Likely legal since it's an assembly powered by a continuous rotation servo. Relevant rules:
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Originally Posted by R32
PWM COTS servos with a retail cost < $75
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Originally Posted by R32 Blue Box
For servos, note that the roboRIO is limited to a max current output of 2.2A on the 6V rail (12.4W of electrical input power). Teams should make sure that their total servo power usage remains below this limit at all times.
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Italics are researched specs/questions:
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Originally Posted by R36
Servos must be connected to, and only to, one of the following:
A. PWM ports on the roboRIO ($0, 2.2A max across all channels)
B. PWM ports on a WCP Spartan Sensor Board (P/N: WCP-0045) [$120, 200mA max?]
C. REV Servo Power Module (P/N: REV-11-1144) ($40, 15A total across 6 channels)
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The AM specs include current draw in the 'datasheet'. 650mA at 12V stall ===> 325mA at 6V stall, right?
I'm interested since it may prevent us from needing another PCM, cylinders, and a hard stop for two low-load internal mechanisms.