Does anyone have advice on how to execute a passive intake

My team is all first years and we do not have enough time to make a tray bot

Making a tray bot should take less time than a lift bot. However, if you do go through with passive, here are some vids:

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A tray with arms might take a long time to build, but trays with no arms are usually pretty easy to build, and don’t take very long to build.