this sort of thing? I don't have any experience with shooting t-shirts but I vaguely remember something about marring or unravelling them. Love the way you can adjust the shooter wheels though, although you might want to make them 3/8" thick or heavy, at least.
2. What is the linear slide on the bottom for? It appears to have low ground clearance.
EDIT: Is that for articulate the turret up and down?
3. Why rack and pinion instead of just a pneumatic cylinder? More speed? In any case I like your carriage a lot, but I can't see the side bearing supports- is there a plastic bearing surface on the sides there?
4. Your corners are held together with just a single plate on the swerve modules. Can you add a 2x1 or something there as support?
5. Love the dual battery mounts, very well packaged. You make good use of the way the swerve drive elevates the chassis.
6. Your swerve drive might have a couple extra gears, but apart from that it looks very cheap and easy to make. Why not use timing belts for the first stage instead of a long chain of gears?
7. Love the two sizes of motors and wheels for the shooter.
8. The placement of the of Victors is neat!
9. Are your sensors in CAD yet?

EDIT: apparently you've already answered some of my questions in your other photos... whoops. After looking at the swerve module however, are you sure it's safe to use a window motor to rotate the module at >160rpm without stalling or overheating?