Quote:
Originally Posted by Ether
?? Ri3D 1.0 has a ratcheting winch which can be programmed to stop at any point and be launched from there by disengaging the dog clutch.
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This is correct. Ri3D 1.0 actually ran an encoder on the cluster shaft. We accomplished this by drilling a .249 hole into 3/8" hex shaft and pressed in a dowel pin. We then mounted the encoder on an encoder block.
Before the ratcheting wrench was installed, the encoder provided the necessary feedback to hold the catapults position.