[Gunnar Frahm]

1)We have gearboxes on the CIMs which makes the rpm slower.
2)Also, our mechanical team made a bench-top robot testing out the arm, and it seemed mechanical wise they found the gearbox was binding up causing the motors to fight. They fixed this and now it seems we do not have to do anything fancy with programming. Although, I think we will still do a master and slave setup with the talon srx's just in case.
3)The mechanical team did in fact use the spread sheets to see if the gearboxes with CIMs would be sufficient to lift the arm. When tested it did in fact lift it. It was fairly smooth and there was no binding.
Now the question is if we will be able to use the encoders as a limit switches for the arm.
Another thing that happened is the arm backdrives down to starting position. Would using the brake/coast mode on the talon fix this? or would we have to program a button that just exerts enough power to keep it stable?