Shooting Subsystem
The robot shoots the foam balls at the beginning of Round 2 and 3. The balls are held in a ramp that leads to a motor with a wheel on it to launch the balls out. A servo-controlled gate is used to release the balls into the launcher. In order to reload between rounds 2 and 3, a reload circuit is mounted below the entrance to the ramp and is PWM-controlled to provide pulses to the reload station.