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You could just make an arm with an L shape to it to knock the ball to the side rather than out - or at least give a greater chance of knocking the ball inwards rather than pushing it out.
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Thats exactly what i was thinking. A PVC L, just a quick wrap-around and a tug will bring it in. If you have an extra motor you could make swing free of the robot if you wanted. Real simple design that takes you maybe an hour to build. That is if you have a swing motor, otherwise 10-15 minutes.