We use a direct thrust linear shooter, with 2 24" x 2" pistons. We directly connect two Clippard storage tanks to each cylinder through 1/4" SMC solenoid valves. By storing the air downstream of the pressure regulator and using short, direct connection with 1/4" fittings, as opposed to the more common 1/8" fittings, we get much higher air flow.
The arms in the photo on the left below are shown in their stowed position, at the start of the game. When the elevator rises up, they swing out to the front of the robot. The 4 gray wheels then pull the ball in, the elevator raises the ball to the desired height, the pistons rotate out under the ball, and we shoot, below right. This design allows us to shoot on the fly.
