The cap ball mechanism will not have the locking part anymore since the cap ball holder is too high off the ground to have its angle be significantly affected by the ramp. Instead, the cap ball holder (which is now two sticks), will be unlocked by a servo on the robot and will fall. It cannot fall lower than around 4 degrees above the ground, which is enough to keep the cap ball on the holder and low enough to go underneath the cap ball.
Above is the locking servo holding onto to one of the two sticks.
Above is the new stopper that prevents the cap ball holder from falling any lower than around 4 degrees.
Additionally, the autonomous beacon mechanism got thicker to increase the chance of hitting the beacon.
Plates were added on the back of the robot so that the robot can still press the beacons from the back.