Without seeing more of your design, it's hard to say....but there is a rule that says you can't CARRY the ball.
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CARRYING: POSSESSING a BALL that is not in contact with the FIELD.
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POSSESSION: Controlling the position and movement of a BALL. A BALL shall be considered in POSSESSION if, as the ROBOT moves or changes orientation (e.g. backs up or spins in place), the BALL remains in approximately the same position relative to the ROBOT.
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<G44> BALL CARRYING – ROBOTS may not CARRY BALLS. Violation: 2 PENALTIES for each CARRIED BALL.
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Sounds like fun!