Here's some of what we've been able to improve since bag and tag with our shooter as hold back:
Video
These shots are programmed to fire autonomously. We've determined just the right RPM at which to release our frisbees. The wheel slows down when it shoots one off and then the speed is ramped up automatically, an encoder is measuring the RPMs, then a pneumatic piston is actuated at the right speed. As long as we are supplied with disks, it will shoot unless our driver tells it not to.
We have it mounted on a quick and simple practice bot with a wooden frame and re-purposed electrical board.
We look forward to seeing everyone with our competition bot at the Ellensburg and Seattle regionals (and hopefully St. Louis).
Its not about Poof balls or green lights or getting up on the ramp at the end, this is about the learning experience and inspiration gained throughout the year. - Winged Wonder [more] 
Threaded Mode