Also the reloading mechanism is a crank, JVN style, with some optimization. We also added a slot so that when the shooter arms have been stopped early for the short shot, we can still continue cranking until we pull the shooter arms out from under the short shot hooks so we can disengage them and choose which shot we want to do next.
In order to get a large reduction conveniently, since our required torque is fairly large, we use a worm gear setup. This has the added benefit of no backdriving and allowing us to go in either direction without worries.
Quote:
Originally Posted by Andrew Lawrence
On a side note, am I correct when I see no Jaguars on your robot this year? Have you moved on from CAN and have joined the PWM world?
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We did join the PWM world and are thus far happy with it, even though we can't get current readings and the benefits of cleaner wiring as easily. If a better solution appears, we will be happy to continue exploring CAN and Jaguars.