ok, we use a gravity fed hopper (see image below) and the door (not on in the pic) is at the base, we use our elevators to bring the ball to our shooter. so we wont have to worry about the wheels not ramping up in time because it takes long enough to get from our elevator base to the shooter. Thanks as this gives me hope that we may be able to lighten things up a bit there...
btw, the left robot shows the area im talking about. the ramp right above our elec box feeds to the elvator and the door goes at the bottom of that (look for the dewalt and its right there)