http://www.youtube.com/watch?v=06u-klIcPTU
team 842 has a robot, Heather, that has 4 sided kicker with mecanum wheels and a limited space for ball handler, this is the design we have come up with.
Andy Mark orbital drive with an FP motor with output rpm of 5000 and pulleyed to 1500rpm.With 1.25 pvc pipe covered in duct tape.