We installed a set of wheeled intakes that were mounted on arms. Each intake wheel is driven by a chain drive from a hex core motor mounted in the center of the robot. We were trying to get the weight of the motors near the center of the robot. 

Testing of this setup, however, revealed that we will be too space limited to fully draw in a stone. The stone will be stuck between the wheels and will be too hard to lift up. Also, the hex core motors will not drive the wheels at a high speed. We need to use the HD hex core motors.