Nope, no pneumatics. A sprocket with a thunderhex bore (13.75-ish mm… our lathe doesn’t have a good readout for that) squeezed between two metal shaft collars. The shaft turns the shaft collars, the friction between the shaft collars and the sprocket turns the sprocket (and, in turn, the intake). Adjust the bolt on the end to increase/decrease the friction to the desired point - it helps with the PID loop for raising the intake (encoder on the rotation shaft, not the motor shaft), as the clutch starts slipping when the intake moves too high, and it lets the intake fold in when hit (and the PID loop then sends it right back out).
Pictures below are for a “demo” unit we made for talking to judges. We ended up putting a thumb bolt on the end instead of the regular socket head bolt, making it easier to adjust the tension by hand and feel the difference in friction!
