During my senior year at Lamar High School (FRC #2587) I worked on DiscoCube for the VEX Robotics Competition.  The team won the Houston VEX Regional (with 1429) and the Programming Skills Challenge.  The robot can hold 4 cubes at once.  It stacks the 3" foam cubes on triangle goals. During autonomous the robot scores 2 cubes and collects cubes from the ground and attempts to score on other goals.