“Bob” was designed with the goal of being able to consistently score rings from anywhere on the field. To meet this goal, the ring launcher used dual motors that launched rings with long round belts. The launcher angle was adjustable via servo, which meant the robot could launch rings into the goal from any part of the field with the same launch speed.
The robot used computer vision to know it’s position and angle everywhere on the field so that it could rotate and aim the launcher with a press of a button.