The drive is powered by a 4 CIMs in two AM Gen 1 shifters, with 4"x1" IFI wheels with wedgetop. High gear is approximately 15 fps and low is around 6 fps. The robot is still around 5.5 lbs under weight.
The launcher is powered outwards by several pieces of surgical tubing that can be seen going up the back side of the mast in the picture. The surgical tubing pulls the 3/4" anodized aluminum rod out through linear bearings when the winch is released. The winch is powered by a FP motor in a Dewalt with the backdrive pins left in to keep it retracted. The pulley with the cable on it is engaged and released with a dog similar to the AM shifter. The launcher is fixed to the mast so the angle is always the same and The claw is rotated with the other FP motor with the stock gearbox after a few modifications making it easy to interface with. The roller itself is run off the RS-550 motor and a gearbox made using the gears from the other FP gearbox. We also used lots of wood and a fishing pole on the robot.