Our robot can shoot with an angle adjust (tilt) and a turret. We also have a roller system which allows us to pick up balls from the floor and either score them in the lower goal or shoot them. We have one magazine which feeds to the shooter and the lower goal and one that feeds exclusively to the lower goal. The robot has a lower goal and a shooting auton mode and can easily get up the ramp. It also auto aims.
Yeah, it was working pretty well once we got to Chesapeake. (and got our driver/programmer back from standardized-testing land) The worst part was sitting at BAE watching the robot we built to do everything do nothing. Luckily it's better now.
