Here is Episode 3 of The Six Week Project
Could I suggest simplifying your pick-up system?
We tried having poof balls go up and through our frame in 2006. It causes a lot of headaches for component placement and system integration. Better the discs pass through as little robot innards as possible. Look at 2012 robots for inspiration.
Just a small comment. Love all the work you’re doing in CAD, don’t wait too long to make your CAD a reality!
Best of luck.
-Mike