When we started the process of developing the intake we were thinking of styles used in the 2017 FIRST Robotics Competition game STEAMWORKS as inpsiration. In that game a gear, which was a flat game piece like the ring, was picked up individually and delivered to another location on the field. Curious to see if a "Pasta Roller" intake would work we started tinkering on a drivetrain to see what we could come up with.