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Re: winch
Spikes to solenoids work reasonably well. That's what we used before breakout boards... cRIO (or back before the cRIO, the IFI controller) tells the Spike to switch, the spike switches, and the solenoid does whatever it's supposed to do. Note: you will need a 12V solenoid for this setup. Or a 12-24VDC converter, preferably between the Spike and the solenoid so the Spike isn't blown.
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Past teams:
2003-2007: FRC0330 BeachBots
2008: FRC1135 Shmoebotics
2012: FRC4046 Schroedinger's Dragons
"Rockets are tricky..."--Elon Musk
 
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