To get the artifact up to the hopper. The design was modified to become the upper ramp (right).

This final wheel, combined with dual rollers, spaced wider than the holes to effectively optimize intake 

We made it with a slight angle at the top to guide the launch angle forward. We can launch from the back of the field as well as in front of the depots

This design is mounted on the side and at an angle, preventing collision with other portions of the robot. 

Our Limelight mounts to the top and allows the camera to see the fiducial of the april tag on the depot so it can auto align. This mount allows the camera to see above the robot and far.

The lower ramp keeps the artifact compressed and centered when the lower roller is lifting it off the ground. It allows he artifacts to roll into the intake system.

Our wheels with no bumper or plate would be vulnerable to damage from the field or other robots. Bumpers are also used to funnel artifacts toward the intake at a height to reduce artifact spin

Here are some more pictures of older CAD Projects! We love to CAD our robot first to test ideas and theories to be efficient and resourceful when iterating!