Our robot for the 2017-2018 VEX In the Zone season was a double reverse four bar with a chain bar at the end which allowed us to internally stack cones. At the tip of the chain bar, we used a roller intake to grab cones. The roller intake was made of two cylinders that consisted of rubber bands and non-slip mat that spun inward to pull the cone in and outward to spit it out. On our chassis, we had a four bar with a tray at the end which picked up the mobile goals and to helped us score them. We had a four motor drive train that was chain and sprocket driven with tensioners on certain points to prevent skipping on the sprockets.