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Re: articulating arm help
Mechanical things that can help include (a) a cantilever, (b) a spring or other tension device to aid in lift, and/or (c) a screw drive instead of a sprocket drive.
As for code for encoders -- sorry, I'm useless on that count!
__________________
Patrick Freivald -- Mentor
Team 1551
"The Grapes of Wrath"
Bausch & Lomb, PTC Corporation, and Naples High School
I write books, too!
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