RR4, robot for the challenge LogoMotion, was a speedy machine, but little reliable. Using its characteristic arm hanged FIRST "donuts" at three different heights.
It had a cylinder and a mechanism called "nautilus" to low the force needed to bring it up. To activate ir, two window motors were required.
The chassis had 4 mecanum wheels drive train, so it had an omnidirectional movement in the field.
For its control, an additament for the driver station was built, which was a box with an indicator of height in the arm.