[thefro526]

2006: CIM powered shooter. Two CIMs, each driving a shooter wheel directly. The shooter was plagued with issues, most of which stemmed from our inability to build something that was both lightweight and robust enough to handle the loading from big pneumatic wheels and 5+lbs of motors. Also, if memory serves me correctly, adapting to the CIM proved to be a nightmare and we ended up ruining a motor or two from improperly secured wheels.

2009: CIM powered offload belt. Single CIM through at Banebots 12:1 P80 Planetary, followed by a 1:2 Reduction (sped up). The setup worked really well considering that it was a last minute modification prior to ship. It gave us enough power to offload our maximum capacity in just under 2 seconds and was robust enough to handle system jams and constant stopping and starting.

2010: CIM powered inversion joint on a hanging mechanism. Single CIM through a 256:1 Banebot P80, followed by a 3:1 Sprocket Reduction. The setup never made it past the testing stage since it broke during the first series of tests. We found that the P80 was the weak link (of course) and would destroy itself if driven against a hard stop. Had we had the ability to design a custom spur box back then, that would have been the route to go.