[Taylor]

The conveyor belt we use is sort of an L-shape; that way we can pick up balls all over the field, even those against a wall. If necessary, we can backdrive the belt to place the balls into the airlock. The moon rocks collect at the top of the belt; the roller on top has an independent drive which shoots about 5 feet.
We've got double wheels at the rear of the robot because we've found we get better control with the trailer that way. In fact, with this setup we've found that controlling the robot with the trailer is much easier than we initially thought.