I'm pretty sure this robot follows the rules.
1) that fold down ramp isnt launching balls, just letting them roll into the corner goal, so it doesnt count as a launcher that has to stay in the foot print
2) as far as the wedge rule, so long as the ramp is mounted above 8.5inches (the top of the bumper zone) they are not breaking any rules. <R04> states that parts of the robot between 0 and 8.5 inches off the floor must be 10degrees from vertical. Other parts should be designed to avoid wedging, so as long as they dont go using it to push against other robots they will be fine.
Sanddrag: this picture shows their prototype drive, you can see the belts they use to drive the wheels.
http://www.chiefdelphi.com/forums/pi...&quiet=Verbose
To Team 213, my only suggestion (which you may have already thought of) is add something tall to the bottom of that unloading ramp, that stops your ramp from crossing through the opening of the corner goal, so you dont risk interefering with the scoring system. My old team had to do something very similar in 2004 to keep our ball collector from breaking the plane of the alliance station wall.