Using Onshape I designed the indexing end-effector, designed around "touch it own it" so that once making contact with the game piece it would gain access to the piece. It both acted as an indexer and an end effector because it was able to direct serve into the shooter but it was also able to transfer enough torque to shoot it into the secondary scoring component. This was critical as when our shooter faced mechanical errors, we were still able to score during the match using the secondary scoring method. The power was transmitted from a motor on the chassis, separate to the one that rotates the end effector, then it went to a 1-1 set of gears to revers the rotation of the top rollers allowing for the top and bottom rollers to rotate inward and outward in tandem; power was then transferred from rollers using a belt 1-1 ratio belt drive.
The sprocket drive was made to allow for the pitch rotating motors to be lowered, allowing for lower cg while having a torque step up from the 1-25 gear ratio. This was machined using a mill with aluminum plates and bars.

I tested the shooter wheels' material properties and what distance apart to test what would best transfer energy to the game element. This lead to an increase of distance shot by 5m. 

Manufactured and assembled chassis and swerve drive using a CNC mill.