An over-the-bumper ground intake lets us pick up FUELS efficiently without needing a perfect approach angle. That shortens cycle times, helps us recover loose game pieces, and gives drivers more freedom to stay aggressive around the field.

The intake is designed to hand pieces off cleanly into the rest of the scoring path, so we can move from collection to indexing without unnecessary delay or unstable transfers.

To keep the scoring path consistent, we use a spinning indexer that settles and stages incoming FUELS before they reach the shooter. That extra control helps reduce jams and keeps the handoff predictable even when we are cycling at speed.

By presenting each game piece in a more repeatable position, the spindexer improves shot consistency and gives the shooter a steadier input instead of relying on whatever orientation the intake happens to deliver.

A turret with 540 degrees of rotation gives the robot freedom to aim without forcing the drivetrain to face one direction. That makes it easier to track the HUB, keep the chassis mobile, and maintain better scoring angles under pressure.

The extra rotation range also supports passes back from the NEUTRAL ZONE or ALLIANCE ZONE, giving drivers a flexible option when a direct scoring attempt is not the best play.

Our shooter pairs an adjustable hood with a tuned flywheel system so we can adapt to different shot locations instead of building around a single release point. The goal is to make scoring repeatable from a wider range of positions.

The hood adjusts from 60 to 90 degrees, and our software uses physics-based calculations to determine both hood angle and flywheel velocity. That tuning lets us approach each shot with a measured setup rather than rough presets.

PhotonVision provides the robot with the target information needed for automatic aiming assistance. By turning camera data into usable measurements, it helps reduce the amount of manual alignment required during fast scoring cycles.

That vision feedback can be blended with driver control so the robot stays responsive while still benefiting from automatic corrections when lining up to shoot or pass.

Beyond target detection, our vision stack helps estimate the robot's position on the field. That broader awareness makes it easier to line up repeatable shots, return to key scoring locations, and give autonomous routines better context.

Using PhotonVision-based measurements alongside drivetrain data, we can maintain a more stable pose estimate and hand more trustworthy localization information to the rest of the robot software.