VEX EDR Ball puncher

My first go at building a robot with EDR. The current EDR competition is Turning Point and one way to score points is to shoot at flags with balls. So of course I started by designing a ball puncher and a mechanism to feed it with balls.

Click to view the game

One of the challenges is that I only have 4 motors, therefore I have to make one motor do multiple tasks.

It works quite fine, have a look:

I still have one motor left, so thinking about making a lift or a plate flipper.

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