Here's our robot for the 2009 game:
Here's some video of it in action
http://vimeo.com/3285727
2 CIMs in a modified toughbox drive the bottom roller
Polycord makes up the conveyor system
The back of the hopper is made of a few pieces of hinged lexan, and pneumatic pistons expand or contract it
When the hopper expands, the robot collects balls
When the hopper contracts, balls are pushed into the conveyor and shot out the top
We'll be at NYC and Hartford, good luck to all!!!
Questions/Comments appreciated