FRC2168 - Behind the Design

[topgun]

Great suggestions on the roller ends and the channels made from roughtop. I am always looking for ways to do things simpler and faster.

Some questions:
Could you have gone with a thinner sheet metal (.063 or .080)?
How did you handle picking up three balls? Did you have sensors in there to stop the lift until you picked up three balls? (I only saw one stage in the lift/elevator).
Did you actually use the hopper as intended with another robot dumping into your hopper?
What programming language did you use? CAN?
Did you have any issues with the lift motors at the bottom? (I always understood that you can't push a belt)

Thanks for the blog postings and all of the helpful tips.