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Re: Ball posession: Roller (ball magnet) or vacuum?
The key for us was really wedging that ball in after it gets sucked in.
We dumped the FP because it would stall and have to swap it out after several test runs during build season, even with different levels of reduction.
Once we put in a CIM, it does stall and puts quite a strain on it. However, we swapped out only 1 CIM in 53 matches (3 tournaments) not including practice matches. Its an adjustable-height CIM driven motor driving a pool noodle with a swirl of duct tape with a 2:1 reduction running between 60-80%.
Our lower roller is an idler.
We have a picture of it on our website under regional flyer. Its so simple, a caveman can do it. 
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2016 Hawaii Regional #1 seed, IDesign, Safety Award
2016 NY Tech Valley Regional Champions, #1 seed, Innovation in Controls Award
2016 Lake Superior Regional Champions, #1 seed, Quality Award, Dean's List
2015 FRC Worlds-Carver Division Champions
2015 Hawaii Regional Champions, #1 seed.
2015 Australia Regional Champions, #2 seed, Engineering Excellence Award
2015 Inland Empire Regional Champions, #1 seed, Industrial Design Award
2014 OZARK Mountain Brawl Champions, #1 seed.
2014 Hawaii Regional Champions, #1 seed, UL Safety Award
2014 Dallas Regional Champions, #1 seed, Engineering Excellence Award
2014 Northern Lights Regional Champions, #1 seed, Entrepreneurship Award
2013 Championship Dean's List Winner
2013 Utah Regional Champion, #1 seed, KP&B Award, Deans List
2013 Boilermaker Regional Champion, #1 seed, Motorola Quality Award
2012 Lone Star Regional Champion, #1 seed, Motorola Quality Award
2012 Hawaii Regional Champions #1 seed, Motorola Quality Award
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