Big problem here, we have these three weird issues that we just cannot seem to fix. https://youtu.be/NK4bF7tZ9AM The first issue is the balls getting stuck on that gear, the second issue is that we cannot get balls in corners, and the final issue is that when we intake, the balls push the wall the roll up forward, which messes up the catapult.
Looks like the robot’s intake is stalling. The variable shape of the balls (they are not quite spheres) causes the force it takes to intake each ball to vary. Your intakes look like they are geared to be very fast… Fast = Weak. Slow = Strong. So your fast intakes are too weak to overcome the forces needed to intake the balls.