WASP was designed to pick up cones and cubes for scoring at all nodes in gameplay. A grabber comprised of stationary compliant wheels firmly holds game pieces with a NEO Brushless for transport and placement. The grabber pivoted with a second NEO Brushless motor for versatility in cone and cube retrieval from the floor and human player station.

The grabber extends from the robot using drawer slides for linear movement, which is chain-driven by a NEO 550. The extension was supported by the pivot, a steel axle directly driven by two NEO Brushless motors.

WASP was capable of scoring a cube high in autonomous, and could then dock and engage on the charging station, or leave the community. An IMU, encoders, and PID control were critical to the success and consistency of our auto code, and maintained positional stability of mechanism throughout teleop control. Drivers used a camera to aid field view, and had automated controls to assist in endgame engaging on the charging station.