Here are some of my ideas:
Starstruck Style intake w/ small claw: Too inefficient
NBN Style intake w/ wheels, chains, etc: Efficient, but getting the cones onto the goal is a problem
Tank Tread Intake with Standoffs for Gripping: Efficient, but raising is undecided
Wheel Intake: Raising problems
Most of these Ideas are centered around intaking multiple cones, which is illegal.
Really all you need for picking up cones is either a simple claw, or an intake that comes down on top of the cones around them (something I would lean more towards).
@structural bEaring use an overcenter for flipping (I’m assuming this is to fit in starting config) and then you only need the 2 actuations. Getting the motors to work without tying themselves up is still going to be tricky, unless you put a servo on the axial rotation
@TheGee_ On the contrary, I believe it’s going to be fast-paced because you would need less torque to pick up each cone, meaning that people can focus on the arm’s speed instead of having a lot of power to pick up. Not sure about the pace for the mobile goals tho. They’re heavy even without the cones on top of them.