Here's a video with some build season moments and the finished bot practicing. The bumpers are some old ones, the deflector on top is a mock-up before the real thing was finished.
http://www.youtube.com/watch?v=kNfF5y7XnPo
4 wheel crab/swerve drive
CIM motors independent in modules
Steering with 5th CIM
Joystick direction is absolute regardless of robot orientation
Elastic kicker / pneumatic retract
Infinitely variable kick strength
Ball detection
Software assisted bump climbing
Autonomous from all positions