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Re: pic: Team 192's 2012 Gearbox
Assuming your worm reduction isn't backdriveable, how does the drive train react when you try to stop fast? The nature of worm gears to be non-backdriveable would make your robot very difficult to push, but also makes it so that you can't coast to a stop.
Do you "coast" via software? Or did you determine that you won't snap any gear teeth off?
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