Wow, our teams and robots are strikingly similar. This is our team's 3rd year/robot and we won our regional last year too. Here's an image of our robot a few days before ship date:
1212's Robot We're running on 4 omni's and have a telescopic arm, but it only opens in one direction
Are you using a winch or pneumatics to extend your arm? If so is that the motor on the end of your arm? Why two directions? And what's that horizontal bar for?