[riptide]

I tried to post this before but since I am new to the site I don't think it allowed me to make a post with a link.

RoboCup has been around for a long time now and they have really perfected the kicking mechanism. Here is a link to a white paper that may help you out. Keep in mind the solenoid is illegal.


roboturk.googlecode.com/files/robocup_shooting_mechanism.pdf