• Arm mechanism: used for sweeping of center ball or as a blockade to direct falling balls to our side. Used one servo to extend and retract.
• Ball Swallowing Mechanism: rod in front of warped baseplate used to help balls get inside the robot. It runs on one motor which is only activated when a ball breaks the beam of a CDS and LED set up on the two front "legs."
• 2 independant front wheels: used for forward and reverse drive. When used with third (steering) wheel, can be used to turn the robot.
• 1 rear steering wheel: powered by a Futaba FP-S148 servo in conjunction with front wheels for steering purposes.
• "Mouth"-carefully warped baseplate used to carry balls while driving around. Had indentations to hold up to three balls at a time.

Sensors

• 6 CDS Cells (for line following and orientation)
• 2 Sharp Distance Sensors (for wall following from a distance)
• 6 Exterior bumper sensors (2 rear, 2 front side, 2 front)
• 1 CDS used for breakbeam of swallowing mechanism
• 1 standard issue IR beacon (made by PoLoLu)

Actuators

• 5 motors (2 on each of the front wheels, 1 for swallowing mechanism)
• 2 Futaba FP-S148 Servos (1 for rear wheel steering, 1 for arm mechanism

Find out more about 6.270 at the 6.270 website