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We don't have much of a 'launcher' per se. It is more of a depositor. We reverse the acquisition rollers to eject the boulder. The clever part of the system is that when the boulder is fully seated it trips a switch wired into the Talon as a limit switch automatically turning the motor off. No software required... But we did add some java code to display the state of the limit switch on the driver station.
Good luck.
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