Initial Design

In the early stages of design, we explored different drivetrain and ball depositing mechanism combinations. We decided on a four omniwheel drivetrain for easier navigation. Though a two-wheel drivetrain required fewer motors (which meant we could invest in more expensive, faster motors) and more weight would be on the driving wheels, we were concerned about its reliability, particularly when turning to precise angles. 

To deposit balls, we wanted to incorporate a flywheel launcher that would allow us to fill the pot quickly without having to leave the pantry. This was potentially quite risky, though, so we also incorporated a single ball dumper in order to ensure that we could deposit at least one preloaded ingredient to beat the brick.