[Michael Long]

What you see, are Fp motors running through a 5:1 banebots reduction. The blue wheels and Yellow mounts were made on our FDM machine (Rapid Prototype) which let us customize the wheel geometry to get max contact with the ball. The concave wheels act as self centering.
This is now mounted to a suspended "turret" and linked by software to the camera. Works great. I'll post a pic of them mounted this weekend.