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Re: Balls bouncing out of goal
The worst balls for falling out of the chains appear to be those with lots of backspin, which unfortunately described most of those at PNW, especially those shooting with a lot of arc. The spinning motion of the ball is slowed by contact with the chain, and converted to downward motion, pushing it down towards the floor. It's why you want backspin on a basketball -- if it hits the backboard, it tends to go down into the hoop.
I wish we had thought of this before designing a shooter with a ton of backspin... 
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Exothermic Robotics Club, Venturing Crew 2036
VRC 10A, 10B, 10D, 10Q, 10V, 10X, 10Z, and 575
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