[techkid86]

The repair I remember making best is not mechanical but programming.

Our team came in on day two of competition and we realized we were not getting feedback from our tachometer on the shooter wheels. We frantically replaced the tach, only to realize it we merely unplugged... Imagine the despair we programmers faced when we realized the PID loops we worked on suddenly became untuned! About 1000 RPM short of target speed....

No sooner did we come to realize this, but we were on the field again, so running down the pits with the robot on a cart and a laptop in hand, we recalibrated PID well enough for our autonomous to work.

But it does not stop there, oh no! In the first finals match, we were hit hard enough for the tach to shift, and low and behold, the values change again!

Lesson learned.... Never.... Remove.... the tach.... again.... lol