From Maslab 2011
Get balls over walls
Our robot serves as a reliable platform for the software vision and control systems. As such it should be sturdy, constructed quickly, have extremely low mechanical failure rates, be able to withstand hours of testing, and be robust to positioning errors.
The robot's structural members will be built primarily from acrylic sheet. It will utilize a rubber band roller powered by a DC motor to collect balls and 4-bar linkage hopper actuated by a servo to get balls over the wall. DC geared motors will drive no-slip wheels.
The robot's sensor suite will include the camera, 5 IR sensors, the gyroscope, encoders, and 2 bump sensors for scoring alignment.
Use a simple state machine. Have a good testing suite and several debugging tools. Write fast vision code. Fork off threads for camera and other sensors to operate.