[Hawiian Cadder]

the single roller works fairly well.

the roller is a polycarbonate tube, which is attached to the drive axle with rubber bands. this gives it 1.5 inches of tolerances where it moves to accept different sizes of tubes.

the "sensor" on the roller is only C-A-N, the free current of the roller is 2-4, as soon as it exceeds 14 amps, we know a tube is securely held.

we looked at a variety of materiel for the bottom of the roller. regolif, was very promising, however we found that polycarbonate coated in duct tape works nearly as well, and is significantly lighter. regolif is also not COTS as far as i know.

the width of the roller also helps it to not turn the tubes. it does turn them up a little at the beginning, but when they get sucked in far enough they are forced to line up with the bottom of the manipulator.

the fisher prices have had their gear pressed off, and a new one put on. we were not sure as to the legality of that. there is also not much that can be changed. the original CAD will work just as well as the other two, once we get the lift to stop binding. our withholding allowance has a couple of new sliders, as well as spare axles. our the COTS items we are taking are a lighter digital sidecar ribon cable. a new encoder for the lift. and a few other things to cut weight.

i think were good, but does anyone see a problem with continuously stalling a rs550 at 14 amps?