[Cory]

3000 rpm is awfully fast. That means you're actually gearing the big CIM up. I'm not so sure you want to do this, as you run the risk of either stalling the rollers, or depending on the hopper on your robot, shooting the balls right out of the top.

Secondly, adding that second roller creates a choke point. Your first roller may be running at 3000 rpm, but the second roller is running at a mere fraction of that. The speed of the second roller is the limiting factor, and you'll never be able to utilize the higher rpm front roller to pick up balls faster if they all jam when they hit the slow roller.

Our pickup was somewhere around ~1000 rpm, and we could drive full speed into a line of balls and pick up all of them without having them feed too slowly into the robot, and jam.