Looks great guys! Can't wait to see it in action. As for the globe motors, try switching the Victors into brake mode, changing the sprocket ratio, or you could even (though I would consider this a last resort) put a potentiometer on the arm so that the controller can sense what position it is in, and then write a program that will adjust the power to the motors to achieve a "target" position, measured by the potentiometer. Basically you would be turning the globe motor into a giant servo. What this will do, is as the motors begin backdriving, the potentiometer tells the program "They're getting away!!!
" then the program says "hey where do you think you're going
" and gives them a shot of power to bring them back and hold them in the "target" position. The downside to this is that if they are holding a load of a long time, they are basically being stalled at a low voltage, and as a result, the brushes inside heat up, and the motor becomes unhappy
.
Anyhoo, good luck!
